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a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/config.yml b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/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/turn_switch/ARX-X5/meta/info.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..6720b67e8d8ebaba7b327559d5ff279c4955414e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "turn_switch", + "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/turn_switch/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..7c5aec54622bae6b22ff049d3da7e5f40f277758 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the black base switch with robotic precision", + "Interact with the toggle switch with black housing directly", + "Trigger the small switch with red lever without referencing the right arm", + "Click the smooth red switch with labels directly.", + "Activate the switch for turning circuits on off by pressing it", + "Push the tiny rectangular switch via the right arm.", + "Tap the red and black electrical switch to engage it", + "Deploy the right arm to press the small switch with red lever", + "Use the right arm to engage the small switch with red lever", + "Engage the right arm to press the smooth red switch with labels", + "Press the tiny rectangular switch to activate.", + "Engage the switch with three metal pins using the right arm", + "Trigger the plastic switch with metal prongs with precision", + "Engage the tiny rectangular switch using the right arm.", + "Command the right arm to engage the tiny rectangular switch", + "Set the right arm to press the switch with three metal pins", + "Set the switch at the black base switch", + "Approach and tap the two-tone red black switch via the right arm", + "Engage the metal-pronged black switch using the robotic arm", + "Move to the smooth red switch with labels and click it.", + "Click the red and black electrical switch to activate it", + "Use the right arm to interact with the switch with three metal pins", + "Activate the smooth red switch with labels via the right arm", + "Locate and press the tiny rectangular switch", + "Initiate the plastic switch with metal prongs by clicking", + "Press the black base switch directly", + "Deploy the right arm to operate the red and black electrical switch", + "Press the toggle switch with black housing using robotic control", + "Use the right arm for switching the metal-pronged black switch", + "Press the red and black electrical switch with the right arm", + "Direct the right arm to operate the switch with three metal pins", + "Click on the rectangular switch precisely", + "Activate the two-tone red black switch with the right arm.", + "Activate the the plastic switch with metal prongs using the right arm", + "Activate the rectangular switch directly", + "Operate the smooth red switch with labels with the right arm", + "Activate the switch for turning circuits on off with robotic precision", + "Directly interact with the switch with three metal pins", + "Interact with the black base switch.", + "Operate the right arm to engage the black base switch", + "Engage with the red and black electrical switch manually", + "Press the metal-pronged black switch via automation", + "Trigger the two-tone red black switch using the right arm", + "Switch the tiny rectangular switch to its active state", + "Toggle the rectangular switch with the right arm.", + "Press the toggle switch with black housing using the right arm.", + "Locate and press the metal-pronged black switch", + "Press the red and black electrical switch carefully with the right arm", + "Click the smooth red switch with labels using automated tools", + "Engage the rectangular switch with a press.", + "Click the rectangular switch with robotic precision", + "Interact with the rectangular switch directly", + "Trigger the rectangular switch without referencing the right arm", + "Click the tiny rectangular switch directly.", + "Activate the switch with three metal pins by pressing it", + "Push the small switch with red lever via the right arm.", + "Tap the plastic switch with metal prongs to engage it", + "Deploy the right arm to press the rectangular switch", + "Use the right arm to engage the two-tone red black switch", + "Engage the right arm to press the rectangular switch", + "Press the black base switch to activate.", + "Engage the smooth red switch with labels using the right arm", + "Trigger the toggle switch with black housing with precision", + "Engage the two-tone red black switch using the right arm.", + "Command the right arm to engage the metal-pronged black switch", + "Set the right arm to press the black base switch", + "Set the switch at the black base switch", + "Approach and tap the black base switch via the right arm", + "Engage the switch with three metal pins using the robotic arm", + "Move to the red and black electrical switch and click it.", + "Click the switch with three metal pins to activate it", + "Use the right arm to interact with the black base switch", + "Activate the two-tone red black switch via the right arm", + "Locate and press the small switch with red lever", + "Initiate the red and black electrical switch by clicking", + "Press the tiny rectangular switch directly", + "Deploy the right arm to operate the smooth red switch with labels", + "Press the metal-pronged black switch using robotic control", + "Use the right arm for switching the small switch with red lever", + "Press the smooth red switch with labels with the right arm", + "Direct the right arm to operate the toggle switch with black housing", + "Click on the two-tone red black switch precisely", + "Activate the small switch with red lever with the right arm.", + "Activate the the metal-pronged black switch using the right arm", + "Activate the switch for turning circuits on off directly", + "Operate the plastic switch with metal prongs with the right arm", + "Activate the metal-pronged black switch with robotic precision", + "Directly interact with the black base switch", + "Interact with the switch for turning circuits on off.", + "Operate the right arm to engage the small switch with red lever", + "Engage with the switch for turning circuits on off manually", + "Press the tiny rectangular switch via automation", + "Trigger the switch with three metal pins using the right arm", + "Switch the smooth red switch with labels to its active state", + "Toggle the switch with three metal pins with the right arm.", + "Press the black base switch using the right arm.", + "Locate and press the plastic switch with metal prongs", + "Press the red and black electrical switch carefully with the right arm", + "Click the switch for turning circuits on off using automated tools", + "Engage the metal-pronged black switch with a press." + ], + "unseen": [ + "Use the right arm to press the red toggle switch.", + "Activate the switch at the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..7234ca19b4cae779422c30e6f919580a4de3475f --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Interact with the toggle switch light gray base directly", + "Trigger the gray switch with red toggle without referencing the left arm", + "Set the left arm to press the switch for electrical control", + "Tap the gray switch with red toggle to engage it", + "Trigger the toggle switch light gray base using the left arm", + "Activate the red bar switch by pressing it", + "Press the switch using the left arm.", + "Activate the switch with the left arm.", + "Deploy the left arm to operate the control switch with red lever", + "Push the switch for electrical control via the left arm.", + "Use the left arm to engage the square switch with red bar", + "Use the left arm to interact with the switch", + "Click on the red bar switch precisely", + "Move to the electrical switch with protruding toggle and click it.", + "Click the red bar switch with robotic precision", + "Operate the switch with the left arm", + "Switch the switch with thin red toggle to its active state", + "Activate the switch with thin red toggle with robotic precision", + "Click the light gray square switch directly.", + "Command the left arm to engage the compact switch with flat base", + "Engage the left arm to press the plastic gray body switch", + "Activate the plastic gray body switch via the left arm", + "Activate the the square switch with red bar using the left arm", + "Deploy the left arm to press the gray switch with red toggle", + "Interact with the switch.", + "Set the switch at the compact switch with flat base", + "Locate and press the compact switch with flat base", + "Engage the toggle switch light gray base with a press.", + "Engage the switch using the robotic arm", + "Press the switch directly", + "Engage the red bar switch using the left arm", + "Press the light gray square switch with the left arm", + "Approach and tap the switch for electrical control via the left arm", + "Engage with the light gray square switch manually", + "Press the plastic gray body switch via automation", + "Operate the left arm to engage the switch for electrical control", + "Toggle the compact switch with flat base with the left arm.", + "Press the switch carefully with the left arm", + "Trigger the electrical switch with protruding toggle with precision", + "Press the square switch with red bar to activate.", + "Directly interact with the electrical switch with protruding toggle", + "Engage the plastic gray body switch using the left arm.", + "Locate and press the toggle switch light gray base", + "Click the compact switch with flat base to activate it", + "Direct the left arm to operate the square switch with red bar", + "Activate the plastic gray body switch directly", + "Use the left arm for switching the red bar switch", + "Initiate the switch by clicking", + "Click the switch using automated tools", + "Press the control switch with red lever using robotic control", + "Interact with the plastic gray body switch directly", + "Trigger the light gray square switch without referencing the left arm", + "Set the left arm to press the switch", + "Tap the square switch with red bar to engage it", + "Trigger the compact switch with flat base using the left arm", + "Activate the switch with thin red toggle by pressing it", + "Press the switch with thin red toggle using the left arm.", + "Activate the control switch with red lever with the left arm.", + "Deploy the left arm to operate the switch for electrical control", + "Push the switch for electrical control via the left arm.", + "Use the left arm to engage the toggle switch light gray base", + "Use the left arm to interact with the switch", + "Click on the toggle switch light gray base precisely", + "Move to the electrical switch with protruding toggle and click it.", + "Click the switch with thin red toggle with robotic precision", + "Operate the compact switch with flat base with the left arm", + "Switch the red bar switch to its active state", + "Activate the compact switch with flat base with robotic precision", + "Click the toggle switch light gray base directly.", + "Command the left arm to engage the switch for electrical control", + "Engage the left arm to press the electrical switch with protruding toggle", + "Activate the gray switch with red toggle via the left arm", + "Activate the the electrical switch with protruding toggle using the left arm", + "Deploy the left arm to press the control switch with red lever", + "Interact with the red bar switch.", + "Set the switch at the red bar switch", + "Locate and press the control switch with red lever", + "Engage the switch with thin red toggle with a press.", + "Engage the switch using the robotic arm", + "Press the light gray square switch directly", + "Engage the red bar switch using the left arm", + "Press the compact switch with flat base with the left arm", + "Approach and tap the gray switch with red toggle via the left arm", + "Engage with the control switch with red lever manually", + "Press the light gray square switch via automation", + "Operate the left arm to engage the red bar switch", + "Toggle the gray switch with red toggle with the left arm.", + "Press the switch for electrical control carefully with the left arm", + "Trigger the square switch with red bar with precision", + "Press the control switch with red lever to activate.", + "Directly interact with the compact switch with flat base", + "Engage the red bar switch using the left arm.", + "Locate and press the control switch with red lever", + "Click the light gray square switch to activate it", + "Direct the left arm to operate the red bar switch", + "Activate the switch for electrical control directly", + "Use the left arm for switching the control switch with red lever", + "Initiate the switch for electrical control by clicking", + "Click the switch with thin red toggle using automated tools", + "Press the red bar switch using robotic control" + ], + "unseen": [ + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the smooth gray base switch with the left arm.", + "Click the smooth gray base switch using the left arm", + "Press the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch.", + "Direct the left arm to click the flat square gray switch", + "Use the left arm to press the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Click the flat square gray switch with the left arm.", + "Click the smooth gray base switch using the left arm", + "Press the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the flat square gray switch.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the hand-sized square electrical switch with the left arm.", + "Click the smooth gray base switch using the left arm", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the flat square gray switch with the left arm.", + "Click the smooth gray base switch using the left arm", + "Press the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Use the left arm to press the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch with the left arm.", + "Click the hand-sized square electrical switch using the left arm", + "Press the smooth gray base switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Click the hand-sized square electrical switch with the left arm.", + "Click the smooth gray base switch using the left arm", + "Press the flat square gray switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the flat square gray switch with the left arm.", + "Click the flat square gray switch using the left arm", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the flat square gray switch with the left arm.", + "Click the flat square gray switch using the left arm", + "Press the smooth gray base switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the smooth gray base switch with the left arm.", + "Click the flat square gray switch using the left arm", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the flat square gray switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the flat square gray switch with the left arm.", + "Click the smooth gray base switch using the left arm", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..fa135005f1a8f39958521648c8ce4e1fcc99e824 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the right arm to press the black base switch", + "Toggle the toggle switch with black housing with the right arm.", + "Trigger the switch with three metal pins with precision", + "Click on the switch for turning circuits on off precisely", + "Use the right arm to engage the black base switch", + "Press the red and black electrical switch with the right arm", + "Press the switch with three metal pins directly", + "Activate the plastic switch with metal prongs by pressing it", + "Activate the the toggle switch with black housing using the right arm", + "Switch the plastic switch with metal prongs to its active state", + "Press the two-tone red black switch via automation", + "Trigger the small switch with red lever without referencing the right arm", + "Locate and press the smooth red switch with labels", + "Push the rectangular switch via the right arm.", + "Interact with the switch with three metal pins directly", + "Command the right arm to engage the toggle switch with black housing", + "Activate the toggle switch with black housing with the right arm.", + "Click the switch for turning circuits on off to activate it", + "Tap the switch for turning circuits on off to engage it", + "Activate the switch with three metal pins via the right arm", + "Press the rectangular switch using robotic control", + "Engage the switch for turning circuits on off with a press.", + "Direct the right arm to operate the black base switch", + "Engage with the toggle switch with black housing manually", + "Press the rectangular switch to activate.", + "Activate the red and black electrical switch with robotic precision", + "Deploy the right arm to operate the plastic switch with metal prongs", + "Operate the rectangular switch with the right arm", + "Set the right arm to press the rectangular switch", + "Operate the right arm to engage the two-tone red black switch", + "Click the switch with three metal pins using automated tools", + "Trigger the metal-pronged black switch using the right arm", + "Use the right arm for switching the black base switch", + "Engage the red and black electrical switch using the robotic arm", + "Locate and press the small switch with red lever", + "Approach and tap the two-tone red black switch via the right arm", + "Activate the red and black electrical switch directly", + "Initiate the metal-pronged black switch by clicking", + "Press the switch for turning circuits on off using the right arm.", + "Engage the metal-pronged black switch using the right arm", + "Press the tiny rectangular switch carefully with the right arm", + "Click the black base switch directly.", + "Use the right arm to interact with the switch for turning circuits on off", + "Set the switch at the small switch with red lever", + "Click the small switch with red lever with robotic precision", + "Engage the right arm to press the small switch with red lever", + "Move to the smooth red switch with labels and click it.", + "Interact with the switch for turning circuits on off.", + "Engage the plastic switch with metal prongs using the right arm.", + "Directly interact with the smooth red switch with labels", + "Deploy the right arm to press the red and black electrical switch", + "Toggle the smooth red switch with labels with the right arm.", + "Trigger the toggle switch with black housing with precision", + "Click on the toggle switch with black housing precisely", + "Use the right arm to engage the plastic switch with metal prongs", + "Press the toggle switch with black housing with the right arm", + "Press the black base switch directly", + "Activate the rectangular switch by pressing it", + "Activate the the rectangular switch using the right arm", + "Switch the metal-pronged black switch to its active state", + "Press the rectangular switch via automation", + "Trigger the toggle switch with black housing without referencing the right arm", + "Locate and press the red and black electrical switch", + "Push the small switch with red lever via the right arm.", + "Interact with the two-tone red black switch directly", + "Command the right arm to engage the two-tone red black switch", + "Activate the switch with three metal pins with the right arm.", + "Click the toggle switch with black housing to activate it", + "Tap the two-tone red black switch to engage it", + "Activate the toggle switch with black housing via the right arm", + "Press the metal-pronged black switch using robotic control", + "Engage the rectangular switch with a press.", + "Direct the right arm to operate the two-tone red black switch", + "Engage with the switch for turning circuits on off manually", + "Press the tiny rectangular switch to activate.", + "Activate the red and black electrical switch with robotic precision", + "Deploy the right arm to operate the tiny rectangular switch", + "Operate the rectangular switch with the right arm", + "Set the right arm to press the toggle switch with black housing", + "Operate the right arm to engage the switch with three metal pins", + "Click the black base switch using automated tools", + "Trigger the black base switch using the right arm", + "Use the right arm for switching the small switch with red lever", + "Engage the plastic switch with metal prongs using the robotic arm", + "Locate and press the switch with three metal pins", + "Approach and tap the smooth red switch with labels via the right arm", + "Activate the metal-pronged black switch directly", + "Initiate the two-tone red black switch by clicking", + "Press the switch for turning circuits on off using the right arm.", + "Engage the small switch with red lever using the right arm", + "Press the black base switch carefully with the right arm", + "Click the toggle switch with black housing directly.", + "Use the right arm to interact with the smooth red switch with labels", + "Set the switch at the black base switch", + "Click the rectangular switch with robotic precision", + "Engage the right arm to press the tiny rectangular switch", + "Move to the tiny rectangular switch and click it.", + "Interact with the red and black electrical switch.", + "Engage the smooth red switch with labels using the right arm.", + "Directly interact with the switch with three metal pins" + ], + "unseen": [ + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Move and click the the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..36746a3b8f5e0b7794645e91e6140d1040b5f2af --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the left arm to press the black switch", + "Click the black base switch with red toggle with robotic precision", + "Press the rectangular black plastic switch using robotic control", + "Set the switch at the rectangular switch with curved lever", + "Initiate the black base switch with red toggle by clicking", + "Operate the left arm to engage the black switch with metallic connectors", + "Click on the compact switch with toggle on top precisely", + "Approach and tap the red and black switch via the left arm", + "Locate and press the red and black switch", + "Directly interact with the switch with curved red toggle", + "Engage the red and black switch using the left arm.", + "Press the red-top black switch directly", + "Interact with the red-top black switch.", + "Deploy the left arm to press the red-top black switch", + "Activate the compact switch with toggle on top by pressing it", + "Engage the red-top black switch using the robotic arm", + "Click the red-top black switch to activate it", + "Move to the hand-sized switch with connector prongs and click it.", + "Activate the black switch with robotic precision", + "Press the small switch with the left arm", + "Press the hand-sized switch with connector prongs using the left arm.", + "Use the left arm to engage the rectangular black plastic switch", + "Toggle the plastic switch with metal terminals with the left arm.", + "Activate the black switch with metallic connectors with the left arm.", + "Trigger the hand-sized switch with connector prongs using the left arm", + "Engage the black base switch with red toggle using the left arm", + "Use the left arm for switching the black base switch with red toggle", + "Deploy the left arm to operate the black switch with metallic connectors", + "Press the black base switch with red toggle carefully with the left arm", + "Use the left arm to interact with the black switch with metallic connectors", + "Locate and press the rectangular black plastic switch", + "Push the black switch via the left arm.", + "Engage the black switch with metallic connectors with a press.", + "Activate the the black switch with metallic connectors using the left arm", + "Engage the left arm to press the red and black switch", + "Engage with the black base switch with red toggle manually", + "Click the compact switch with toggle on top using automated tools", + "Interact with the red-top black switch directly", + "Activate the black base switch with red toggle via the left arm", + "Tap the compact switch with toggle on top to engage it", + "Switch the compact switch with toggle on top to its active state", + "Click the red and black switch directly.", + "Direct the left arm to operate the black switch", + "Press the plastic switch with metal terminals to activate.", + "Command the left arm to engage the switch with curved red toggle", + "Press the black base switch with red toggle via automation", + "Operate the hand-sized switch with connector prongs with the left arm", + "Activate the black base switch with red toggle directly", + "Trigger the red and black switch without referencing the left arm", + "Trigger the switch with curved red toggle with precision", + "Set the left arm to press the switch with curved red toggle", + "Click the red and black switch with robotic precision", + "Press the rectangular switch with curved lever using robotic control", + "Set the switch at the hand-sized switch with connector prongs", + "Initiate the hand-sized switch with connector prongs by clicking", + "Operate the left arm to engage the small switch", + "Click on the rectangular black plastic switch precisely", + "Approach and tap the red and black switch via the left arm", + "Locate and press the compact switch with toggle on top", + "Directly interact with the rectangular black plastic switch", + "Engage the small switch using the left arm.", + "Press the hand-sized switch with connector prongs directly", + "Interact with the black base switch with red toggle.", + "Deploy the left arm to press the rectangular switch with curved lever", + "Activate the rectangular switch with curved lever by pressing it", + "Engage the small switch using the robotic arm", + "Click the black switch to activate it", + "Move to the rectangular switch with curved lever and click it.", + "Activate the black switch with metallic connectors with robotic precision", + "Press the black base switch with red toggle with the left arm", + "Press the black switch using the left arm.", + "Use the left arm to engage the compact switch with toggle on top", + "Toggle the switch with curved red toggle with the left arm.", + "Activate the small switch with the left arm.", + "Trigger the plastic switch with metal terminals using the left arm", + "Engage the red-top black switch using the left arm", + "Use the left arm for switching the switch with curved red toggle", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Press the rectangular switch with curved lever carefully with the left arm", + "Use the left arm to interact with the black base switch with red toggle", + "Locate and press the red-top black switch", + "Push the small switch via the left arm.", + "Engage the red-top black switch with a press.", + "Activate the the rectangular black plastic switch using the left arm", + "Engage the left arm to press the black base switch with red toggle", + "Engage with the rectangular switch with curved lever manually", + "Click the black switch with metallic connectors using automated tools", + "Interact with the rectangular black plastic switch directly", + "Activate the rectangular switch with curved lever via the left arm", + "Tap the black switch with metallic connectors to engage it", + "Switch the black switch to its active state", + "Click the small switch directly.", + "Direct the left arm to operate the small switch", + "Press the red-top black switch to activate.", + "Command the left arm to engage the black base switch with red toggle", + "Press the black switch via automation", + "Operate the red and black switch with the left arm", + "Activate the plastic switch with metal terminals directly", + "Trigger the black switch with metallic connectors without referencing the left arm", + "Trigger the red and black switch with precision" + ], + "unseen": [ + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm.", + "Click the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Click the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Click the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm.", + "Click the simple toggle switch using the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..3dc8bc8a5a5da777e1b28ed656f746a9e0014b36 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the plastic switch with metal terminals using the left arm", + "Click the hand-sized switch with connector prongs using automated tools", + "Use the left arm for switching the rectangular switch with curved lever", + "Direct the left arm to operate the black base switch with red toggle", + "Activate the compact switch with toggle on top via the left arm", + "Press the small switch with the left arm", + "Move to the red and black switch and click it.", + "Initiate the compact switch with toggle on top by clicking", + "Activate the black switch with metallic connectors directly", + "Locate and press the red-top black switch", + "Trigger the red-top black switch using the left arm", + "Click the black base switch with red toggle with robotic precision", + "Press the red-top black switch carefully with the left arm", + "Click the rectangular black plastic switch directly.", + "Use the left arm to engage the black switch with metallic connectors", + "Engage the rectangular switch with curved lever using the left arm.", + "Approach and tap the compact switch with toggle on top via the left arm", + "Operate the black switch with metallic connectors with the left arm", + "Locate and press the switch with curved red toggle", + "Set the left arm to press the plastic switch with metal terminals", + "Command the left arm to engage the switch with curved red toggle", + "Trigger the plastic switch with metal terminals with precision", + "Operate the left arm to engage the compact switch with toggle on top", + "Trigger the rectangular switch with curved lever without referencing the left arm", + "Interact with the rectangular switch with curved lever directly", + "Toggle the rectangular switch with curved lever with the left arm.", + "Activate the switch with curved red toggle with robotic precision", + "Interact with the red and black switch.", + "Push the rectangular black plastic switch via the left arm.", + "Directly interact with the black switch", + "Set the switch at the rectangular switch with curved lever", + "Tap the red-top black switch to engage it", + "Activate the switch with curved red toggle with the left arm.", + "Click the rectangular switch with curved lever to activate it", + "Press the black switch with metallic connectors to activate.", + "Engage with the black switch manually", + "Deploy the left arm to press the small switch", + "Activate the compact switch with toggle on top by pressing it", + "Press the small switch via automation", + "Activate the the compact switch with toggle on top using the left arm", + "Press the red and black switch using the left arm.", + "Switch the red-top black switch to its active state", + "Press the compact switch with toggle on top directly", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Engage the small switch with a press.", + "Engage the rectangular switch with curved lever using the robotic arm", + "Click on the plastic switch with metal terminals precisely", + "Engage the left arm to press the plastic switch with metal terminals", + "Use the left arm to interact with the black switch with metallic connectors", + "Press the black base switch with red toggle using robotic control", + "Engage the black switch with metallic connectors using the left arm", + "Click the red-top black switch using automated tools", + "Use the left arm for switching the black switch with metallic connectors", + "Direct the left arm to operate the rectangular black plastic switch", + "Activate the red-top black switch via the left arm", + "Press the red-top black switch with the left arm", + "Move to the rectangular black plastic switch and click it.", + "Initiate the black base switch with red toggle by clicking", + "Activate the plastic switch with metal terminals directly", + "Locate and press the compact switch with toggle on top", + "Trigger the switch with curved red toggle using the left arm", + "Click the rectangular black plastic switch with robotic precision", + "Press the hand-sized switch with connector prongs carefully with the left arm", + "Click the switch with curved red toggle directly.", + "Use the left arm to engage the red-top black switch", + "Engage the rectangular switch with curved lever using the left arm.", + "Approach and tap the rectangular switch with curved lever via the left arm", + "Operate the rectangular switch with curved lever with the left arm", + "Locate and press the red and black switch", + "Set the left arm to press the black switch", + "Command the left arm to engage the black base switch with red toggle", + "Trigger the red and black switch with precision", + "Operate the left arm to engage the switch with curved red toggle", + "Trigger the hand-sized switch with connector prongs without referencing the left arm", + "Interact with the black switch with metallic connectors directly", + "Toggle the switch with curved red toggle with the left arm.", + "Activate the black base switch with red toggle with robotic precision", + "Interact with the black switch.", + "Push the red and black switch via the left arm.", + "Directly interact with the black switch with metallic connectors", + "Set the switch at the rectangular black plastic switch", + "Tap the rectangular switch with curved lever to engage it", + "Activate the black base switch with red toggle with the left arm.", + "Click the black switch with metallic connectors to activate it", + "Press the compact switch with toggle on top to activate.", + "Engage with the black switch manually", + "Deploy the left arm to press the black switch with metallic connectors", + "Activate the small switch by pressing it", + "Press the black base switch with red toggle via automation", + "Activate the the black base switch with red toggle using the left arm", + "Press the switch with curved red toggle using the left arm.", + "Switch the black switch to its active state", + "Press the black switch with metallic connectors directly", + "Deploy the left arm to operate the red-top black switch", + "Engage the red and black switch with a press.", + "Engage the red and black switch using the robotic arm", + "Click on the rectangular black plastic switch precisely", + "Engage the left arm to press the rectangular switch with curved lever", + "Use the left arm to interact with the rectangular switch with curved lever", + "Press the plastic switch with metal terminals using robotic control" + ], + "unseen": [ + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..1e014bd93c69279db1b09148e14f2b8c182708f1 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for switching the flat square with raised center", + "Locate and press the angled-edge gray square switch", + "Trigger the palm-sized light gray switch using the right arm", + "Initiate the small square switch made of plastic by clicking", + "Activate the the square gray switch panel using the right arm", + "Activate the palm-sized light gray switch via the right arm", + "Click the smooth gray switch with robotic precision", + "Click the palm-sized light gray switch using automated tools", + "Direct the right arm to operate the smooth gray switch", + "Trigger the square gray switch panel with precision", + "Press the palm-sized light gray switch carefully with the right arm", + "Press the square gray switch panel to activate.", + "Press the switch with smooth light gray finish with the right arm", + "Use the right arm to interact with the square switch with smooth surface", + "Engage the switch with rectangular raised area with a press.", + "Locate and press the square gray switch panel", + "Tap the small square switch made of plastic to engage it", + "Engage the palm-sized light gray switch using the robotic arm", + "Command the right arm to engage the angled-edge gray square switch", + "Click the small square switch made of plastic directly.", + "Engage the square switch with smooth surface using the right arm", + "Push the switch with rectangular raised area via the right arm.", + "Deploy the right arm to operate the light gray plastic switch", + "Interact with the square switch with smooth surface directly", + "Press the switch with rectangular raised area via automation", + "Engage with the flat square with raised center manually", + "Operate the light gray plastic switch with the right arm", + "Press the smooth gray switch using robotic control", + "Approach and tap the square gray switch panel via the right arm", + "Use the right arm to engage the palm-sized light gray switch", + "Trigger the switch for electrical control without referencing the right arm", + "Activate the switch for electrical control by pressing it", + "Set the switch at the switch with smooth light gray finish", + "Activate the switch for electrical control directly", + "Activate the square switch with smooth surface with robotic precision", + "Engage the angled-edge gray square switch using the right arm.", + "Activate the light gray plastic switch with the right arm.", + "Press the square gray switch panel using the right arm.", + "Operate the right arm to engage the small square switch", + "Click the switch with smooth light gray finish to activate it", + "Toggle the palm-sized light gray switch with the right arm.", + "Directly interact with the switch with smooth light gray finish", + "Move to the small square switch made of plastic and click it.", + "Engage the right arm to press the square gray switch panel", + "Deploy the right arm to press the switch with rectangular raised area", + "Click on the switch with smooth light gray finish precisely", + "Interact with the switch for electrical control.", + "Set the right arm to press the square gray switch panel", + "Press the switch with smooth light gray finish directly", + "Switch the smooth gray switch to its active state", + "Use the right arm for switching the small square switch made of plastic", + "Locate and press the switch with smooth light gray finish", + "Trigger the square gray switch panel using the right arm", + "Initiate the angled-edge gray square switch by clicking", + "Activate the the switch with smooth light gray finish using the right arm", + "Activate the light gray plastic switch via the right arm", + "Click the palm-sized light gray switch with robotic precision", + "Click the smooth gray switch using automated tools", + "Direct the right arm to operate the angled-edge gray square switch", + "Trigger the square gray switch panel with precision", + "Press the flat square with raised center carefully with the right arm", + "Press the square switch with smooth surface to activate.", + "Press the switch with smooth light gray finish with the right arm", + "Use the right arm to interact with the square switch with smooth surface", + "Engage the square gray switch panel with a press.", + "Locate and press the switch with smooth light gray finish", + "Tap the small square switch to engage it", + "Engage the angled-edge gray square switch using the robotic arm", + "Command the right arm to engage the switch with rectangular raised area", + "Click the smooth gray switch directly.", + "Engage the palm-sized light gray switch using the right arm", + "Push the palm-sized light gray switch via the right arm.", + "Deploy the right arm to operate the flat square with raised center", + "Interact with the switch for electrical control directly", + "Press the angled-edge gray square switch via automation", + "Engage with the small square switch manually", + "Operate the switch with rectangular raised area with the right arm", + "Press the smooth gray switch using robotic control", + "Approach and tap the switch for electrical control via the right arm", + "Use the right arm to engage the small square switch made of plastic", + "Trigger the switch for electrical control without referencing the right arm", + "Activate the smooth gray switch by pressing it", + "Set the switch at the light gray plastic switch", + "Activate the small square switch directly", + "Activate the light gray plastic switch with robotic precision", + "Engage the light gray plastic switch using the right arm.", + "Activate the light gray plastic switch with the right arm.", + "Press the square gray switch panel using the right arm.", + "Operate the right arm to engage the switch for electrical control", + "Click the angled-edge gray square switch to activate it", + "Toggle the smooth gray switch with the right arm.", + "Directly interact with the switch with smooth light gray finish", + "Move to the switch with smooth light gray finish and click it.", + "Engage the right arm to press the small square switch", + "Deploy the right arm to press the palm-sized light gray switch", + "Click on the switch with rectangular raised area precisely", + "Interact with the square switch with smooth surface.", + "Set the right arm to press the switch for electrical control", + "Press the square switch with smooth surface directly", + "Switch the small square switch to its active state" + ], + "unseen": [ + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm.", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm.", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm.", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm.", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the flat gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..f0d6cf2e9692d2c5c1c570507240423ca937c133 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the plastic switch with angled edges with the right arm.", + "Press the rectangular switch with slanted sides to activate.", + "Interact with the light tan rectangular switch smooth finish directly", + "Activate the the hand-sized switch tan smooth finish using the right arm", + "Trigger the flat switch using the right arm", + "Deploy the right arm to press the switch with darker rectangle", + "Use the right arm to engage the rectangular switch with slanted sides", + "Trigger the switch with darker rectangle without referencing the right arm", + "Command the right arm to engage the switch with darker rectangle", + "Press the angled switch light tan color carefully with the right arm", + "Operate the trapezoid-shaped switch smooth surface with the right arm", + "Switch the tan switch to its active state", + "Tap the angled switch light tan color to engage it", + "Use the right arm for switching the plastic switch with angled edges", + "Press the switch trapezoid shape brown marking directly", + "Initiate the smooth tan switch with textured sides by clicking", + "Engage with the switch with darker rectangle manually", + "Move to the trapezoid-shaped switch smooth surface and click it.", + "Activate the flat switch by pressing it", + "Activate the light tan rectangular switch smooth finish with robotic precision", + "Activate the switch with darker rectangle via the right arm", + "Click the trapezoid-shaped switch smooth surface with robotic precision", + "Locate and press the angled switch light tan color", + "Set the right arm to press the angled switch light tan color", + "Engage the right arm to press the flat switch", + "Direct the right arm to operate the switch with darker rectangle", + "Set the switch at the hand-sized switch tan smooth finish", + "Use the right arm to interact with the switch with darker rectangle", + "Press the switch trapezoid shape brown marking using robotic control", + "Click the trapezoid-shaped switch smooth surface to activate it", + "Trigger the rectangular switch with slanted sides with precision", + "Click on the tan switch precisely", + "Interact with the hand-sized switch tan smooth finish.", + "Press the flat switch using the right arm.", + "Engage the trapezoid-shaped switch smooth surface using the right arm", + "Locate and press the switch with darker rectangle", + "Press the rectangular switch with slanted sides via automation", + "Press the smooth tan switch with textured sides with the right arm", + "Activate the switch trapezoid shape brown marking directly", + "Push the rectangular switch with slanted sides via the right arm.", + "Toggle the flat switch with the right arm.", + "Engage the plastic switch with angled edges with a press.", + "Engage the plastic switch with angled edges using the robotic arm", + "Deploy the right arm to operate the hand-sized switch tan smooth finish", + "Approach and tap the tan switch via the right arm", + "Click the plastic switch with angled edges directly.", + "Operate the right arm to engage the plastic switch with angled edges", + "Click the smooth tan switch with textured sides using automated tools", + "Directly interact with the tan switch", + "Engage the small light tan switch using the right arm.", + "Activate the smooth tan switch with textured sides with the right arm.", + "Press the switch with darker rectangle to activate.", + "Interact with the angled switch light tan color directly", + "Activate the the switch with darker rectangle using the right arm", + "Trigger the trapezoid-shaped switch smooth surface using the right arm", + "Deploy the right arm to press the trapezoid-shaped switch smooth surface", + "Use the right arm to engage the tan switch", + "Trigger the rectangular switch with slanted sides without referencing the right arm", + "Command the right arm to engage the flat switch", + "Press the angled switch light tan color carefully with the right arm", + "Operate the switch trapezoid shape brown marking with the right arm", + "Switch the light tan rectangular switch smooth finish to its active state", + "Tap the light tan rectangular switch smooth finish to engage it", + "Use the right arm for switching the switch with darker rectangle", + "Press the light tan rectangular switch smooth finish directly", + "Initiate the tan switch by clicking", + "Engage with the flat switch manually", + "Move to the plastic switch with angled edges and click it.", + "Activate the plastic switch with angled edges by pressing it", + "Activate the trapezoid-shaped switch smooth surface with robotic precision", + "Activate the trapezoid-shaped switch smooth surface via the right arm", + "Click the tan switch with robotic precision", + "Locate and press the switch trapezoid shape brown marking", + "Set the right arm to press the small light tan switch", + "Engage the right arm to press the small light tan switch", + "Direct the right arm to operate the tan switch", + "Set the switch at the angled switch light tan color", + "Use the right arm to interact with the rectangular switch with slanted sides", + "Press the rectangular switch with slanted sides using robotic control", + "Click the hand-sized switch tan smooth finish to activate it", + "Trigger the switch trapezoid shape brown marking with precision", + "Click on the tan switch precisely", + "Interact with the angled switch light tan color.", + "Press the small light tan switch using the right arm.", + "Engage the plastic switch with angled edges using the right arm", + "Locate and press the flat switch", + "Press the rectangular switch with slanted sides via automation", + "Press the smooth tan switch with textured sides with the right arm", + "Activate the flat switch directly", + "Push the light tan rectangular switch smooth finish via the right arm.", + "Toggle the switch with darker rectangle with the right arm.", + "Engage the plastic switch with angled edges with a press.", + "Engage the switch trapezoid shape brown marking using the robotic arm", + "Deploy the right arm to operate the flat switch", + "Approach and tap the flat switch via the right arm", + "Click the switch trapezoid shape brown marking directly.", + "Operate the right arm to engage the switch with darker rectangle", + "Click the hand-sized switch tan smooth finish using automated tools", + "Directly interact with the rectangular switch with slanted sides", + "Engage the switch trapezoid shape brown marking using the right arm." + ], + "unseen": [ + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..c17b12e6302541e3b232cdbb490e4943bf7cd224 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the right arm to engage the plastic switch with matte buttons", + "Interact with the medium switch with trapezoidal base.", + "Use the right arm for switching the medium switch with trapezoidal base", + "Toggle the gray base with black buttons with the right arm.", + "Press the gray smooth surface switch with the right arm", + "Engage the medium switch with trapezoidal base with a press.", + "Direct the right arm to operate the gray plastic switch", + "Click the two-button gray switch with robotic precision", + "Press the trapezoidal base switch using robotic control", + "Locate and press the gray smooth surface switch", + "Engage the right arm to press the handheld switch", + "Press the plastic switch with matte buttons via automation", + "Press the trapezoidal base switch directly", + "Activate the the medium switch with trapezoidal base using the right arm", + "Move to the switch with trapezoidal base and click it.", + "Trigger the electric toggle switch using the right arm", + "Engage with the plastic switch with matte buttons manually", + "Activate the gray switch with black buttons with robotic precision", + "Operate the medium switch with trapezoidal base with the right arm", + "Set the switch at the switch with trapezoidal base", + "Use the right arm to interact with the trapezoidal base switch", + "Activate the trapezoidal base switch by pressing it", + "Interact with the trapezoidal base switch directly", + "Approach and tap the medium switch with trapezoidal base via the right arm", + "Activate the trapezoidal base switch directly", + "Engage the gray smooth surface switch using the robotic arm", + "Deploy the right arm to press the electric toggle switch", + "Activate the gray smooth surface switch with the right arm.", + "Directly interact with the handheld switch", + "Tap the handheld switch to engage it", + "Engage the plastic switch with matte buttons using the right arm.", + "Click the electric toggle switch to activate it", + "Push the gray smooth surface switch via the right arm.", + "Use the right arm to engage the plastic switch with matte buttons", + "Click the handheld switch directly.", + "Press the trapezoidal base switch to activate.", + "Engage the plastic switch with matte buttons using the right arm", + "Activate the electric toggle switch via the right arm", + "Trigger the two-button gray switch with precision", + "Deploy the right arm to operate the electric toggle switch", + "Initiate the two-button gray switch by clicking", + "Trigger the gray smooth surface switch without referencing the right arm", + "Click on the gray switch with black buttons precisely", + "Set the right arm to press the trapezoidal base switch", + "Locate and press the handheld switch", + "Press the trapezoidal base switch carefully with the right arm", + "Press the gray plastic switch using the right arm.", + "Switch the trapezoidal base switch to its active state", + "Command the right arm to engage the gray smooth surface switch", + "Click the plastic switch with matte buttons using automated tools", + "Operate the right arm to engage the plastic switch with matte buttons", + "Interact with the gray smooth surface switch.", + "Use the right arm for switching the plastic switch with matte buttons", + "Toggle the gray smooth surface switch with the right arm.", + "Press the handheld switch with the right arm", + "Engage the switch with trapezoidal base with a press.", + "Direct the right arm to operate the gray base with black buttons", + "Click the gray switch with black buttons with robotic precision", + "Press the gray plastic switch using robotic control", + "Locate and press the gray plastic switch", + "Engage the right arm to press the gray base with black buttons", + "Press the gray smooth surface switch via automation", + "Press the smooth gray switch directly", + "Activate the the medium switch with trapezoidal base using the right arm", + "Move to the gray base with black buttons and click it.", + "Trigger the handheld switch using the right arm", + "Engage with the gray smooth surface switch manually", + "Activate the smooth gray switch with robotic precision", + "Operate the switch with trapezoidal base with the right arm", + "Set the switch at the smooth gray switch", + "Use the right arm to interact with the electric toggle switch", + "Activate the gray base with black buttons by pressing it", + "Interact with the medium switch with trapezoidal base directly", + "Approach and tap the two-button gray switch via the right arm", + "Activate the switch with trapezoidal base directly", + "Engage the gray switch with black buttons using the robotic arm", + "Deploy the right arm to press the plastic switch with matte buttons", + "Activate the gray smooth surface switch with the right arm.", + "Directly interact with the smooth gray switch", + "Tap the switch with trapezoidal base to engage it", + "Engage the electric toggle switch using the right arm.", + "Click the medium switch with trapezoidal base to activate it", + "Push the handheld switch via the right arm.", + "Use the right arm to engage the handheld switch", + "Click the trapezoidal base switch directly.", + "Press the gray base with black buttons to activate.", + "Engage the plastic switch with matte buttons using the right arm", + "Activate the handheld switch via the right arm", + "Trigger the electric toggle switch with precision", + "Deploy the right arm to operate the plastic switch with matte buttons", + "Initiate the gray smooth surface switch by clicking", + "Trigger the gray switch with black buttons without referencing the right arm", + "Click on the plastic switch with matte buttons precisely", + "Set the right arm to press the gray smooth surface switch", + "Locate and press the electric toggle switch", + "Press the gray base with black buttons carefully with the right arm", + "Press the two-button gray switch using the right arm.", + "Switch the switch with trapezoidal base to its active state", + "Command the right arm to engage the electric toggle switch", + "Click the gray smooth surface switch using automated tools" + ], + "unseen": [ + "Use the right arm to press the gray switch.", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Press the switch with circular black buttons using the right arm", + "Move and click the the gray switch", + "Click the gray switch with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Press the gray switch medium size using the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Press the gray switch medium size using the right arm", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch with the right arm", + "Press the gray switch using the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch.", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the switch with circular black buttons", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Press the switch with circular black buttons using the right arm", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Press the gray switch medium size using the right arm", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm", + "Press the switch with circular black buttons using the right arm", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Press the switch with circular black buttons using the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Press the gray switch using the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Press the switch with circular black buttons using the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..910b5b6d0ab0c55e0132ca7bb24dff3bb22c49af --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Directly interact with the small switch with red lever", + "Push the plastic switch with metal prongs via the left arm.", + "Locate and press the rectangular switch", + "Set the switch at the red and black electrical switch", + "Trigger the metal-pronged black switch without referencing the left arm", + "Engage the tiny rectangular switch using the left arm.", + "Use the left arm to engage the toggle switch with black housing", + "Activate the switch for turning circuits on off with the left arm.", + "Tap the toggle switch with black housing to engage it", + "Press the switch for turning circuits on off to activate.", + "Deploy the left arm to press the metal-pronged black switch", + "Click on the switch with three metal pins precisely", + "Engage the toggle switch with black housing using the robotic arm", + "Interact with the smooth red switch with labels directly", + "Operate the switch with three metal pins with the left arm", + "Activate the the rectangular switch using the left arm", + "Engage with the smooth red switch with labels manually", + "Click the tiny rectangular switch using automated tools", + "Move to the small switch with red lever and click it.", + "Trigger the red and black electrical switch using the left arm", + "Use the left arm to interact with the plastic switch with metal prongs", + "Locate and press the toggle switch with black housing", + "Activate the plastic switch with metal prongs via the left arm", + "Approach and tap the toggle switch with black housing via the left arm", + "Engage the switch for turning circuits on off with a press.", + "Switch the smooth red switch with labels to its active state", + "Set the left arm to press the toggle switch with black housing", + "Deploy the left arm to operate the tiny rectangular switch", + "Engage the switch for turning circuits on off using the left arm", + "Press the two-tone red black switch directly", + "Activate the red and black electrical switch by pressing it", + "Operate the left arm to engage the red and black electrical switch", + "Press the switch with three metal pins with the left arm", + "Click the switch for turning circuits on off to activate it", + "Toggle the rectangular switch with the left arm.", + "Trigger the plastic switch with metal prongs with precision", + "Press the two-tone red black switch carefully with the left arm", + "Press the small switch with red lever using the left arm.", + "Press the tiny rectangular switch using robotic control", + "Initiate the toggle switch with black housing by clicking", + "Press the small switch with red lever via automation", + "Use the left arm for switching the plastic switch with metal prongs", + "Activate the black base switch with robotic precision", + "Activate the toggle switch with black housing directly", + "Click the smooth red switch with labels with robotic precision", + "Engage the left arm to press the switch with three metal pins", + "Interact with the plastic switch with metal prongs.", + "Direct the left arm to operate the tiny rectangular switch", + "Command the left arm to engage the smooth red switch with labels", + "Click the two-tone red black switch directly.", + "Directly interact with the small switch with red lever", + "Push the red and black electrical switch via the left arm.", + "Locate and press the switch for turning circuits on off", + "Set the switch at the rectangular switch", + "Trigger the metal-pronged black switch without referencing the left arm", + "Engage the plastic switch with metal prongs using the left arm.", + "Use the left arm to engage the switch with three metal pins", + "Activate the two-tone red black switch with the left arm.", + "Tap the two-tone red black switch to engage it", + "Press the switch for turning circuits on off to activate.", + "Deploy the left arm to press the toggle switch with black housing", + "Click on the red and black electrical switch precisely", + "Engage the plastic switch with metal prongs using the robotic arm", + "Interact with the toggle switch with black housing directly", + "Operate the switch with three metal pins with the left arm", + "Activate the the smooth red switch with labels using the left arm", + "Engage with the small switch with red lever manually", + "Click the toggle switch with black housing using automated tools", + "Move to the metal-pronged black switch and click it.", + "Trigger the two-tone red black switch using the left arm", + "Use the left arm to interact with the small switch with red lever", + "Locate and press the toggle switch with black housing", + "Activate the red and black electrical switch via the left arm", + "Approach and tap the black base switch via the left arm", + "Engage the toggle switch with black housing with a press.", + "Switch the metal-pronged black switch to its active state", + "Set the left arm to press the switch for turning circuits on off", + "Deploy the left arm to operate the two-tone red black switch", + "Engage the rectangular switch using the left arm", + "Press the two-tone red black switch directly", + "Activate the switch with three metal pins by pressing it", + "Operate the left arm to engage the smooth red switch with labels", + "Press the tiny rectangular switch with the left arm", + "Click the switch with three metal pins to activate it", + "Toggle the two-tone red black switch with the left arm.", + "Trigger the small switch with red lever with precision", + "Press the smooth red switch with labels carefully with the left arm", + "Press the metal-pronged black switch using the left arm.", + "Press the rectangular switch using robotic control", + "Initiate the switch with three metal pins by clicking", + "Press the small switch with red lever via automation", + "Use the left arm for switching the red and black electrical switch", + "Activate the red and black electrical switch with robotic precision", + "Activate the rectangular switch directly", + "Click the tiny rectangular switch with robotic precision", + "Engage the left arm to press the switch for turning circuits on off", + "Interact with the switch for turning circuits on off.", + "Direct the left arm to operate the toggle switch with black housing", + "Command the left arm to engage the smooth red switch with labels", + "Click the red and black electrical switch directly." + ], + "unseen": [ + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..d00e54df1c7eb71ead3a0360d62c5ccffd087206 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the compact switch with flat base with robotic precision", + "Activate the switch with thin red toggle by pressing it", + "Deploy the right arm to press the plastic gray body switch", + "Activate the gray switch with red toggle via the right arm", + "Approach and tap the light gray square switch via the right arm", + "Activate the red bar switch with the right arm.", + "Activate the the electrical switch with protruding toggle using the right arm", + "Move to the square switch with red bar and click it.", + "Trigger the switch without referencing the right arm", + "Engage the electrical switch with protruding toggle using the robotic arm", + "Command the right arm to engage the gray switch with red toggle", + "Press the electrical switch with protruding toggle to activate.", + "Trigger the switch using the right arm", + "Click the red bar switch directly.", + "Use the right arm to engage the plastic gray body switch", + "Press the plastic gray body switch using the right arm.", + "Direct the right arm to operate the control switch with red lever", + "Press the electrical switch with protruding toggle directly", + "Interact with the electrical switch with protruding toggle directly", + "Click on the control switch with red lever precisely", + "Press the red bar switch carefully with the right arm", + "Operate the right arm to engage the switch with thin red toggle", + "Push the gray switch with red toggle via the right arm.", + "Locate and press the plastic gray body switch", + "Engage the right arm to press the control switch with red lever", + "Initiate the switch by clicking", + "Locate and press the control switch with red lever", + "Click the square switch with red bar to activate it", + "Interact with the control switch with red lever.", + "Activate the switch with thin red toggle directly", + "Switch the red bar switch to its active state", + "Set the right arm to press the toggle switch light gray base", + "Operate the plastic gray body switch with the right arm", + "Deploy the right arm to operate the square switch with red bar", + "Press the switch with the right arm", + "Press the light gray square switch using robotic control", + "Click the compact switch with flat base with robotic precision", + "Engage the square switch with red bar using the right arm.", + "Click the electrical switch with protruding toggle using automated tools", + "Press the light gray square switch via automation", + "Engage the square switch with red bar using the right arm", + "Use the right arm to interact with the gray switch with red toggle", + "Engage with the red bar switch manually", + "Engage the switch with thin red toggle with a press.", + "Set the switch at the plastic gray body switch", + "Directly interact with the red bar switch", + "Toggle the switch with thin red toggle with the right arm.", + "Tap the gray switch with red toggle to engage it", + "Use the right arm for switching the red bar switch", + "Trigger the electrical switch with protruding toggle with precision", + "Activate the switch for electrical control with robotic precision", + "Activate the control switch with red lever by pressing it", + "Deploy the right arm to press the gray switch with red toggle", + "Activate the switch via the right arm", + "Approach and tap the switch via the right arm", + "Activate the toggle switch light gray base with the right arm.", + "Activate the the light gray square switch using the right arm", + "Move to the switch for electrical control and click it.", + "Trigger the square switch with red bar without referencing the right arm", + "Engage the square switch with red bar using the robotic arm", + "Command the right arm to engage the red bar switch", + "Press the light gray square switch to activate.", + "Trigger the light gray square switch using the right arm", + "Click the switch directly.", + "Use the right arm to engage the electrical switch with protruding toggle", + "Press the electrical switch with protruding toggle using the right arm.", + "Direct the right arm to operate the square switch with red bar", + "Press the switch for electrical control directly", + "Interact with the square switch with red bar directly", + "Click on the electrical switch with protruding toggle precisely", + "Press the plastic gray body switch carefully with the right arm", + "Operate the right arm to engage the electrical switch with protruding toggle", + "Push the switch for electrical control via the right arm.", + "Locate and press the switch with thin red toggle", + "Engage the right arm to press the gray switch with red toggle", + "Initiate the toggle switch light gray base by clicking", + "Locate and press the red bar switch", + "Click the plastic gray body switch to activate it", + "Interact with the gray switch with red toggle.", + "Activate the toggle switch light gray base directly", + "Switch the plastic gray body switch to its active state", + "Set the right arm to press the light gray square switch", + "Operate the compact switch with flat base with the right arm", + "Deploy the right arm to operate the toggle switch light gray base", + "Press the red bar switch with the right arm", + "Press the switch with thin red toggle using robotic control", + "Click the square switch with red bar with robotic precision", + "Engage the light gray square switch using the right arm.", + "Click the switch for electrical control using automated tools", + "Press the red bar switch via automation", + "Engage the switch with thin red toggle using the right arm", + "Use the right arm to interact with the toggle switch light gray base", + "Engage with the plastic gray body switch manually", + "Engage the light gray square switch with a press.", + "Set the switch at the compact switch with flat base", + "Directly interact with the plastic gray body switch", + "Toggle the gray switch with red toggle with the right arm.", + "Tap the plastic gray body switch to engage it", + "Use the right arm for switching the switch for electrical control", + "Trigger the plastic gray body switch with precision" + ], + "unseen": [ + "Use the right arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the smooth gray base switch", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the smooth gray base switch", + "Move and click the the flat square gray switch", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Press the flat square gray switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Direct the right arm to click the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Direct the right arm to click the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the flat square gray switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the smooth gray base switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Direct the right arm to click the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the smooth gray base switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..c4c429d5878c33f90cc5c58913b5b015a6c5ef63 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the toggle switch with black housing", + "Click the switch with three metal pins using automated tools", + "Click the two-tone red black switch with robotic precision", + "Engage the small switch with red lever using the right arm.", + "Activate the metal-pronged black switch via the right arm", + "Deploy the right arm to press the smooth red switch with labels", + "Set the switch at the switch with three metal pins", + "Engage the red and black electrical switch using the robotic arm", + "Interact with the switch with three metal pins.", + "Use the right arm to interact with the black base switch", + "Press the black base switch directly", + "Click the black base switch directly.", + "Activate the two-tone red black switch with the right arm.", + "Toggle the smooth red switch with labels with the right arm.", + "Move to the two-tone red black switch and click it.", + "Click the small switch with red lever to activate it", + "Operate the right arm to engage the toggle switch with black housing", + "Directly interact with the switch for turning circuits on off", + "Press the switch for turning circuits on off using robotic control", + "Operate the rectangular switch with the right arm", + "Direct the right arm to operate the plastic switch with metal prongs", + "Deploy the right arm to operate the black base switch", + "Activate the two-tone red black switch by pressing it", + "Trigger the two-tone red black switch using the right arm", + "Click on the red and black electrical switch precisely", + "Command the right arm to engage the plastic switch with metal prongs", + "Initiate the small switch with red lever by clicking", + "Engage with the small switch with red lever manually", + "Engage the smooth red switch with labels using the right arm", + "Trigger the toggle switch with black housing with precision", + "Switch the plastic switch with metal prongs to its active state", + "Press the small switch with red lever carefully with the right arm", + "Interact with the rectangular switch directly", + "Use the right arm to engage the small switch with red lever", + "Push the switch for turning circuits on off via the right arm.", + "Set the right arm to press the switch for turning circuits on off", + "Press the rectangular switch with the right arm", + "Engage the switch for turning circuits on off with a press.", + "Activate the the toggle switch with black housing using the right arm", + "Locate and press the metal-pronged black switch", + "Press the smooth red switch with labels to activate.", + "Trigger the plastic switch with metal prongs without referencing the right arm", + "Tap the red and black electrical switch to engage it", + "Press the switch for turning circuits on off via automation", + "Activate the plastic switch with metal prongs directly", + "Engage the right arm to press the metal-pronged black switch", + "Press the plastic switch with metal prongs using the right arm.", + "Use the right arm for switching the tiny rectangular switch", + "Approach and tap the metal-pronged black switch via the right arm", + "Activate the switch with three metal pins with robotic precision", + "Locate and press the small switch with red lever", + "Click the red and black electrical switch using automated tools", + "Click the rectangular switch with robotic precision", + "Engage the switch for turning circuits on off using the right arm.", + "Activate the two-tone red black switch via the right arm", + "Deploy the right arm to press the plastic switch with metal prongs", + "Set the switch at the metal-pronged black switch", + "Engage the two-tone red black switch using the robotic arm", + "Interact with the rectangular switch.", + "Use the right arm to interact with the small switch with red lever", + "Press the plastic switch with metal prongs directly", + "Click the red and black electrical switch directly.", + "Activate the tiny rectangular switch with the right arm.", + "Toggle the metal-pronged black switch with the right arm.", + "Move to the metal-pronged black switch and click it.", + "Click the small switch with red lever to activate it", + "Operate the right arm to engage the metal-pronged black switch", + "Directly interact with the black base switch", + "Press the switch with three metal pins using robotic control", + "Operate the plastic switch with metal prongs with the right arm", + "Direct the right arm to operate the black base switch", + "Deploy the right arm to operate the black base switch", + "Activate the rectangular switch by pressing it", + "Trigger the plastic switch with metal prongs using the right arm", + "Click on the black base switch precisely", + "Command the right arm to engage the toggle switch with black housing", + "Initiate the switch for turning circuits on off by clicking", + "Engage with the plastic switch with metal prongs manually", + "Engage the small switch with red lever using the right arm", + "Trigger the smooth red switch with labels with precision", + "Switch the switch for turning circuits on off to its active state", + "Press the small switch with red lever carefully with the right arm", + "Interact with the switch for turning circuits on off directly", + "Use the right arm to engage the black base switch", + "Push the two-tone red black switch via the right arm.", + "Set the right arm to press the rectangular switch", + "Press the toggle switch with black housing with the right arm", + "Engage the small switch with red lever with a press.", + "Activate the the plastic switch with metal prongs using the right arm", + "Locate and press the small switch with red lever", + "Press the two-tone red black switch to activate.", + "Trigger the tiny rectangular switch without referencing the right arm", + "Tap the black base switch to engage it", + "Press the switch for turning circuits on off via automation", + "Activate the red and black electrical switch directly", + "Engage the right arm to press the toggle switch with black housing", + "Press the metal-pronged black switch using the right arm.", + "Use the right arm for switching the rectangular switch", + "Approach and tap the smooth red switch with labels via the right arm", + "Activate the switch with three metal pins with robotic precision" + ], + "unseen": [ + "Click the red toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..477fa57d91d5927a3375c9bda0ee46f50516505a --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move to the plastic switch with metal prongs and click it.", + "Click the smooth red switch with labels with robotic precision", + "Press the rectangular switch using the right arm.", + "Locate and press the metal-pronged black switch", + "Switch the plastic switch with metal prongs to its active state", + "Tap the metal-pronged black switch to engage it", + "Click the toggle switch with black housing using automated tools", + "Press the switch with three metal pins carefully with the right arm", + "Engage the right arm to press the plastic switch with metal prongs", + "Engage the metal-pronged black switch using the right arm", + "Toggle the smooth red switch with labels with the right arm.", + "Direct the right arm to operate the red and black electrical switch", + "Operate the right arm to engage the metal-pronged black switch", + "Use the right arm to engage the switch for turning circuits on off", + "Trigger the red and black electrical switch using the right arm", + "Set the right arm to press the switch for turning circuits on off", + "Interact with the rectangular switch.", + "Operate the plastic switch with metal prongs with the right arm", + "Press the red and black electrical switch via automation", + "Set the switch at the tiny rectangular switch", + "Directly interact with the red and black electrical switch", + "Click the small switch with red lever directly.", + "Activate the toggle switch with black housing with the right arm.", + "Use the right arm to interact with the switch with three metal pins", + "Press the switch for turning circuits on off with the right arm", + "Activate the rectangular switch with robotic precision", + "Activate the two-tone red black switch via the right arm", + "Approach and tap the black base switch via the right arm", + "Press the red and black electrical switch using robotic control", + "Engage the black base switch using the robotic arm", + "Press the switch with three metal pins to activate.", + "Click on the metal-pronged black switch precisely", + "Engage with the red and black electrical switch manually", + "Press the red and black electrical switch directly", + "Click the metal-pronged black switch to activate it", + "Engage the red and black electrical switch using the right arm.", + "Engage the smooth red switch with labels with a press.", + "Activate the toggle switch with black housing directly", + "Initiate the small switch with red lever by clicking", + "Command the right arm to engage the plastic switch with metal prongs", + "Locate and press the switch with three metal pins", + "Interact with the black base switch directly", + "Use the right arm for switching the toggle switch with black housing", + "Activate the smooth red switch with labels by pressing it", + "Trigger the black base switch with precision", + "Deploy the right arm to operate the red and black electrical switch", + "Trigger the switch with three metal pins without referencing the right arm", + "Activate the the metal-pronged black switch using the right arm", + "Push the metal-pronged black switch via the right arm.", + "Deploy the right arm to press the switch with three metal pins", + "Move to the tiny rectangular switch and click it.", + "Click the rectangular switch with robotic precision", + "Press the smooth red switch with labels using the right arm.", + "Locate and press the rectangular switch", + "Switch the tiny rectangular switch to its active state", + "Tap the red and black electrical switch to engage it", + "Click the switch for turning circuits on off using automated tools", + "Press the smooth red switch with labels carefully with the right arm", + "Engage the right arm to press the plastic switch with metal prongs", + "Engage the metal-pronged black switch using the right arm", + "Toggle the red and black electrical switch with the right arm.", + "Direct the right arm to operate the switch with three metal pins", + "Operate the right arm to engage the plastic switch with metal prongs", + "Use the right arm to engage the red and black electrical switch", + "Trigger the small switch with red lever using the right arm", + "Set the right arm to press the switch with three metal pins", + "Interact with the rectangular switch.", + "Operate the plastic switch with metal prongs with the right arm", + "Press the two-tone red black switch via automation", + "Set the switch at the black base switch", + "Directly interact with the smooth red switch with labels", + "Click the two-tone red black switch directly.", + "Activate the two-tone red black switch with the right arm.", + "Use the right arm to interact with the switch with three metal pins", + "Press the black base switch with the right arm", + "Activate the smooth red switch with labels with robotic precision", + "Activate the black base switch via the right arm", + "Approach and tap the smooth red switch with labels via the right arm", + "Press the two-tone red black switch using robotic control", + "Engage the plastic switch with metal prongs using the robotic arm", + "Press the rectangular switch to activate.", + "Click on the smooth red switch with labels precisely", + "Engage with the metal-pronged black switch manually", + "Press the switch for turning circuits on off directly", + "Click the black base switch to activate it", + "Engage the switch for turning circuits on off using the right arm.", + "Engage the tiny rectangular switch with a press.", + "Activate the black base switch directly", + "Initiate the two-tone red black switch by clicking", + "Command the right arm to engage the tiny rectangular switch", + "Locate and press the small switch with red lever", + "Interact with the small switch with red lever directly", + "Use the right arm for switching the plastic switch with metal prongs", + "Activate the black base switch by pressing it", + "Trigger the smooth red switch with labels with precision", + "Deploy the right arm to operate the switch for turning circuits on off", + "Trigger the black base switch without referencing the right arm", + "Activate the the black base switch using the right arm", + "Push the two-tone red black switch via the right arm.", + "Deploy the right arm to press the switch for turning circuits on off" + ], + "unseen": [ + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the red toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Direct the right arm to click the red toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Direct the right arm to click the red toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the red toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Direct the right arm to click the red toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Direct the right arm to click the red toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the curved toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the curved toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..819039f5ba06a19a6fa52de246345cf49cb98d16 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to interact with the toggle switch with brown rectangle button", + "Operate the switch with brown button with the left arm", + "Interact with the switch with brown button directly", + "Click the switch with a smooth top with robotic precision", + "Deploy the left arm to press the switch with rectangular dark button", + "Trigger the hand-sized light beige switch without referencing the left arm", + "Approach and tap the light-colored trapezoid-shaped plastic switch via the left arm", + "Press the switch with a smooth top using robotic control", + "Engage with the switch with rectangular dark button manually", + "Engage the light-colored trapezoid-shaped plastic switch with a press.", + "Press the light plastic switch carefully with the left arm", + "Direct the left arm to operate the switch with a smooth top", + "Command the left arm to engage the toggle switch with brown rectangle button", + "Deploy the left arm to operate the tiny matte beige toggle switch", + "Directly interact with the switch with brown button", + "Activate the the switch with a smooth top using the left arm", + "Locate and press the beige switch", + "Activate the matte beige switch with flat top directly", + "Activate the beige switch with smooth finish with the left arm.", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Interact with the switch with a smooth top.", + "Activate the matte beige switch with flat top via the left arm", + "Press the light plastic switch using the left arm.", + "Use the left arm for switching the beige switch with smooth finish", + "Click the tiny matte beige toggle switch to activate it", + "Click the light plastic switch using automated tools", + "Engage the left arm to press the toggle switch with brown rectangle button", + "Tap the switch with rectangular dark button to engage it", + "Set the switch at the switch with rectangular dark button", + "Click the hand-sized light beige switch directly.", + "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm", + "Operate the left arm to engage the light plastic switch", + "Use the left arm to engage the switch with brown button", + "Engage the switch with a smooth top using the left arm.", + "Trigger the beige switch with smooth finish with precision", + "Trigger the matte beige switch with flat top using the left arm", + "Engage the hand-sized light beige switch using the left arm", + "Activate the beige switch with smooth finish with robotic precision", + "Press the toggle switch with brown rectangle button via automation", + "Switch the switch with rectangular dark button to its active state", + "Initiate the switch with a smooth top by clicking", + "Press the hand-sized light beige switch directly", + "Activate the switch with rectangular dark button by pressing it", + "Press the hand-sized light beige switch with the left arm", + "Push the light-colored trapezoid-shaped plastic switch via the left arm.", + "Move to the tiny matte beige toggle switch and click it.", + "Toggle the light plastic switch with the left arm.", + "Press the tiny matte beige toggle switch to activate.", + "Click on the tiny matte beige toggle switch precisely", + "Set the left arm to press the switch with a smooth top", + "Use the left arm to interact with the beige switch", + "Operate the switch with a smooth top with the left arm", + "Interact with the switch with rectangular dark button directly", + "Click the toggle switch with brown rectangle button with robotic precision", + "Deploy the left arm to press the switch with rectangular dark button", + "Trigger the tiny matte beige toggle switch without referencing the left arm", + "Approach and tap the beige switch via the left arm", + "Press the toggle switch with brown rectangle button using robotic control", + "Engage with the light-colored trapezoid-shaped plastic switch manually", + "Engage the hand-sized light beige switch with a press.", + "Press the matte beige switch with flat top carefully with the left arm", + "Direct the left arm to operate the light plastic switch", + "Command the left arm to engage the matte beige switch with flat top", + "Deploy the left arm to operate the small trapezoid switch", + "Directly interact with the hand-sized light beige switch", + "Activate the the light-colored trapezoid-shaped plastic switch using the left arm", + "Locate and press the matte beige switch with flat top", + "Activate the switch with brown button directly", + "Activate the switch with brown button with the left arm.", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Interact with the switch with rectangular dark button.", + "Activate the beige switch with smooth finish via the left arm", + "Press the hand-sized light beige switch using the left arm.", + "Use the left arm for switching the switch with a smooth top", + "Click the switch with a smooth top to activate it", + "Click the matte beige switch with flat top using automated tools", + "Engage the left arm to press the light-colored trapezoid-shaped plastic switch", + "Tap the matte beige switch with flat top to engage it", + "Set the switch at the toggle switch with brown rectangle button", + "Click the light plastic switch directly.", + "Engage the matte beige switch with flat top using the robotic arm", + "Operate the left arm to engage the toggle switch with brown rectangle button", + "Use the left arm to engage the beige switch", + "Engage the switch with rectangular dark button using the left arm.", + "Trigger the light-colored trapezoid-shaped plastic switch with precision", + "Trigger the beige switch using the left arm", + "Engage the switch with brown button using the left arm", + "Activate the beige switch with robotic precision", + "Press the toggle switch with brown rectangle button via automation", + "Switch the light-colored trapezoid-shaped plastic switch to its active state", + "Initiate the light-colored trapezoid-shaped plastic switch by clicking", + "Press the switch with rectangular dark button directly", + "Activate the switch with brown button by pressing it", + "Press the hand-sized light beige switch with the left arm", + "Push the toggle switch with brown rectangle button via the left arm.", + "Move to the toggle switch with brown rectangle button and click it.", + "Toggle the hand-sized light beige switch with the left arm.", + "Press the beige switch with smooth finish to activate.", + "Click on the beige switch with smooth finish precisely", + "Set the left arm to press the switch with a smooth top" + ], + "unseen": [ + "Click the beige switch with darker brown top with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the rectangular button switch on beige base", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the rectangular button switch on beige base", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the rectangular button switch on beige base.", + "Use the left arm to press the rectangular button switch on beige base", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the rectangular button switch on beige base", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the rectangular button switch on beige base.", + "Use the left arm to press the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Use the left arm to press the rectangular button switch on beige base.", + "Use the left arm to press the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the rectangular button switch on beige base.", + "Use the left arm to press the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..19e4519a9d20c82c0cba1f7e183ce71826a2bd1b --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the palm-sized light gray switch to activate it", + "Deploy the right arm to press the square switch with smooth surface", + "Press the switch for electrical control directly", + "Engage the angled-edge gray square switch using the robotic arm", + "Press the switch for electrical control to activate.", + "Interact with the square gray switch panel.", + "Press the small square switch carefully with the right arm", + "Trigger the square switch with smooth surface without referencing the right arm", + "Use the right arm for switching the light gray plastic switch", + "Set the switch at the switch for electrical control", + "Click the flat square with raised center with robotic precision", + "Activate the small square switch via the right arm", + "Directly interact with the switch with rectangular raised area", + "Interact with the angled-edge gray square switch directly", + "Engage with the smooth gray switch manually", + "Activate the the square switch with smooth surface using the right arm", + "Click the flat square with raised center directly.", + "Activate the light gray plastic switch directly", + "Use the right arm to engage the small square switch made of plastic", + "Click the smooth gray switch using automated tools", + "Press the switch for electrical control via automation", + "Engage the right arm to press the flat square with raised center", + "Move to the switch with smooth light gray finish and click it.", + "Activate the switch with smooth light gray finish with robotic precision", + "Direct the right arm to operate the light gray plastic switch", + "Engage the small square switch made of plastic with a press.", + "Set the right arm to press the square gray switch panel", + "Switch the flat square with raised center to its active state", + "Trigger the square gray switch panel with precision", + "Press the light gray plastic switch using the right arm.", + "Use the right arm to interact with the angled-edge gray square switch", + "Engage the switch with rectangular raised area using the right arm", + "Activate the small square switch with the right arm.", + "Engage the square gray switch panel using the right arm.", + "Operate the right arm to engage the switch with smooth light gray finish", + "Tap the square gray switch panel to engage it", + "Command the right arm to engage the square switch with smooth surface", + "Initiate the switch with rectangular raised area by clicking", + "Push the small square switch via the right arm.", + "Click on the switch with smooth light gray finish precisely", + "Operate the smooth gray switch with the right arm", + "Approach and tap the flat square with raised center via the right arm", + "Press the square gray switch panel using robotic control", + "Locate and press the small square switch", + "Deploy the right arm to operate the smooth gray switch", + "Trigger the square switch with smooth surface using the right arm", + "Toggle the switch with smooth light gray finish with the right arm.", + "Locate and press the switch with smooth light gray finish", + "Activate the square switch with smooth surface by pressing it", + "Press the angled-edge gray square switch with the right arm", + "Click the small square switch to activate it", + "Deploy the right arm to press the palm-sized light gray switch", + "Press the palm-sized light gray switch directly", + "Engage the square gray switch panel using the robotic arm", + "Press the small square switch made of plastic to activate.", + "Interact with the square gray switch panel.", + "Press the switch with smooth light gray finish carefully with the right arm", + "Trigger the light gray plastic switch without referencing the right arm", + "Use the right arm for switching the angled-edge gray square switch", + "Set the switch at the switch with smooth light gray finish", + "Click the square gray switch panel with robotic precision", + "Activate the palm-sized light gray switch via the right arm", + "Directly interact with the switch with rectangular raised area", + "Interact with the square gray switch panel directly", + "Engage with the switch for electrical control manually", + "Activate the the angled-edge gray square switch using the right arm", + "Click the flat square with raised center directly.", + "Activate the square switch with smooth surface directly", + "Use the right arm to engage the small square switch", + "Click the flat square with raised center using automated tools", + "Press the smooth gray switch via automation", + "Engage the right arm to press the square gray switch panel", + "Move to the palm-sized light gray switch and click it.", + "Activate the small square switch with robotic precision", + "Direct the right arm to operate the square switch with smooth surface", + "Engage the smooth gray switch with a press.", + "Set the right arm to press the square switch with smooth surface", + "Switch the palm-sized light gray switch to its active state", + "Trigger the switch for electrical control with precision", + "Press the angled-edge gray square switch using the right arm.", + "Use the right arm to interact with the switch with rectangular raised area", + "Engage the angled-edge gray square switch using the right arm", + "Activate the light gray plastic switch with the right arm.", + "Engage the light gray plastic switch using the right arm.", + "Operate the right arm to engage the switch with smooth light gray finish", + "Tap the palm-sized light gray switch to engage it", + "Command the right arm to engage the small square switch", + "Initiate the smooth gray switch by clicking", + "Push the smooth gray switch via the right arm.", + "Click on the flat square with raised center precisely", + "Operate the smooth gray switch with the right arm", + "Approach and tap the switch for electrical control via the right arm", + "Press the flat square with raised center using robotic control", + "Locate and press the flat square with raised center", + "Deploy the right arm to operate the switch with smooth light gray finish", + "Trigger the square gray switch panel using the right arm", + "Toggle the smooth gray switch with the right arm.", + "Locate and press the square switch with smooth surface", + "Activate the square gray switch panel by pressing it", + "Press the smooth gray switch with the right arm" + ], + "unseen": [ + "Click the flat gray switch using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges.", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch", + "Click the switch with angled edges using the right arm", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch using the right arm", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Activate the switch at the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch using the right arm", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..00cc70bb057350e1c8ff8f9dc43cdf38ee79a5b6 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the two-tone red black switch to activate.", + "Activate the rectangular switch directly", + "Set the switch at the red and black electrical switch", + "Use the left arm to engage the smooth red switch with labels", + "Click the switch with three metal pins directly.", + "Command the left arm to engage the switch with three metal pins", + "Press the rectangular switch with the left arm", + "Toggle the rectangular switch with the left arm.", + "Trigger the black base switch with precision", + "Approach and tap the plastic switch with metal prongs via the left arm", + "Engage the switch for turning circuits on off with a press.", + "Tap the plastic switch with metal prongs to engage it", + "Activate the the smooth red switch with labels using the left arm", + "Click the rectangular switch with robotic precision", + "Engage the left arm to press the switch with three metal pins", + "Push the metal-pronged black switch via the left arm.", + "Press the plastic switch with metal prongs directly", + "Click on the two-tone red black switch precisely", + "Deploy the left arm to operate the switch for turning circuits on off", + "Activate the rectangular switch with the left arm.", + "Trigger the smooth red switch with labels without referencing the left arm", + "Press the red and black electrical switch using the left arm.", + "Direct the left arm to operate the smooth red switch with labels", + "Use the left arm for switching the switch with three metal pins", + "Press the toggle switch with black housing carefully with the left arm", + "Engage the smooth red switch with labels using the robotic arm", + "Click the tiny rectangular switch to activate it", + "Interact with the switch with three metal pins directly", + "Activate the black base switch via the left arm", + "Directly interact with the smooth red switch with labels", + "Press the switch with three metal pins using robotic control", + "Switch the switch for turning circuits on off to its active state", + "Deploy the left arm to press the plastic switch with metal prongs", + "Initiate the plastic switch with metal prongs by clicking", + "Activate the switch with three metal pins with robotic precision", + "Operate the smooth red switch with labels with the left arm", + "Press the red and black electrical switch via automation", + "Locate and press the rectangular switch", + "Engage the black base switch using the left arm", + "Set the left arm to press the metal-pronged black switch", + "Locate and press the plastic switch with metal prongs", + "Engage the smooth red switch with labels using the left arm.", + "Operate the left arm to engage the metal-pronged black switch", + "Trigger the small switch with red lever using the left arm", + "Interact with the switch with three metal pins.", + "Click the small switch with red lever using automated tools", + "Engage with the red and black electrical switch manually", + "Use the left arm to interact with the plastic switch with metal prongs", + "Activate the two-tone red black switch by pressing it", + "Move to the small switch with red lever and click it.", + "Press the smooth red switch with labels to activate.", + "Activate the plastic switch with metal prongs directly", + "Set the switch at the two-tone red black switch", + "Use the left arm to engage the toggle switch with black housing", + "Click the tiny rectangular switch directly.", + "Command the left arm to engage the toggle switch with black housing", + "Press the switch with three metal pins with the left arm", + "Toggle the red and black electrical switch with the left arm.", + "Trigger the small switch with red lever with precision", + "Approach and tap the switch for turning circuits on off via the left arm", + "Engage the toggle switch with black housing with a press.", + "Tap the two-tone red black switch to engage it", + "Activate the the tiny rectangular switch using the left arm", + "Click the small switch with red lever with robotic precision", + "Engage the left arm to press the tiny rectangular switch", + "Push the black base switch via the left arm.", + "Press the switch with three metal pins directly", + "Click on the switch for turning circuits on off precisely", + "Deploy the left arm to operate the red and black electrical switch", + "Activate the switch with three metal pins with the left arm.", + "Trigger the tiny rectangular switch without referencing the left arm", + "Press the plastic switch with metal prongs using the left arm.", + "Direct the left arm to operate the switch with three metal pins", + "Use the left arm for switching the small switch with red lever", + "Press the black base switch carefully with the left arm", + "Engage the metal-pronged black switch using the robotic arm", + "Click the metal-pronged black switch to activate it", + "Interact with the rectangular switch directly", + "Activate the tiny rectangular switch via the left arm", + "Directly interact with the small switch with red lever", + "Press the small switch with red lever using robotic control", + "Switch the switch with three metal pins to its active state", + "Deploy the left arm to press the red and black electrical switch", + "Initiate the plastic switch with metal prongs by clicking", + "Activate the rectangular switch with robotic precision", + "Operate the switch with three metal pins with the left arm", + "Press the rectangular switch via automation", + "Locate and press the two-tone red black switch", + "Engage the red and black electrical switch using the left arm", + "Set the left arm to press the metal-pronged black switch", + "Locate and press the small switch with red lever", + "Engage the switch with three metal pins using the left arm.", + "Operate the left arm to engage the toggle switch with black housing", + "Trigger the two-tone red black switch using the left arm", + "Interact with the black base switch.", + "Click the toggle switch with black housing using automated tools", + "Engage with the toggle switch with black housing manually", + "Use the left arm to interact with the smooth red switch with labels", + "Activate the two-tone red black switch by pressing it", + "Move to the switch for turning circuits on off and click it." + ], + "unseen": [ + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Press the red toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..d02dd111aa4a7d8e6147061cf21a483ebac79bd1 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the compact switch with toggle on top to activate.", + "Operate the small switch with the right arm", + "Activate the hand-sized switch with connector prongs by pressing it", + "Click the black switch directly.", + "Trigger the small switch using the right arm", + "Activate the plastic switch with metal terminals with the right arm.", + "Press the switch with curved red toggle with the right arm", + "Click the black switch to activate it", + "Activate the plastic switch with metal terminals via the right arm", + "Set the right arm to press the black switch with metallic connectors", + "Interact with the black switch with metallic connectors directly", + "Deploy the right arm to operate the rectangular black plastic switch", + "Command the right arm to engage the black switch with metallic connectors", + "Switch the red-top black switch to its active state", + "Tap the compact switch with toggle on top to engage it", + "Press the plastic switch with metal terminals directly", + "Engage the right arm to press the black base switch with red toggle", + "Activate the plastic switch with metal terminals directly", + "Click the red and black switch using automated tools", + "Press the rectangular switch with curved lever using the right arm.", + "Toggle the red-top black switch with the right arm.", + "Use the right arm to interact with the black switch with metallic connectors", + "Click on the plastic switch with metal terminals precisely", + "Push the black base switch with red toggle via the right arm.", + "Engage the small switch using the robotic arm", + "Use the right arm to engage the red-top black switch", + "Engage the small switch using the right arm", + "Deploy the right arm to press the small switch", + "Click the red-top black switch with robotic precision", + "Move to the red-top black switch and click it.", + "Engage the compact switch with toggle on top with a press.", + "Engage with the rectangular black plastic switch manually", + "Locate and press the rectangular black plastic switch", + "Interact with the black switch with metallic connectors.", + "Approach and tap the switch with curved red toggle via the right arm", + "Operate the right arm to engage the black switch with metallic connectors", + "Use the right arm for switching the rectangular black plastic switch", + "Set the switch at the red-top black switch", + "Press the rectangular switch with curved lever using robotic control", + "Activate the rectangular switch with curved lever with robotic precision", + "Direct the right arm to operate the red-top black switch", + "Trigger the switch with curved red toggle without referencing the right arm", + "Engage the red-top black switch using the right arm.", + "Initiate the black switch by clicking", + "Press the black switch with metallic connectors carefully with the right arm", + "Activate the the rectangular switch with curved lever using the right arm", + "Press the compact switch with toggle on top via automation", + "Trigger the black base switch with red toggle with precision", + "Locate and press the hand-sized switch with connector prongs", + "Directly interact with the small switch", + "Press the switch with curved red toggle to activate.", + "Operate the hand-sized switch with connector prongs with the right arm", + "Activate the black switch by pressing it", + "Click the red-top black switch directly.", + "Trigger the compact switch with toggle on top using the right arm", + "Activate the switch with curved red toggle with the right arm.", + "Press the red and black switch with the right arm", + "Click the plastic switch with metal terminals to activate it", + "Activate the black switch with metallic connectors via the right arm", + "Set the right arm to press the compact switch with toggle on top", + "Interact with the black switch directly", + "Deploy the right arm to operate the black base switch with red toggle", + "Command the right arm to engage the compact switch with toggle on top", + "Switch the compact switch with toggle on top to its active state", + "Tap the plastic switch with metal terminals to engage it", + "Press the black base switch with red toggle directly", + "Engage the right arm to press the compact switch with toggle on top", + "Activate the switch with curved red toggle directly", + "Click the compact switch with toggle on top using automated tools", + "Press the red and black switch using the right arm.", + "Toggle the red-top black switch with the right arm.", + "Use the right arm to interact with the plastic switch with metal terminals", + "Click on the red and black switch precisely", + "Push the compact switch with toggle on top via the right arm.", + "Engage the rectangular black plastic switch using the robotic arm", + "Use the right arm to engage the rectangular switch with curved lever", + "Engage the red-top black switch using the right arm", + "Deploy the right arm to press the small switch", + "Click the switch with curved red toggle with robotic precision", + "Move to the small switch and click it.", + "Engage the rectangular black plastic switch with a press.", + "Engage with the switch with curved red toggle manually", + "Locate and press the rectangular switch with curved lever", + "Interact with the compact switch with toggle on top.", + "Approach and tap the red and black switch via the right arm", + "Operate the right arm to engage the small switch", + "Use the right arm for switching the rectangular black plastic switch", + "Set the switch at the plastic switch with metal terminals", + "Press the compact switch with toggle on top using robotic control", + "Activate the red-top black switch with robotic precision", + "Direct the right arm to operate the compact switch with toggle on top", + "Trigger the hand-sized switch with connector prongs without referencing the right arm", + "Engage the rectangular switch with curved lever using the right arm.", + "Initiate the switch with curved red toggle by clicking", + "Press the rectangular black plastic switch carefully with the right arm", + "Activate the the black switch with metallic connectors using the right arm", + "Press the black switch with metallic connectors via automation", + "Trigger the rectangular switch with curved lever with precision", + "Locate and press the black switch", + "Directly interact with the black switch with metallic connectors" + ], + "unseen": [ + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..4291e97fe1efc54668e93a6c4830a0e50789e935 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the smooth red switch with labels with the right arm.", + "Interact with the two-tone red black switch directly", + "Use the right arm to interact with the red and black electrical switch", + "Locate and press the toggle switch with black housing", + "Deploy the right arm to operate the rectangular switch", + "Initiate the switch for turning circuits on off by clicking", + "Operate the right arm to engage the metal-pronged black switch", + "Press the two-tone red black switch with the right arm", + "Press the toggle switch with black housing to activate.", + "Command the right arm to engage the switch with three metal pins", + "Engage the toggle switch with black housing using the right arm.", + "Direct the right arm to operate the plastic switch with metal prongs", + "Activate the plastic switch with metal prongs with robotic precision", + "Trigger the toggle switch with black housing using the right arm", + "Press the two-tone red black switch via automation", + "Click the rectangular switch using automated tools", + "Click on the red and black electrical switch precisely", + "Deploy the right arm to press the rectangular switch", + "Approach and tap the plastic switch with metal prongs via the right arm", + "Toggle the two-tone red black switch with the right arm.", + "Engage the right arm to press the tiny rectangular switch", + "Use the right arm to engage the metal-pronged black switch", + "Press the small switch with red lever carefully with the right arm", + "Activate the tiny rectangular switch via the right arm", + "Set the switch at the smooth red switch with labels", + "Engage the rectangular switch using the right arm", + "Click the metal-pronged black switch to activate it", + "Trigger the smooth red switch with labels without referencing the right arm", + "Click the small switch with red lever directly.", + "Interact with the two-tone red black switch.", + "Activate the the metal-pronged black switch using the right arm", + "Trigger the plastic switch with metal prongs with precision", + "Press the smooth red switch with labels using robotic control", + "Activate the metal-pronged black switch by pressing it", + "Press the plastic switch with metal prongs directly", + "Engage the rectangular switch using the robotic arm", + "Use the right arm for switching the plastic switch with metal prongs", + "Operate the metal-pronged black switch with the right arm", + "Move to the red and black electrical switch and click it.", + "Push the metal-pronged black switch via the right arm.", + "Engage the smooth red switch with labels with a press.", + "Directly interact with the black base switch", + "Set the right arm to press the plastic switch with metal prongs", + "Switch the black base switch to its active state", + "Click the small switch with red lever with robotic precision", + "Locate and press the black base switch", + "Engage with the rectangular switch manually", + "Press the two-tone red black switch using the right arm.", + "Activate the black base switch directly", + "Tap the two-tone red black switch to engage it", + "Activate the black base switch with the right arm.", + "Interact with the plastic switch with metal prongs directly", + "Use the right arm to interact with the tiny rectangular switch", + "Locate and press the switch with three metal pins", + "Deploy the right arm to operate the metal-pronged black switch", + "Initiate the smooth red switch with labels by clicking", + "Operate the right arm to engage the plastic switch with metal prongs", + "Press the smooth red switch with labels with the right arm", + "Press the rectangular switch to activate.", + "Command the right arm to engage the black base switch", + "Engage the tiny rectangular switch using the right arm.", + "Direct the right arm to operate the metal-pronged black switch", + "Activate the metal-pronged black switch with robotic precision", + "Trigger the plastic switch with metal prongs using the right arm", + "Press the smooth red switch with labels via automation", + "Click the tiny rectangular switch using automated tools", + "Click on the two-tone red black switch precisely", + "Deploy the right arm to press the two-tone red black switch", + "Approach and tap the switch for turning circuits on off via the right arm", + "Toggle the switch with three metal pins with the right arm.", + "Engage the right arm to press the switch for turning circuits on off", + "Use the right arm to engage the tiny rectangular switch", + "Press the switch with three metal pins carefully with the right arm", + "Activate the toggle switch with black housing via the right arm", + "Set the switch at the rectangular switch", + "Engage the smooth red switch with labels using the right arm", + "Click the plastic switch with metal prongs to activate it", + "Trigger the plastic switch with metal prongs without referencing the right arm", + "Click the switch for turning circuits on off directly.", + "Interact with the smooth red switch with labels.", + "Activate the the toggle switch with black housing using the right arm", + "Trigger the toggle switch with black housing with precision", + "Press the plastic switch with metal prongs using robotic control", + "Activate the metal-pronged black switch by pressing it", + "Press the black base switch directly", + "Engage the plastic switch with metal prongs using the robotic arm", + "Use the right arm for switching the toggle switch with black housing", + "Operate the smooth red switch with labels with the right arm", + "Move to the toggle switch with black housing and click it.", + "Push the toggle switch with black housing via the right arm.", + "Engage the plastic switch with metal prongs with a press.", + "Directly interact with the smooth red switch with labels", + "Set the right arm to press the toggle switch with black housing", + "Switch the switch with three metal pins to its active state", + "Click the switch with three metal pins with robotic precision", + "Locate and press the metal-pronged black switch", + "Engage with the toggle switch with black housing manually", + "Press the switch for turning circuits on off using the right arm.", + "Activate the black base switch directly", + "Tap the tiny rectangular switch to engage it" + ], + "unseen": [ + "Press the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm.", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm.", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Click the red toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..951b4d6a4b69f21ce80f1d467acc0c239cad83db --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the flat square with raised center to activate it", + "Activate the the angled-edge gray square switch using the right arm", + "Engage the square gray switch panel using the right arm", + "Press the switch with smooth light gray finish using robotic control", + "Switch the light gray plastic switch to its active state", + "Press the palm-sized light gray switch to activate.", + "Tap the small square switch to engage it", + "Activate the square switch with smooth surface with robotic precision", + "Toggle the switch with rectangular raised area with the right arm.", + "Locate and press the switch with rectangular raised area", + "Activate the flat square with raised center with the right arm.", + "Engage with the angled-edge gray square switch manually", + "Click on the square gray switch panel precisely", + "Click the angled-edge gray square switch with robotic precision", + "Use the right arm for switching the smooth gray switch", + "Approach and tap the small square switch made of plastic via the right arm", + "Locate and press the switch with smooth light gray finish", + "Deploy the right arm to operate the small square switch", + "Command the right arm to engage the square switch with smooth surface", + "Activate the small square switch directly", + "Interact with the flat square with raised center directly", + "Directly interact with the square gray switch panel", + "Set the switch at the small square switch", + "Engage the light gray plastic switch with a press.", + "Operate the right arm to engage the square switch with smooth surface", + "Move to the switch for electrical control and click it.", + "Interact with the light gray plastic switch.", + "Press the switch with smooth light gray finish using the right arm.", + "Deploy the right arm to press the switch with smooth light gray finish", + "Operate the small square switch with the right arm", + "Activate the palm-sized light gray switch by pressing it", + "Engage the square switch with smooth surface using the robotic arm", + "Engage the right arm to press the switch for electrical control", + "Set the right arm to press the palm-sized light gray switch", + "Trigger the switch with rectangular raised area without referencing the right arm", + "Push the switch with smooth light gray finish via the right arm.", + "Engage the palm-sized light gray switch using the right arm.", + "Use the right arm to engage the switch with smooth light gray finish", + "Click the square switch with smooth surface directly.", + "Press the switch with smooth light gray finish with the right arm", + "Activate the light gray plastic switch via the right arm", + "Press the light gray plastic switch via automation", + "Initiate the switch for electrical control by clicking", + "Trigger the switch for electrical control using the right arm", + "Use the right arm to interact with the flat square with raised center", + "Press the angled-edge gray square switch carefully with the right arm", + "Press the small square switch directly", + "Direct the right arm to operate the small square switch", + "Trigger the angled-edge gray square switch with precision", + "Click the small square switch using automated tools", + "Click the flat square with raised center to activate it", + "Activate the the smooth gray switch using the right arm", + "Engage the switch for electrical control using the right arm", + "Press the angled-edge gray square switch using robotic control", + "Switch the palm-sized light gray switch to its active state", + "Press the flat square with raised center to activate.", + "Tap the switch with smooth light gray finish to engage it", + "Activate the square switch with smooth surface with robotic precision", + "Toggle the switch for electrical control with the right arm.", + "Locate and press the palm-sized light gray switch", + "Activate the switch with rectangular raised area with the right arm.", + "Engage with the palm-sized light gray switch manually", + "Click on the switch with rectangular raised area precisely", + "Click the angled-edge gray square switch with robotic precision", + "Use the right arm for switching the switch with rectangular raised area", + "Approach and tap the palm-sized light gray switch via the right arm", + "Locate and press the small square switch", + "Deploy the right arm to operate the small square switch", + "Command the right arm to engage the angled-edge gray square switch", + "Activate the light gray plastic switch directly", + "Interact with the switch for electrical control directly", + "Directly interact with the switch with smooth light gray finish", + "Set the switch at the palm-sized light gray switch", + "Engage the square gray switch panel with a press.", + "Operate the right arm to engage the square switch with smooth surface", + "Move to the palm-sized light gray switch and click it.", + "Interact with the angled-edge gray square switch.", + "Press the smooth gray switch using the right arm.", + "Deploy the right arm to press the switch with rectangular raised area", + "Operate the switch with rectangular raised area with the right arm", + "Activate the angled-edge gray square switch by pressing it", + "Engage the smooth gray switch using the robotic arm", + "Engage the right arm to press the palm-sized light gray switch", + "Set the right arm to press the small square switch", + "Trigger the small square switch without referencing the right arm", + "Push the small square switch via the right arm.", + "Engage the switch with rectangular raised area using the right arm.", + "Use the right arm to engage the switch with smooth light gray finish", + "Click the small square switch directly.", + "Press the small square switch with the right arm", + "Activate the square gray switch panel via the right arm", + "Press the angled-edge gray square switch via automation", + "Initiate the switch with rectangular raised area by clicking", + "Trigger the small square switch using the right arm", + "Use the right arm to interact with the smooth gray switch", + "Press the switch with smooth light gray finish carefully with the right arm", + "Press the switch for electrical control directly", + "Direct the right arm to operate the square gray switch panel", + "Trigger the smooth gray switch with precision", + "Click the flat square with raised center using automated tools" + ], + "unseen": [ + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Click the flat gray switch with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Click the flat gray switch with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2e71abe37ba716b7991f7e4ac39c426a4dcffa --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the small switch directly", + "Engage the plastic switch with metal terminals using the right arm", + "Directly interact with the compact switch with toggle on top", + "Press the hand-sized switch with connector prongs using robotic control", + "Interact with the switch with curved red toggle.", + "Initiate the hand-sized switch with connector prongs by clicking", + "Operate the right arm to engage the black base switch with red toggle", + "Press the rectangular switch with curved lever using the right arm.", + "Deploy the right arm to press the black switch with metallic connectors", + "Operate the red-top black switch with the right arm", + "Deploy the right arm to operate the hand-sized switch with connector prongs", + "Push the rectangular switch with curved lever via the right arm.", + "Command the right arm to engage the small switch", + "Click the rectangular switch with curved lever using automated tools", + "Click the red and black switch with robotic precision", + "Direct the right arm to operate the plastic switch with metal terminals", + "Approach and tap the red-top black switch via the right arm", + "Use the right arm to engage the rectangular switch with curved lever", + "Locate and press the rectangular black plastic switch", + "Set the switch at the rectangular black plastic switch", + "Engage the right arm to press the plastic switch with metal terminals", + "Engage with the compact switch with toggle on top manually", + "Toggle the black switch with metallic connectors with the right arm.", + "Switch the rectangular black plastic switch to its active state", + "Engage the rectangular black plastic switch with a press.", + "Click the hand-sized switch with connector prongs directly.", + "Engage the plastic switch with metal terminals using the robotic arm", + "Activate the hand-sized switch with connector prongs with the right arm.", + "Click on the hand-sized switch with connector prongs precisely", + "Activate the plastic switch with metal terminals by pressing it", + "Engage the plastic switch with metal terminals using the right arm.", + "Press the small switch to activate.", + "Trigger the black switch without referencing the right arm", + "Locate and press the hand-sized switch with connector prongs", + "Activate the red-top black switch with robotic precision", + "Tap the red-top black switch to engage it", + "Activate the black switch via the right arm", + "Press the black base switch with red toggle carefully with the right arm", + "Activate the black switch directly", + "Click the rectangular switch with curved lever to activate it", + "Trigger the small switch using the right arm", + "Interact with the black switch directly", + "Activate the the red and black switch using the right arm", + "Press the red and black switch via automation", + "Move to the plastic switch with metal terminals and click it.", + "Set the right arm to press the hand-sized switch with connector prongs", + "Trigger the switch with curved red toggle with precision", + "Press the plastic switch with metal terminals with the right arm", + "Use the right arm for switching the black base switch with red toggle", + "Use the right arm to interact with the rectangular switch with curved lever", + "Press the switch with curved red toggle directly", + "Engage the red-top black switch using the right arm", + "Directly interact with the switch with curved red toggle", + "Press the plastic switch with metal terminals using robotic control", + "Interact with the small switch.", + "Initiate the rectangular switch with curved lever by clicking", + "Operate the right arm to engage the switch with curved red toggle", + "Press the black switch using the right arm.", + "Deploy the right arm to press the hand-sized switch with connector prongs", + "Operate the red-top black switch with the right arm", + "Deploy the right arm to operate the black base switch with red toggle", + "Push the rectangular black plastic switch via the right arm.", + "Command the right arm to engage the plastic switch with metal terminals", + "Click the compact switch with toggle on top using automated tools", + "Click the compact switch with toggle on top with robotic precision", + "Direct the right arm to operate the rectangular switch with curved lever", + "Approach and tap the black switch via the right arm", + "Use the right arm to engage the red and black switch", + "Locate and press the rectangular black plastic switch", + "Set the switch at the small switch", + "Engage the right arm to press the black base switch with red toggle", + "Engage with the rectangular switch with curved lever manually", + "Toggle the small switch with the right arm.", + "Switch the compact switch with toggle on top to its active state", + "Engage the small switch with a press.", + "Click the rectangular black plastic switch directly.", + "Engage the black switch using the robotic arm", + "Activate the black switch with metallic connectors with the right arm.", + "Click on the hand-sized switch with connector prongs precisely", + "Activate the hand-sized switch with connector prongs by pressing it", + "Engage the red and black switch using the right arm.", + "Press the black switch with metallic connectors to activate.", + "Trigger the small switch without referencing the right arm", + "Locate and press the switch with curved red toggle", + "Activate the black switch with robotic precision", + "Tap the red and black switch to engage it", + "Activate the red-top black switch via the right arm", + "Press the red and black switch carefully with the right arm", + "Activate the switch with curved red toggle directly", + "Click the rectangular black plastic switch to activate it", + "Trigger the red and black switch using the right arm", + "Interact with the compact switch with toggle on top directly", + "Activate the the compact switch with toggle on top using the right arm", + "Press the black switch with metallic connectors via automation", + "Move to the rectangular black plastic switch and click it.", + "Set the right arm to press the switch with curved red toggle", + "Trigger the switch with curved red toggle with precision", + "Press the black switch with the right arm", + "Use the right arm for switching the red-top black switch", + "Use the right arm to interact with the black base switch with red toggle" + ], + "unseen": [ + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the right arm", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..1af03164543c766a3d7a3c912c453860cf227886 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the small switch", + "Approach and tap the switch with curved red toggle via the right arm", + "Locate and press the switch with curved red toggle", + "Use the right arm to interact with the switch with curved red toggle", + "Toggle the rectangular switch with curved lever with the right arm.", + "Engage the red-top black switch using the right arm.", + "Set the right arm to press the rectangular switch with curved lever", + "Press the switch with curved red toggle directly", + "Press the plastic switch with metal terminals with the right arm", + "Tap the rectangular black plastic switch to engage it", + "Trigger the black switch with precision", + "Click the hand-sized switch with connector prongs to activate it", + "Press the red and black switch using the right arm.", + "Activate the the red and black switch using the right arm", + "Move to the compact switch with toggle on top and click it.", + "Click the rectangular black plastic switch with robotic precision", + "Trigger the rectangular switch with curved lever using the right arm", + "Activate the black base switch with red toggle by pressing it", + "Activate the small switch with robotic precision", + "Command the right arm to engage the rectangular black plastic switch", + "Use the right arm to engage the small switch", + "Use the right arm for switching the compact switch with toggle on top", + "Interact with the black base switch with red toggle.", + "Initiate the red-top black switch by clicking", + "Activate the compact switch with toggle on top via the right arm", + "Press the black base switch with red toggle carefully with the right arm", + "Click on the small switch precisely", + "Press the black base switch with red toggle using robotic control", + "Operate the right arm to engage the black switch with metallic connectors", + "Set the switch at the black switch with metallic connectors", + "Press the red-top black switch via automation", + "Operate the rectangular black plastic switch with the right arm", + "Press the red and black switch to activate.", + "Direct the right arm to operate the compact switch with toggle on top", + "Engage the switch with curved red toggle using the right arm", + "Activate the black switch with metallic connectors with the right arm.", + "Click the hand-sized switch with connector prongs directly.", + "Engage with the plastic switch with metal terminals manually", + "Engage the rectangular black plastic switch using the robotic arm", + "Engage the black switch with a press.", + "Push the switch with curved red toggle via the right arm.", + "Switch the red and black switch to its active state", + "Directly interact with the black switch", + "Deploy the right arm to operate the rectangular black plastic switch", + "Activate the black base switch with red toggle directly", + "Trigger the small switch without referencing the right arm", + "Click the red and black switch using automated tools", + "Deploy the right arm to press the black base switch with red toggle", + "Locate and press the black base switch with red toggle", + "Interact with the black base switch with red toggle directly", + "Engage the right arm to press the red-top black switch", + "Approach and tap the red-top black switch via the right arm", + "Locate and press the black switch with metallic connectors", + "Use the right arm to interact with the switch with curved red toggle", + "Toggle the black base switch with red toggle with the right arm.", + "Engage the switch with curved red toggle using the right arm.", + "Set the right arm to press the rectangular black plastic switch", + "Press the plastic switch with metal terminals directly", + "Press the small switch with the right arm", + "Tap the black switch to engage it", + "Trigger the rectangular switch with curved lever with precision", + "Click the red and black switch to activate it", + "Press the black switch with metallic connectors using the right arm.", + "Activate the the red-top black switch using the right arm", + "Move to the switch with curved red toggle and click it.", + "Click the small switch with robotic precision", + "Trigger the red-top black switch using the right arm", + "Activate the black base switch with red toggle by pressing it", + "Activate the hand-sized switch with connector prongs with robotic precision", + "Command the right arm to engage the small switch", + "Use the right arm to engage the compact switch with toggle on top", + "Use the right arm for switching the switch with curved red toggle", + "Interact with the red and black switch.", + "Initiate the black switch with metallic connectors by clicking", + "Activate the rectangular switch with curved lever via the right arm", + "Press the black switch carefully with the right arm", + "Click on the plastic switch with metal terminals precisely", + "Press the red-top black switch using robotic control", + "Operate the right arm to engage the switch with curved red toggle", + "Set the switch at the red and black switch", + "Press the rectangular switch with curved lever via automation", + "Operate the red-top black switch with the right arm", + "Press the plastic switch with metal terminals to activate.", + "Direct the right arm to operate the black base switch with red toggle", + "Engage the black base switch with red toggle using the right arm", + "Activate the black switch with the right arm.", + "Click the black switch with metallic connectors directly.", + "Engage with the black switch with metallic connectors manually", + "Engage the rectangular black plastic switch using the robotic arm", + "Engage the small switch with a press.", + "Push the compact switch with toggle on top via the right arm.", + "Switch the rectangular switch with curved lever to its active state", + "Directly interact with the rectangular switch with curved lever", + "Deploy the right arm to operate the compact switch with toggle on top", + "Activate the rectangular black plastic switch directly", + "Trigger the rectangular switch with curved lever without referencing the right arm", + "Click the black base switch with red toggle using automated tools", + "Deploy the right arm to press the black switch", + "Locate and press the red-top black switch", + "Interact with the compact switch with toggle on top directly" + ], + "unseen": [ + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Press the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the smooth black switch with red lever" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..f53d939de3a016a5ce5efaf3a4b018deed45d44a --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the tiny matte beige toggle switch precisely", + "Deploy the left arm to press the light plastic switch", + "Interact with the switch with brown button.", + "Activate the toggle switch with brown rectangle button directly", + "Switch the small trapezoid switch to its active state", + "Press the small trapezoid switch using the left arm.", + "Trigger the beige switch with smooth finish using the left arm", + "Engage the left arm to press the switch with a smooth top", + "Operate the toggle switch with brown rectangle button with the left arm", + "Trigger the toggle switch with brown rectangle button with precision", + "Move to the beige switch with smooth finish and click it.", + "Click the switch with brown button with robotic precision", + "Press the switch with rectangular dark button carefully with the left arm", + "Direct the left arm to operate the toggle switch with brown rectangle button", + "Activate the matte beige switch with flat top by pressing it", + "Engage the light-colored trapezoid-shaped plastic switch using the left arm", + "Engage the light-colored trapezoid-shaped plastic switch using the left arm.", + "Approach and tap the light-colored trapezoid-shaped plastic switch via the left arm", + "Operate the left arm to engage the beige switch with smooth finish", + "Press the small trapezoid switch with the left arm", + "Use the left arm for switching the switch with rectangular dark button", + "Push the beige switch with smooth finish via the left arm.", + "Engage the tiny matte beige toggle switch using the robotic arm", + "Press the light-colored trapezoid-shaped plastic switch directly", + "Activate the beige switch with smooth finish with the left arm.", + "Use the left arm to interact with the switch with rectangular dark button", + "Deploy the left arm to operate the switch with a smooth top", + "Click the toggle switch with brown rectangle button using automated tools", + "Set the left arm to press the switch with a smooth top", + "Click the light-colored trapezoid-shaped plastic switch directly.", + "Press the beige switch with smooth finish using robotic control", + "Interact with the switch with rectangular dark button directly", + "Activate the the light-colored trapezoid-shaped plastic switch using the left arm", + "Tap the beige switch to engage it", + "Command the left arm to engage the switch with brown button", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Locate and press the hand-sized light beige switch", + "Activate the switch with a smooth top with robotic precision", + "Set the switch at the beige switch", + "Click the matte beige switch with flat top to activate it", + "Toggle the light plastic switch with the left arm.", + "Press the matte beige switch with flat top via automation", + "Engage the light-colored trapezoid-shaped plastic switch with a press.", + "Activate the toggle switch with brown rectangle button via the left arm", + "Trigger the hand-sized light beige switch without referencing the left arm", + "Engage with the beige switch with smooth finish manually", + "Directly interact with the tiny matte beige toggle switch", + "Press the beige switch to activate.", + "Initiate the toggle switch with brown rectangle button by clicking", + "Use the left arm to engage the small trapezoid switch", + "Click on the light-colored trapezoid-shaped plastic switch precisely", + "Deploy the left arm to press the light-colored trapezoid-shaped plastic switch", + "Interact with the toggle switch with brown rectangle button.", + "Activate the beige switch with smooth finish directly", + "Switch the matte beige switch with flat top to its active state", + "Press the small trapezoid switch using the left arm.", + "Trigger the switch with a smooth top using the left arm", + "Engage the left arm to press the switch with brown button", + "Operate the switch with rectangular dark button with the left arm", + "Trigger the beige switch with smooth finish with precision", + "Move to the small trapezoid switch and click it.", + "Click the tiny matte beige toggle switch with robotic precision", + "Press the switch with brown button carefully with the left arm", + "Direct the left arm to operate the beige switch with smooth finish", + "Activate the light plastic switch by pressing it", + "Engage the beige switch using the left arm", + "Engage the beige switch with smooth finish using the left arm.", + "Approach and tap the hand-sized light beige switch via the left arm", + "Operate the left arm to engage the hand-sized light beige switch", + "Press the beige switch with the left arm", + "Use the left arm for switching the beige switch", + "Push the switch with a smooth top via the left arm.", + "Engage the switch with a smooth top using the robotic arm", + "Press the light-colored trapezoid-shaped plastic switch directly", + "Activate the tiny matte beige toggle switch with the left arm.", + "Use the left arm to interact with the light plastic switch", + "Deploy the left arm to operate the switch with rectangular dark button", + "Click the light-colored trapezoid-shaped plastic switch using automated tools", + "Set the left arm to press the light-colored trapezoid-shaped plastic switch", + "Click the small trapezoid switch directly.", + "Press the beige switch using robotic control", + "Interact with the tiny matte beige toggle switch directly", + "Activate the the light-colored trapezoid-shaped plastic switch using the left arm", + "Tap the beige switch with smooth finish to engage it", + "Command the left arm to engage the switch with a smooth top", + "Locate and press the switch with a smooth top", + "Locate and press the light plastic switch", + "Activate the light-colored trapezoid-shaped plastic switch with robotic precision", + "Set the switch at the light-colored trapezoid-shaped plastic switch", + "Click the switch with brown button to activate it", + "Toggle the matte beige switch with flat top with the left arm.", + "Press the beige switch via automation", + "Engage the small trapezoid switch with a press.", + "Activate the beige switch with smooth finish via the left arm", + "Trigger the toggle switch with brown rectangle button without referencing the left arm", + "Engage with the light-colored trapezoid-shaped plastic switch manually", + "Directly interact with the matte beige switch with flat top", + "Press the light plastic switch to activate.", + "Initiate the light-colored trapezoid-shaped plastic switch by clicking", + "Use the left arm to engage the matte beige switch with flat top" + ], + "unseen": [ + "Click the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the rectangular button switch on beige base.", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the beige switch with darker brown top", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the beige switch with darker brown top", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Use the left arm to press the rectangular button switch on beige base.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the rectangular button switch on beige base.", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the beige switch with darker brown top", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the beige switch with darker brown top", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..a9cbcf4b9ed10e8c03d621b37d0e6c6182f9c84e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the switch at the compact switch with toggle on top", + "Activate the red-top black switch with robotic precision", + "Engage the compact switch with toggle on top using the robotic arm", + "Press the rectangular black plastic switch directly", + "Press the black switch with metallic connectors using robotic control", + "Activate the hand-sized switch with connector prongs directly", + "Click the hand-sized switch with connector prongs directly.", + "Approach and tap the red-top black switch via the right arm", + "Press the red and black switch carefully with the right arm", + "Activate the compact switch with toggle on top with the right arm.", + "Set the right arm to press the plastic switch with metal terminals", + "Activate the compact switch with toggle on top via the right arm", + "Engage the right arm to press the hand-sized switch with connector prongs", + "Engage with the black switch manually", + "Trigger the small switch without referencing the right arm", + "Press the compact switch with toggle on top using the right arm.", + "Push the compact switch with toggle on top via the right arm.", + "Activate the the switch with curved red toggle using the right arm", + "Directly interact with the rectangular switch with curved lever", + "Locate and press the black base switch with red toggle", + "Activate the rectangular switch with curved lever by pressing it", + "Trigger the switch with curved red toggle using the right arm", + "Press the compact switch with toggle on top with the right arm", + "Switch the rectangular switch with curved lever to its active state", + "Trigger the small switch with precision", + "Deploy the right arm to press the small switch", + "Use the right arm to engage the black switch with metallic connectors", + "Engage the switch with curved red toggle using the right arm.", + "Initiate the black switch by clicking", + "Direct the right arm to operate the compact switch with toggle on top", + "Click the black switch with metallic connectors with robotic precision", + "Use the right arm to interact with the black switch with metallic connectors", + "Toggle the black switch with metallic connectors with the right arm.", + "Operate the small switch with the right arm", + "Tap the rectangular black plastic switch to engage it", + "Command the right arm to engage the black switch", + "Interact with the black switch with metallic connectors directly", + "Engage the red and black switch with a press.", + "Click on the rectangular switch with curved lever precisely", + "Press the rectangular switch with curved lever via automation", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Engage the switch with curved red toggle using the right arm", + "Click the black base switch with red toggle using automated tools", + "Operate the right arm to engage the red and black switch", + "Press the rectangular switch with curved lever to activate.", + "Interact with the black switch.", + "Click the rectangular switch with curved lever to activate it", + "Locate and press the rectangular black plastic switch", + "Move to the black switch with metallic connectors and click it.", + "Use the right arm for switching the rectangular switch with curved lever", + "Set the switch at the small switch", + "Activate the red-top black switch with robotic precision", + "Engage the black switch using the robotic arm", + "Press the hand-sized switch with connector prongs directly", + "Press the rectangular black plastic switch using robotic control", + "Activate the black switch directly", + "Click the rectangular black plastic switch directly.", + "Approach and tap the switch with curved red toggle via the right arm", + "Press the switch with curved red toggle carefully with the right arm", + "Activate the rectangular switch with curved lever with the right arm.", + "Set the right arm to press the hand-sized switch with connector prongs", + "Activate the black base switch with red toggle via the right arm", + "Engage the right arm to press the switch with curved red toggle", + "Engage with the red and black switch manually", + "Trigger the red and black switch without referencing the right arm", + "Press the black base switch with red toggle using the right arm.", + "Push the black base switch with red toggle via the right arm.", + "Activate the the compact switch with toggle on top using the right arm", + "Directly interact with the small switch", + "Locate and press the compact switch with toggle on top", + "Activate the hand-sized switch with connector prongs by pressing it", + "Trigger the black switch with metallic connectors using the right arm", + "Press the hand-sized switch with connector prongs with the right arm", + "Switch the small switch to its active state", + "Trigger the black switch with metallic connectors with precision", + "Deploy the right arm to press the red-top black switch", + "Use the right arm to engage the hand-sized switch with connector prongs", + "Engage the black switch with metallic connectors using the right arm.", + "Initiate the switch with curved red toggle by clicking", + "Direct the right arm to operate the black base switch with red toggle", + "Click the hand-sized switch with connector prongs with robotic precision", + "Use the right arm to interact with the switch with curved red toggle", + "Toggle the red-top black switch with the right arm.", + "Operate the rectangular switch with curved lever with the right arm", + "Tap the black base switch with red toggle to engage it", + "Command the right arm to engage the small switch", + "Interact with the red and black switch directly", + "Engage the hand-sized switch with connector prongs with a press.", + "Click on the small switch precisely", + "Press the compact switch with toggle on top via automation", + "Deploy the right arm to operate the hand-sized switch with connector prongs", + "Engage the hand-sized switch with connector prongs using the right arm", + "Click the plastic switch with metal terminals using automated tools", + "Operate the right arm to engage the switch with curved red toggle", + "Press the red and black switch to activate.", + "Interact with the hand-sized switch with connector prongs.", + "Click the red and black switch to activate it", + "Locate and press the compact switch with toggle on top", + "Move to the rectangular switch with curved lever and click it.", + "Use the right arm for switching the rectangular switch with curved lever" + ], + "unseen": [ + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the simple toggle switch", + "Move and click the the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Move and click the the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Move and click the the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..98c61330e4dc92a8f2ac02a826de9e0f6b9d0534 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Trigger the plastic switch with metal terminals with precision", + "Operate the left arm to engage the compact switch with toggle on top", + "Toggle the red-top black switch with the left arm.", + "Activate the rectangular switch with curved lever via the left arm", + "Engage with the black base switch with red toggle manually", + "Move to the black base switch with red toggle and click it.", + "Use the left arm to interact with the hand-sized switch with connector prongs", + "Use the left arm to engage the black switch", + "Set the switch at the hand-sized switch with connector prongs", + "Press the black base switch with red toggle with the left arm", + "Engage the rectangular black plastic switch using the left arm.", + "Set the left arm to press the hand-sized switch with connector prongs", + "Click the small switch directly.", + "Activate the rectangular switch with curved lever directly", + "Click the red-top black switch to activate it", + "Deploy the left arm to operate the black switch with metallic connectors", + "Operate the rectangular switch with curved lever with the left arm", + "Press the rectangular black plastic switch using the left arm.", + "Initiate the red-top black switch by clicking", + "Trigger the red and black switch without referencing the left arm", + "Activate the rectangular switch with curved lever with robotic precision", + "Click the small switch with robotic precision", + "Push the small switch via the left arm.", + "Press the rectangular switch with curved lever via automation", + "Command the left arm to engage the black switch with metallic connectors", + "Locate and press the small switch", + "Interact with the red-top black switch directly", + "Activate the black switch with metallic connectors with the left arm.", + "Press the rectangular black plastic switch carefully with the left arm", + "Engage the rectangular switch with curved lever using the robotic arm", + "Deploy the left arm to press the red and black switch", + "Tap the black switch with metallic connectors to engage it", + "Press the rectangular switch with curved lever using robotic control", + "Switch the rectangular switch with curved lever to its active state", + "Engage the switch with curved red toggle using the left arm", + "Click on the hand-sized switch with connector prongs precisely", + "Click the rectangular switch with curved lever using automated tools", + "Interact with the small switch.", + "Directly interact with the red-top black switch", + "Locate and press the rectangular switch with curved lever", + "Direct the left arm to operate the rectangular switch with curved lever", + "Activate the the black switch using the left arm", + "Approach and tap the red-top black switch via the left arm", + "Engage the red and black switch with a press.", + "Activate the compact switch with toggle on top by pressing it", + "Trigger the switch with curved red toggle using the left arm", + "Engage the left arm to press the plastic switch with metal terminals", + "Press the rectangular switch with curved lever to activate.", + "Press the black switch with metallic connectors directly", + "Use the left arm for switching the red and black switch", + "Trigger the hand-sized switch with connector prongs with precision", + "Operate the left arm to engage the black switch with metallic connectors", + "Toggle the black switch with the left arm.", + "Activate the black switch with metallic connectors via the left arm", + "Engage with the compact switch with toggle on top manually", + "Move to the rectangular switch with curved lever and click it.", + "Use the left arm to interact with the switch with curved red toggle", + "Use the left arm to engage the red and black switch", + "Set the switch at the small switch", + "Press the switch with curved red toggle with the left arm", + "Engage the plastic switch with metal terminals using the left arm.", + "Set the left arm to press the rectangular black plastic switch", + "Click the black base switch with red toggle directly.", + "Activate the hand-sized switch with connector prongs directly", + "Click the rectangular black plastic switch to activate it", + "Deploy the left arm to operate the plastic switch with metal terminals", + "Operate the rectangular black plastic switch with the left arm", + "Press the switch with curved red toggle using the left arm.", + "Initiate the red-top black switch by clicking", + "Trigger the black base switch with red toggle without referencing the left arm", + "Activate the compact switch with toggle on top with robotic precision", + "Click the black switch with metallic connectors with robotic precision", + "Push the red-top black switch via the left arm.", + "Press the compact switch with toggle on top via automation", + "Command the left arm to engage the black base switch with red toggle", + "Locate and press the black base switch with red toggle", + "Interact with the black switch directly", + "Activate the hand-sized switch with connector prongs with the left arm.", + "Press the switch with curved red toggle carefully with the left arm", + "Engage the black switch using the robotic arm", + "Deploy the left arm to press the switch with curved red toggle", + "Tap the rectangular switch with curved lever to engage it", + "Press the red-top black switch using robotic control", + "Switch the black switch with metallic connectors to its active state", + "Engage the small switch using the left arm", + "Click on the rectangular black plastic switch precisely", + "Click the plastic switch with metal terminals using automated tools", + "Interact with the rectangular switch with curved lever.", + "Directly interact with the red-top black switch", + "Locate and press the plastic switch with metal terminals", + "Direct the left arm to operate the compact switch with toggle on top", + "Activate the the black switch with metallic connectors using the left arm", + "Approach and tap the black switch with metallic connectors via the left arm", + "Engage the black base switch with red toggle with a press.", + "Activate the red-top black switch by pressing it", + "Trigger the black base switch with red toggle using the left arm", + "Engage the left arm to press the hand-sized switch with connector prongs", + "Press the small switch to activate.", + "Press the rectangular black plastic switch directly", + "Use the left arm for switching the black switch with metallic connectors" + ], + "unseen": [ + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..bd444737d005794ea5418545935c43027f29d0e8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the metal-pronged black switch", + "Engage the left arm to press the plastic switch with metal prongs", + "Engage with the tiny rectangular switch manually", + "Deploy the left arm to press the switch for turning circuits on off", + "Directly interact with the red and black electrical switch", + "Use the left arm to engage the tiny rectangular switch", + "Tap the switch with three metal pins to engage it", + "Engage the tiny rectangular switch using the robotic arm", + "Press the tiny rectangular switch carefully with the left arm", + "Activate the switch with three metal pins with robotic precision", + "Trigger the smooth red switch with labels with precision", + "Push the switch with three metal pins via the left arm.", + "Approach and tap the smooth red switch with labels via the left arm", + "Direct the left arm to operate the rectangular switch", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the toggle switch with black housing using the left arm.", + "Use the left arm to interact with the switch for turning circuits on off", + "Operate the left arm to engage the smooth red switch with labels", + "Click the red and black electrical switch to activate it", + "Press the metal-pronged black switch using robotic control", + "Move to the switch for turning circuits on off and click it.", + "Command the left arm to engage the tiny rectangular switch", + "Use the left arm for switching the two-tone red black switch", + "Engage the two-tone red black switch using the left arm", + "Press the two-tone red black switch to activate.", + "Switch the red and black electrical switch to its active state", + "Engage the switch with three metal pins with a press.", + "Activate the two-tone red black switch by pressing it", + "Activate the smooth red switch with labels directly", + "Trigger the red and black electrical switch without referencing the left arm", + "Locate and press the red and black electrical switch", + "Press the plastic switch with metal prongs with the left arm", + "Engage the small switch with red lever using the left arm.", + "Interact with the small switch with red lever.", + "Set the left arm to press the small switch with red lever", + "Press the switch for turning circuits on off via automation", + "Click the switch with three metal pins with robotic precision", + "Interact with the metal-pronged black switch directly", + "Operate the metal-pronged black switch with the left arm", + "Initiate the switch for turning circuits on off by clicking", + "Click the toggle switch with black housing directly.", + "Press the toggle switch with black housing directly", + "Activate the the black base switch using the left arm", + "Trigger the small switch with red lever using the left arm", + "Click the tiny rectangular switch using automated tools", + "Activate the rectangular switch with the left arm.", + "Toggle the switch for turning circuits on off with the left arm.", + "Activate the tiny rectangular switch via the left arm", + "Click on the plastic switch with metal prongs precisely", + "Set the switch at the black base switch", + "Locate and press the tiny rectangular switch", + "Engage the left arm to press the plastic switch with metal prongs", + "Engage with the black base switch manually", + "Deploy the left arm to press the toggle switch with black housing", + "Directly interact with the rectangular switch", + "Use the left arm to engage the switch for turning circuits on off", + "Tap the rectangular switch to engage it", + "Engage the red and black electrical switch using the robotic arm", + "Press the switch with three metal pins carefully with the left arm", + "Activate the rectangular switch with robotic precision", + "Trigger the red and black electrical switch with precision", + "Push the small switch with red lever via the left arm.", + "Approach and tap the tiny rectangular switch via the left arm", + "Direct the left arm to operate the smooth red switch with labels", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the small switch with red lever using the left arm.", + "Use the left arm to interact with the rectangular switch", + "Operate the left arm to engage the tiny rectangular switch", + "Click the smooth red switch with labels to activate it", + "Press the smooth red switch with labels using robotic control", + "Move to the toggle switch with black housing and click it.", + "Command the left arm to engage the black base switch", + "Use the left arm for switching the metal-pronged black switch", + "Engage the tiny rectangular switch using the left arm", + "Press the switch for turning circuits on off to activate.", + "Switch the toggle switch with black housing to its active state", + "Engage the red and black electrical switch with a press.", + "Activate the smooth red switch with labels by pressing it", + "Activate the black base switch directly", + "Trigger the toggle switch with black housing without referencing the left arm", + "Locate and press the rectangular switch", + "Press the toggle switch with black housing with the left arm", + "Engage the rectangular switch using the left arm.", + "Interact with the smooth red switch with labels.", + "Set the left arm to press the switch for turning circuits on off", + "Press the switch for turning circuits on off via automation", + "Click the rectangular switch with robotic precision", + "Interact with the tiny rectangular switch directly", + "Operate the smooth red switch with labels with the left arm", + "Initiate the switch for turning circuits on off by clicking", + "Click the plastic switch with metal prongs directly.", + "Press the switch for turning circuits on off directly", + "Activate the the rectangular switch using the left arm", + "Trigger the switch for turning circuits on off using the left arm", + "Click the toggle switch with black housing using automated tools", + "Activate the rectangular switch with the left arm.", + "Toggle the two-tone red black switch with the left arm.", + "Activate the switch with three metal pins via the left arm", + "Click on the smooth red switch with labels precisely", + "Set the switch at the tiny rectangular switch" + ], + "unseen": [ + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..2bedd2308fd856dfe7aa6f7ec999e22035db28ab --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Toggle the two-tone red black switch with the left arm.", + "Press the metal-pronged black switch via automation", + "Click the black base switch with robotic precision", + "Activate the two-tone red black switch directly", + "Engage the left arm to press the two-tone red black switch", + "Command the left arm to engage the smooth red switch with labels", + "Interact with the rectangular switch.", + "Set the left arm to press the black base switch", + "Click on the two-tone red black switch precisely", + "Trigger the red and black electrical switch without referencing the left arm", + "Use the left arm to interact with the two-tone red black switch", + "Trigger the small switch with red lever with precision", + "Press the plastic switch with metal prongs carefully with the left arm", + "Engage the two-tone red black switch using the robotic arm", + "Engage the red and black electrical switch with a press.", + "Approach and tap the metal-pronged black switch via the left arm", + "Activate the toggle switch with black housing with robotic precision", + "Click the switch for turning circuits on off to activate it", + "Switch the toggle switch with black housing to its active state", + "Activate the the smooth red switch with labels using the left arm", + "Activate the plastic switch with metal prongs by pressing it", + "Directly interact with the smooth red switch with labels", + "Click the switch with three metal pins using automated tools", + "Activate the metal-pronged black switch via the left arm", + "Engage the switch with three metal pins using the left arm", + "Trigger the black base switch using the left arm", + "Operate the tiny rectangular switch with the left arm", + "Press the metal-pronged black switch to activate.", + "Press the two-tone red black switch directly", + "Initiate the two-tone red black switch by clicking", + "Move to the tiny rectangular switch and click it.", + "Press the tiny rectangular switch using the left arm.", + "Engage the small switch with red lever using the left arm.", + "Operate the left arm to engage the rectangular switch", + "Set the switch at the switch for turning circuits on off", + "Use the left arm for switching the red and black electrical switch", + "Use the left arm to engage the tiny rectangular switch", + "Locate and press the small switch with red lever", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Locate and press the smooth red switch with labels", + "Push the red and black electrical switch via the left arm.", + "Direct the left arm to operate the tiny rectangular switch", + "Deploy the left arm to press the toggle switch with black housing", + "Interact with the toggle switch with black housing directly", + "Tap the switch with three metal pins to engage it", + "Engage with the smooth red switch with labels manually", + "Activate the tiny rectangular switch with the left arm.", + "Press the metal-pronged black switch using robotic control", + "Click the switch for turning circuits on off directly.", + "Press the plastic switch with metal prongs with the left arm", + "Toggle the rectangular switch with the left arm.", + "Press the smooth red switch with labels via automation", + "Click the smooth red switch with labels with robotic precision", + "Activate the small switch with red lever directly", + "Engage the left arm to press the rectangular switch", + "Command the left arm to engage the plastic switch with metal prongs", + "Interact with the rectangular switch.", + "Set the left arm to press the black base switch", + "Click on the switch for turning circuits on off precisely", + "Trigger the two-tone red black switch without referencing the left arm", + "Use the left arm to interact with the red and black electrical switch", + "Trigger the small switch with red lever with precision", + "Press the black base switch carefully with the left arm", + "Engage the red and black electrical switch using the robotic arm", + "Engage the metal-pronged black switch with a press.", + "Approach and tap the tiny rectangular switch via the left arm", + "Activate the switch with three metal pins with robotic precision", + "Click the rectangular switch to activate it", + "Switch the metal-pronged black switch to its active state", + "Activate the the rectangular switch using the left arm", + "Activate the small switch with red lever by pressing it", + "Directly interact with the switch with three metal pins", + "Click the red and black electrical switch using automated tools", + "Activate the two-tone red black switch via the left arm", + "Engage the toggle switch with black housing using the left arm", + "Trigger the two-tone red black switch using the left arm", + "Operate the small switch with red lever with the left arm", + "Press the rectangular switch to activate.", + "Press the switch with three metal pins directly", + "Initiate the metal-pronged black switch by clicking", + "Move to the rectangular switch and click it.", + "Press the tiny rectangular switch using the left arm.", + "Engage the toggle switch with black housing using the left arm.", + "Operate the left arm to engage the red and black electrical switch", + "Set the switch at the switch for turning circuits on off", + "Use the left arm for switching the metal-pronged black switch", + "Use the left arm to engage the black base switch", + "Locate and press the plastic switch with metal prongs", + "Deploy the left arm to operate the tiny rectangular switch", + "Locate and press the toggle switch with black housing", + "Push the switch for turning circuits on off via the left arm.", + "Direct the left arm to operate the tiny rectangular switch", + "Deploy the left arm to press the plastic switch with metal prongs", + "Interact with the switch for turning circuits on off directly", + "Tap the smooth red switch with labels to engage it", + "Engage with the black base switch manually", + "Activate the two-tone red black switch with the left arm.", + "Press the plastic switch with metal prongs using robotic control", + "Click the plastic switch with metal prongs directly.", + "Press the switch for turning circuits on off with the left arm" + ], + "unseen": [ + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Direct the left arm to click the curved toggle switch", + "Click the curved toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Direct the left arm to click the curved toggle switch", + "Click the curved toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb1b48104c4bb51630cbef5cc2a8abbd8147913 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the switch with thin red toggle with the left arm.", + "Click the plastic gray body switch directly.", + "Click on the square switch with red bar precisely", + "Engage the square switch with red bar using the left arm", + "Locate and press the gray switch with red toggle", + "Engage the electrical switch with protruding toggle with a press.", + "Press the red bar switch using robotic control", + "Directly interact with the switch for electrical control", + "Deploy the left arm to operate the control switch with red lever", + "Toggle the switch for electrical control with the left arm.", + "Tap the light gray square switch to engage it", + "Engage with the plastic gray body switch manually", + "Press the toggle switch light gray base directly", + "Activate the electrical switch with protruding toggle via the left arm", + "Click the light gray square switch to activate it", + "Direct the left arm to operate the control switch with red lever", + "Press the compact switch with flat base with the left arm", + "Trigger the control switch with red lever without referencing the left arm", + "Set the switch at the switch", + "Interact with the square switch with red bar directly", + "Trigger the light gray square switch using the left arm", + "Deploy the left arm to press the gray switch with red toggle", + "Initiate the switch with thin red toggle by clicking", + "Interact with the square switch with red bar.", + "Command the left arm to engage the plastic gray body switch", + "Switch the switch to its active state", + "Press the compact switch with flat base via automation", + "Engage the switch with thin red toggle using the robotic arm", + "Use the left arm to engage the switch", + "Engage the square switch with red bar using the left arm.", + "Operate the left arm to engage the switch for electrical control", + "Use the left arm to interact with the toggle switch light gray base", + "Click the switch using automated tools", + "Activate the switch for electrical control directly", + "Press the toggle switch light gray base to activate.", + "Set the left arm to press the compact switch with flat base", + "Push the light gray square switch via the left arm.", + "Trigger the plastic gray body switch with precision", + "Engage the left arm to press the red bar switch", + "Activate the the red bar switch using the left arm", + "Operate the electrical switch with protruding toggle with the left arm", + "Use the left arm for switching the red bar switch", + "Activate the square switch with red bar with robotic precision", + "Locate and press the control switch with red lever", + "Approach and tap the switch for electrical control via the left arm", + "Press the gray switch with red toggle using the left arm.", + "Activate the light gray square switch by pressing it", + "Move to the switch and click it.", + "Press the square switch with red bar carefully with the left arm", + "Click the red bar switch with robotic precision", + "Activate the switch with thin red toggle with the left arm.", + "Click the switch with thin red toggle directly.", + "Click on the electrical switch with protruding toggle precisely", + "Engage the square switch with red bar using the left arm", + "Locate and press the switch", + "Engage the switch for electrical control with a press.", + "Press the light gray square switch using robotic control", + "Directly interact with the light gray square switch", + "Deploy the left arm to operate the toggle switch light gray base", + "Toggle the square switch with red bar with the left arm.", + "Tap the switch for electrical control to engage it", + "Engage with the gray switch with red toggle manually", + "Press the switch with thin red toggle directly", + "Activate the switch with thin red toggle via the left arm", + "Click the control switch with red lever to activate it", + "Direct the left arm to operate the control switch with red lever", + "Press the compact switch with flat base with the left arm", + "Trigger the square switch with red bar without referencing the left arm", + "Set the switch at the compact switch with flat base", + "Interact with the toggle switch light gray base directly", + "Trigger the red bar switch using the left arm", + "Deploy the left arm to press the switch with thin red toggle", + "Initiate the light gray square switch by clicking", + "Interact with the plastic gray body switch.", + "Command the left arm to engage the switch for electrical control", + "Switch the compact switch with flat base to its active state", + "Press the switch with thin red toggle via automation", + "Engage the control switch with red lever using the robotic arm", + "Use the left arm to engage the square switch with red bar", + "Engage the electrical switch with protruding toggle using the left arm.", + "Operate the left arm to engage the light gray square switch", + "Use the left arm to interact with the switch", + "Click the square switch with red bar using automated tools", + "Activate the light gray square switch directly", + "Press the switch with thin red toggle to activate.", + "Set the left arm to press the electrical switch with protruding toggle", + "Push the switch via the left arm.", + "Trigger the plastic gray body switch with precision", + "Engage the left arm to press the light gray square switch", + "Activate the the plastic gray body switch using the left arm", + "Operate the control switch with red lever with the left arm", + "Use the left arm for switching the switch with thin red toggle", + "Activate the electrical switch with protruding toggle with robotic precision", + "Locate and press the light gray square switch", + "Approach and tap the switch for electrical control via the left arm", + "Press the compact switch with flat base using the left arm.", + "Activate the compact switch with flat base by pressing it", + "Move to the gray switch with red toggle and click it.", + "Press the square switch with red bar carefully with the left arm", + "Click the switch for electrical control with robotic precision" + ], + "unseen": [ + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Click the flat square gray switch using the left arm", + "Move and click the the smooth gray base switch", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Use the left arm to press the smooth gray base switch.", + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Press the smooth gray base switch using the left arm", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Use the left arm to press the flat square gray switch.", + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Press the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Click the smooth gray base switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Press the hand-sized square electrical switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Click the flat square gray switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch with the left arm.", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Click the flat square gray switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the smooth gray base switch.", + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Click the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Press the flat square gray switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Click the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Press the smooth gray base switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Click the flat square gray switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the flat square gray switch", + "Press the flat square gray switch using the left arm", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the flat square gray switch", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Use the left arm to press the flat square gray switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..296f993c954567511dce70a92f28434b510c02b4 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the black base switch with red toggle with the right arm.", + "Interact with the rectangular switch with curved lever.", + "Click the plastic switch with metal terminals using automated tools", + "Engage with the small switch manually", + "Engage the hand-sized switch with connector prongs using the right arm.", + "Activate the black switch directly", + "Press the compact switch with toggle on top using robotic control", + "Trigger the red and black switch without referencing the right arm", + "Press the plastic switch with metal terminals to activate.", + "Trigger the black switch using the right arm", + "Activate the black base switch with red toggle via the right arm", + "Activate the plastic switch with metal terminals with robotic precision", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Operate the rectangular black plastic switch with the right arm", + "Trigger the rectangular black plastic switch with precision", + "Click the red-top black switch to activate it", + "Move to the switch with curved red toggle and click it.", + "Direct the right arm to operate the hand-sized switch with connector prongs", + "Press the compact switch with toggle on top with the right arm", + "Press the small switch via automation", + "Engage the rectangular black plastic switch using the robotic arm", + "Directly interact with the red and black switch", + "Engage the black switch with metallic connectors with a press.", + "Locate and press the switch with curved red toggle", + "Use the right arm to engage the hand-sized switch with connector prongs", + "Use the right arm for switching the black base switch with red toggle", + "Set the switch at the black switch", + "Engage the black switch with metallic connectors using the right arm", + "Set the right arm to press the black switch with metallic connectors", + "Activate the black switch with metallic connectors by pressing it", + "Push the black base switch with red toggle via the right arm.", + "Click the red and black switch directly.", + "Click on the switch with curved red toggle precisely", + "Tap the switch with curved red toggle to engage it", + "Command the right arm to engage the switch with curved red toggle", + "Engage the right arm to press the small switch", + "Switch the black switch to its active state", + "Interact with the black switch with metallic connectors directly", + "Activate the the hand-sized switch with connector prongs using the right arm", + "Click the small switch with robotic precision", + "Deploy the right arm to press the switch with curved red toggle", + "Press the switch with curved red toggle using the right arm.", + "Use the right arm to interact with the red and black switch", + "Press the red-top black switch directly", + "Locate and press the rectangular black plastic switch", + "Press the switch with curved red toggle carefully with the right arm", + "Initiate the red-top black switch by clicking", + "Operate the right arm to engage the red-top black switch", + "Approach and tap the red-top black switch via the right arm", + "Toggle the hand-sized switch with connector prongs with the right arm.", + "Activate the switch with curved red toggle with the right arm.", + "Interact with the red-top black switch.", + "Click the black switch using automated tools", + "Engage with the red-top black switch manually", + "Engage the rectangular black plastic switch using the right arm.", + "Activate the compact switch with toggle on top directly", + "Press the hand-sized switch with connector prongs using robotic control", + "Trigger the small switch without referencing the right arm", + "Press the black switch to activate.", + "Trigger the compact switch with toggle on top using the right arm", + "Activate the switch with curved red toggle via the right arm", + "Activate the red and black switch with robotic precision", + "Deploy the right arm to operate the rectangular switch with curved lever", + "Operate the hand-sized switch with connector prongs with the right arm", + "Trigger the switch with curved red toggle with precision", + "Click the hand-sized switch with connector prongs to activate it", + "Move to the plastic switch with metal terminals and click it.", + "Direct the right arm to operate the red and black switch", + "Press the compact switch with toggle on top with the right arm", + "Press the compact switch with toggle on top via automation", + "Engage the plastic switch with metal terminals using the robotic arm", + "Directly interact with the rectangular black plastic switch", + "Engage the plastic switch with metal terminals with a press.", + "Locate and press the plastic switch with metal terminals", + "Use the right arm to engage the small switch", + "Use the right arm for switching the compact switch with toggle on top", + "Set the switch at the rectangular black plastic switch", + "Engage the black switch with metallic connectors using the right arm", + "Set the right arm to press the black switch with metallic connectors", + "Activate the hand-sized switch with connector prongs by pressing it", + "Push the rectangular black plastic switch via the right arm.", + "Click the rectangular switch with curved lever directly.", + "Click on the hand-sized switch with connector prongs precisely", + "Tap the rectangular black plastic switch to engage it", + "Command the right arm to engage the switch with curved red toggle", + "Engage the right arm to press the black base switch with red toggle", + "Switch the black switch with metallic connectors to its active state", + "Interact with the red and black switch directly", + "Activate the the black switch with metallic connectors using the right arm", + "Click the rectangular black plastic switch with robotic precision", + "Deploy the right arm to press the black base switch with red toggle", + "Press the plastic switch with metal terminals using the right arm.", + "Use the right arm to interact with the black switch with metallic connectors", + "Press the black switch with metallic connectors directly", + "Locate and press the black base switch with red toggle", + "Press the rectangular switch with curved lever carefully with the right arm", + "Initiate the switch with curved red toggle by clicking", + "Operate the right arm to engage the hand-sized switch with connector prongs", + "Approach and tap the rectangular switch with curved lever via the right arm", + "Toggle the compact switch with toggle on top with the right arm." + ], + "unseen": [ + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Move and click the the simple toggle switch", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the simple toggle switch", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..b908c61704a5a05d2baadb6bc4864c58e890fb77 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the metal-pronged black switch with robotic precision", + "Tap the toggle switch with black housing to engage it", + "Activate the switch for turning circuits on off directly", + "Trigger the toggle switch with black housing without referencing the right arm", + "Press the black base switch with the right arm", + "Trigger the toggle switch with black housing with precision", + "Engage with the small switch with red lever manually", + "Trigger the plastic switch with metal prongs using the right arm", + "Click the toggle switch with black housing with robotic precision", + "Press the red and black electrical switch directly", + "Activate the black base switch with the right arm.", + "Deploy the right arm to operate the red and black electrical switch", + "Activate the smooth red switch with labels via the right arm", + "Use the right arm for switching the red and black electrical switch", + "Click on the switch with three metal pins precisely", + "Interact with the two-tone red black switch directly", + "Set the right arm to press the toggle switch with black housing", + "Operate the right arm to engage the red and black electrical switch", + "Activate the the red and black electrical switch using the right arm", + "Press the tiny rectangular switch using the right arm.", + "Set the switch at the small switch with red lever", + "Engage the black base switch using the right arm.", + "Engage the small switch with red lever using the robotic arm", + "Initiate the metal-pronged black switch by clicking", + "Locate and press the red and black electrical switch", + "Interact with the smooth red switch with labels.", + "Engage the tiny rectangular switch with a press.", + "Directly interact with the tiny rectangular switch", + "Command the right arm to engage the rectangular switch", + "Switch the tiny rectangular switch to its active state", + "Engage the right arm to press the two-tone red black switch", + "Press the plastic switch with metal prongs using robotic control", + "Move to the switch for turning circuits on off and click it.", + "Press the tiny rectangular switch to activate.", + "Direct the right arm to operate the red and black electrical switch", + "Toggle the metal-pronged black switch with the right arm.", + "Deploy the right arm to press the switch with three metal pins", + "Press the tiny rectangular switch via automation", + "Operate the plastic switch with metal prongs with the right arm", + "Use the right arm to interact with the red and black electrical switch", + "Click the rectangular switch to activate it", + "Click the rectangular switch directly.", + "Approach and tap the rectangular switch via the right arm", + "Activate the plastic switch with metal prongs by pressing it", + "Press the black base switch carefully with the right arm", + "Push the black base switch via the right arm.", + "Locate and press the two-tone red black switch", + "Engage the switch with three metal pins using the right arm", + "Use the right arm to engage the switch for turning circuits on off", + "Click the toggle switch with black housing using automated tools", + "Activate the two-tone red black switch with robotic precision", + "Tap the rectangular switch to engage it", + "Activate the small switch with red lever directly", + "Trigger the rectangular switch without referencing the right arm", + "Press the tiny rectangular switch with the right arm", + "Trigger the red and black electrical switch with precision", + "Engage with the smooth red switch with labels manually", + "Trigger the two-tone red black switch using the right arm", + "Click the tiny rectangular switch with robotic precision", + "Press the switch for turning circuits on off directly", + "Activate the small switch with red lever with the right arm.", + "Deploy the right arm to operate the red and black electrical switch", + "Activate the switch with three metal pins via the right arm", + "Use the right arm for switching the tiny rectangular switch", + "Click on the toggle switch with black housing precisely", + "Interact with the smooth red switch with labels directly", + "Set the right arm to press the small switch with red lever", + "Operate the right arm to engage the smooth red switch with labels", + "Activate the the black base switch using the right arm", + "Press the switch for turning circuits on off using the right arm.", + "Set the switch at the two-tone red black switch", + "Engage the switch with three metal pins using the right arm.", + "Engage the metal-pronged black switch using the robotic arm", + "Initiate the red and black electrical switch by clicking", + "Locate and press the rectangular switch", + "Interact with the plastic switch with metal prongs.", + "Engage the toggle switch with black housing with a press.", + "Directly interact with the metal-pronged black switch", + "Command the right arm to engage the tiny rectangular switch", + "Switch the plastic switch with metal prongs to its active state", + "Engage the right arm to press the toggle switch with black housing", + "Press the plastic switch with metal prongs using robotic control", + "Move to the rectangular switch and click it.", + "Press the metal-pronged black switch to activate.", + "Direct the right arm to operate the plastic switch with metal prongs", + "Toggle the metal-pronged black switch with the right arm.", + "Deploy the right arm to press the tiny rectangular switch", + "Press the plastic switch with metal prongs via automation", + "Operate the rectangular switch with the right arm", + "Use the right arm to interact with the switch for turning circuits on off", + "Click the toggle switch with black housing to activate it", + "Click the smooth red switch with labels directly.", + "Approach and tap the two-tone red black switch via the right arm", + "Activate the switch with three metal pins by pressing it", + "Press the tiny rectangular switch carefully with the right arm", + "Push the metal-pronged black switch via the right arm.", + "Locate and press the two-tone red black switch", + "Engage the smooth red switch with labels using the right arm", + "Use the right arm to engage the switch with three metal pins", + "Click the two-tone red black switch using automated tools" + ], + "unseen": [ + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..1cb012340b1357a7e43893a0623c8e84796a713b --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the rectangular black plastic switch directly.", + "Locate and press the rectangular black plastic switch", + "Approach and tap the red and black switch via the right arm", + "Trigger the black switch with metallic connectors with precision", + "Activate the rectangular switch with curved lever by pressing it", + "Interact with the rectangular black plastic switch directly", + "Toggle the black switch with the right arm.", + "Activate the red and black switch with robotic precision", + "Engage the red and black switch using the robotic arm", + "Click the black switch with robotic precision", + "Activate the switch with curved red toggle directly", + "Interact with the hand-sized switch with connector prongs.", + "Use the right arm for switching the rectangular switch with curved lever", + "Locate and press the plastic switch with metal terminals", + "Press the black switch with metallic connectors using the right arm.", + "Deploy the right arm to operate the compact switch with toggle on top", + "Activate the the rectangular switch with curved lever using the right arm", + "Engage with the compact switch with toggle on top manually", + "Use the right arm to engage the black switch with metallic connectors", + "Press the black switch with metallic connectors via automation", + "Engage the plastic switch with metal terminals with a press.", + "Move to the compact switch with toggle on top and click it.", + "Click on the plastic switch with metal terminals precisely", + "Direct the right arm to operate the plastic switch with metal terminals", + "Operate the black base switch with red toggle with the right arm", + "Switch the black base switch with red toggle to its active state", + "Activate the switch with curved red toggle via the right arm", + "Deploy the right arm to press the black base switch with red toggle", + "Press the hand-sized switch with connector prongs directly", + "Trigger the rectangular black plastic switch using the right arm", + "Activate the hand-sized switch with connector prongs with the right arm.", + "Directly interact with the hand-sized switch with connector prongs", + "Operate the right arm to engage the black base switch with red toggle", + "Click the black switch to activate it", + "Press the black switch with metallic connectors to activate.", + "Use the right arm to interact with the compact switch with toggle on top", + "Tap the small switch to engage it", + "Push the black base switch with red toggle via the right arm.", + "Click the rectangular switch with curved lever using automated tools", + "Trigger the black switch without referencing the right arm", + "Set the switch at the hand-sized switch with connector prongs", + "Press the rectangular black plastic switch with the right arm", + "Press the black base switch with red toggle carefully with the right arm", + "Engage the plastic switch with metal terminals using the right arm.", + "Initiate the black base switch with red toggle by clicking", + "Engage the right arm to press the compact switch with toggle on top", + "Press the small switch using robotic control", + "Engage the plastic switch with metal terminals using the right arm", + "Command the right arm to engage the black base switch with red toggle", + "Set the right arm to press the black switch with metallic connectors", + "Click the compact switch with toggle on top directly.", + "Locate and press the plastic switch with metal terminals", + "Approach and tap the plastic switch with metal terminals via the right arm", + "Trigger the plastic switch with metal terminals with precision", + "Activate the plastic switch with metal terminals by pressing it", + "Interact with the plastic switch with metal terminals directly", + "Toggle the black switch with the right arm.", + "Activate the rectangular black plastic switch with robotic precision", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Click the black base switch with red toggle with robotic precision", + "Activate the hand-sized switch with connector prongs directly", + "Interact with the black switch with metallic connectors.", + "Use the right arm for switching the black switch with metallic connectors", + "Locate and press the switch with curved red toggle", + "Press the switch with curved red toggle using the right arm.", + "Deploy the right arm to operate the rectangular switch with curved lever", + "Activate the the black switch using the right arm", + "Engage with the black switch manually", + "Use the right arm to engage the hand-sized switch with connector prongs", + "Press the black switch via automation", + "Engage the rectangular switch with curved lever with a press.", + "Move to the red-top black switch and click it.", + "Click on the black switch precisely", + "Direct the right arm to operate the black base switch with red toggle", + "Operate the red-top black switch with the right arm", + "Switch the black base switch with red toggle to its active state", + "Activate the small switch via the right arm", + "Deploy the right arm to press the black base switch with red toggle", + "Press the black base switch with red toggle directly", + "Trigger the rectangular black plastic switch using the right arm", + "Activate the red and black switch with the right arm.", + "Directly interact with the red-top black switch", + "Operate the right arm to engage the black switch", + "Click the black base switch with red toggle to activate it", + "Press the rectangular black plastic switch to activate.", + "Use the right arm to interact with the rectangular switch with curved lever", + "Tap the black switch to engage it", + "Push the black base switch with red toggle via the right arm.", + "Click the red and black switch using automated tools", + "Trigger the hand-sized switch with connector prongs without referencing the right arm", + "Set the switch at the red and black switch", + "Press the plastic switch with metal terminals with the right arm", + "Press the red and black switch carefully with the right arm", + "Engage the black switch with metallic connectors using the right arm.", + "Initiate the switch with curved red toggle by clicking", + "Engage the right arm to press the switch with curved red toggle", + "Press the red-top black switch using robotic control", + "Engage the red and black switch using the right arm", + "Command the right arm to engage the small switch", + "Set the right arm to press the red-top black switch" + ], + "unseen": [ + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Move and click the the simple toggle switch", + "Use the right arm to press the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..2646541cfef112128771112a1ab5864555dad376 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Switch the switch for turning circuits on off to its active state", + "Click the plastic switch with metal prongs with robotic precision", + "Use the right arm for switching the switch for turning circuits on off", + "Click the switch for turning circuits on off using automated tools", + "Operate the red and black electrical switch with the right arm", + "Command the right arm to engage the red and black electrical switch", + "Press the small switch with red lever using the right arm.", + "Engage with the black base switch manually", + "Engage the two-tone red black switch using the right arm", + "Activate the switch for turning circuits on off with the right arm.", + "Click the toggle switch with black housing directly.", + "Press the red and black electrical switch to activate.", + "Interact with the black base switch.", + "Initiate the black base switch by clicking", + "Use the right arm to engage the small switch with red lever", + "Trigger the black base switch with precision", + "Activate the switch with three metal pins by pressing it", + "Deploy the right arm to press the switch with three metal pins", + "Locate and press the tiny rectangular switch", + "Engage the metal-pronged black switch using the robotic arm", + "Use the right arm to interact with the switch for turning circuits on off", + "Trigger the toggle switch with black housing without referencing the right arm", + "Activate the small switch with red lever via the right arm", + "Click the red and black electrical switch to activate it", + "Press the tiny rectangular switch directly", + "Engage the red and black electrical switch using the right arm.", + "Press the metal-pronged black switch via automation", + "Activate the the black base switch using the right arm", + "Set the switch at the switch with three metal pins", + "Toggle the switch with three metal pins with the right arm.", + "Operate the right arm to engage the rectangular switch", + "Locate and press the switch for turning circuits on off", + "Activate the toggle switch with black housing with robotic precision", + "Trigger the metal-pronged black switch using the right arm", + "Engage the plastic switch with metal prongs with a press.", + "Tap the switch with three metal pins to engage it", + "Set the right arm to press the two-tone red black switch", + "Push the toggle switch with black housing via the right arm.", + "Click on the toggle switch with black housing precisely", + "Directly interact with the metal-pronged black switch", + "Activate the tiny rectangular switch directly", + "Interact with the black base switch directly", + "Approach and tap the tiny rectangular switch via the right arm", + "Move to the plastic switch with metal prongs and click it.", + "Press the switch with three metal pins carefully with the right arm", + "Deploy the right arm to operate the two-tone red black switch", + "Direct the right arm to operate the two-tone red black switch", + "Press the toggle switch with black housing using robotic control", + "Engage the right arm to press the red and black electrical switch", + "Press the tiny rectangular switch with the right arm", + "Switch the metal-pronged black switch to its active state", + "Click the red and black electrical switch with robotic precision", + "Use the right arm for switching the rectangular switch", + "Click the two-tone red black switch using automated tools", + "Operate the switch for turning circuits on off with the right arm", + "Command the right arm to engage the switch for turning circuits on off", + "Press the small switch with red lever using the right arm.", + "Engage with the switch with three metal pins manually", + "Engage the red and black electrical switch using the right arm", + "Activate the switch for turning circuits on off with the right arm.", + "Click the plastic switch with metal prongs directly.", + "Press the plastic switch with metal prongs to activate.", + "Interact with the red and black electrical switch.", + "Initiate the switch for turning circuits on off by clicking", + "Use the right arm to engage the smooth red switch with labels", + "Trigger the toggle switch with black housing with precision", + "Activate the plastic switch with metal prongs by pressing it", + "Deploy the right arm to press the switch with three metal pins", + "Locate and press the tiny rectangular switch", + "Engage the red and black electrical switch using the robotic arm", + "Use the right arm to interact with the tiny rectangular switch", + "Trigger the rectangular switch without referencing the right arm", + "Activate the smooth red switch with labels via the right arm", + "Click the two-tone red black switch to activate it", + "Press the tiny rectangular switch directly", + "Engage the plastic switch with metal prongs using the right arm.", + "Press the switch with three metal pins via automation", + "Activate the the switch with three metal pins using the right arm", + "Set the switch at the black base switch", + "Toggle the red and black electrical switch with the right arm.", + "Operate the right arm to engage the smooth red switch with labels", + "Locate and press the black base switch", + "Activate the switch for turning circuits on off with robotic precision", + "Trigger the tiny rectangular switch using the right arm", + "Engage the tiny rectangular switch with a press.", + "Tap the black base switch to engage it", + "Set the right arm to press the switch for turning circuits on off", + "Push the red and black electrical switch via the right arm.", + "Click on the small switch with red lever precisely", + "Directly interact with the tiny rectangular switch", + "Activate the rectangular switch directly", + "Interact with the rectangular switch directly", + "Approach and tap the switch with three metal pins via the right arm", + "Move to the red and black electrical switch and click it.", + "Press the tiny rectangular switch carefully with the right arm", + "Deploy the right arm to operate the small switch with red lever", + "Direct the right arm to operate the switch for turning circuits on off", + "Press the metal-pronged black switch using robotic control", + "Engage the right arm to press the plastic switch with metal prongs", + "Press the tiny rectangular switch with the right arm" + ], + "unseen": [ + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Move and click the the red toggle switch", + "Use the right arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Use the right arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Use the right arm to press the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the red toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..89f6faa153f75979740f69df70757edaf384ea4c --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the red and black electrical switch carefully with the left arm", + "Engage the left arm to press the metal-pronged black switch", + "Engage the plastic switch with metal prongs with a press.", + "Click the small switch with red lever to activate it", + "Engage the rectangular switch using the robotic arm", + "Direct the left arm to operate the metal-pronged black switch", + "Set the switch at the plastic switch with metal prongs", + "Press the rectangular switch directly", + "Switch the tiny rectangular switch to its active state", + "Interact with the metal-pronged black switch.", + "Engage the switch with three metal pins using the left arm.", + "Locate and press the tiny rectangular switch", + "Click the smooth red switch with labels using automated tools", + "Deploy the left arm to press the rectangular switch", + "Use the left arm to interact with the switch with three metal pins", + "Click the switch with three metal pins with robotic precision", + "Use the left arm to engage the tiny rectangular switch", + "Click the tiny rectangular switch directly.", + "Operate the left arm to engage the small switch with red lever", + "Activate the the black base switch using the left arm", + "Activate the small switch with red lever directly", + "Command the left arm to engage the toggle switch with black housing", + "Activate the black base switch with robotic precision", + "Press the metal-pronged black switch with the left arm", + "Locate and press the metal-pronged black switch", + "Press the switch for turning circuits on off using robotic control", + "Directly interact with the small switch with red lever", + "Press the plastic switch with metal prongs to activate.", + "Toggle the metal-pronged black switch with the left arm.", + "Activate the black base switch by pressing it", + "Engage the smooth red switch with labels using the left arm", + "Use the left arm for switching the small switch with red lever", + "Activate the switch with three metal pins with the left arm.", + "Approach and tap the red and black electrical switch via the left arm", + "Push the tiny rectangular switch via the left arm.", + "Engage with the small switch with red lever manually", + "Tap the switch for turning circuits on off to engage it", + "Operate the small switch with red lever with the left arm", + "Interact with the metal-pronged black switch directly", + "Trigger the rectangular switch without referencing the left arm", + "Move to the tiny rectangular switch and click it.", + "Trigger the toggle switch with black housing with precision", + "Press the small switch with red lever via automation", + "Deploy the left arm to operate the switch for turning circuits on off", + "Click on the switch for turning circuits on off precisely", + "Press the switch with three metal pins using the left arm.", + "Initiate the black base switch by clicking", + "Trigger the plastic switch with metal prongs using the left arm", + "Set the left arm to press the rectangular switch", + "Activate the toggle switch with black housing via the left arm", + "Press the rectangular switch carefully with the left arm", + "Engage the left arm to press the tiny rectangular switch", + "Engage the plastic switch with metal prongs with a press.", + "Click the plastic switch with metal prongs to activate it", + "Engage the red and black electrical switch using the robotic arm", + "Direct the left arm to operate the tiny rectangular switch", + "Set the switch at the rectangular switch", + "Press the rectangular switch directly", + "Switch the two-tone red black switch to its active state", + "Interact with the smooth red switch with labels.", + "Engage the toggle switch with black housing using the left arm.", + "Locate and press the switch with three metal pins", + "Click the metal-pronged black switch using automated tools", + "Deploy the left arm to press the plastic switch with metal prongs", + "Use the left arm to interact with the small switch with red lever", + "Click the plastic switch with metal prongs with robotic precision", + "Use the left arm to engage the metal-pronged black switch", + "Click the tiny rectangular switch directly.", + "Operate the left arm to engage the two-tone red black switch", + "Activate the the two-tone red black switch using the left arm", + "Activate the black base switch directly", + "Command the left arm to engage the red and black electrical switch", + "Activate the switch for turning circuits on off with robotic precision", + "Press the rectangular switch with the left arm", + "Locate and press the smooth red switch with labels", + "Press the switch with three metal pins using robotic control", + "Directly interact with the metal-pronged black switch", + "Press the switch with three metal pins to activate.", + "Toggle the switch for turning circuits on off with the left arm.", + "Activate the toggle switch with black housing by pressing it", + "Engage the toggle switch with black housing using the left arm", + "Use the left arm for switching the switch with three metal pins", + "Activate the switch for turning circuits on off with the left arm.", + "Approach and tap the tiny rectangular switch via the left arm", + "Push the switch for turning circuits on off via the left arm.", + "Engage with the small switch with red lever manually", + "Tap the tiny rectangular switch to engage it", + "Operate the small switch with red lever with the left arm", + "Interact with the tiny rectangular switch directly", + "Trigger the rectangular switch without referencing the left arm", + "Move to the switch for turning circuits on off and click it.", + "Trigger the toggle switch with black housing with precision", + "Press the switch for turning circuits on off via automation", + "Deploy the left arm to operate the switch with three metal pins", + "Click on the smooth red switch with labels precisely", + "Press the toggle switch with black housing using the left arm.", + "Initiate the black base switch by clicking", + "Trigger the two-tone red black switch using the left arm", + "Set the left arm to press the black base switch", + "Activate the black base switch via the left arm" + ], + "unseen": [ + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Use the left arm to press the red toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the red toggle switch", + "Activate the switch at the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Move and click the the red toggle switch", + "Direct the left arm to click the red toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..6662a0198d23d188362d33e1c1bf07bf81c3a5c1 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the medium switch with trapezoidal base using the robotic arm", + "Toggle the trapezoidal base switch with the right arm.", + "Use the right arm for switching the electric toggle switch", + "Press the gray plastic switch to activate.", + "Operate the right arm to engage the two-button gray switch", + "Trigger the plastic switch with matte buttons without referencing the right arm", + "Directly interact with the two-button gray switch", + "Locate and press the medium switch with trapezoidal base", + "Use the right arm to engage the handheld switch", + "Locate and press the handheld switch", + "Set the right arm to press the electric toggle switch", + "Switch the smooth gray switch to its active state", + "Activate the gray base with black buttons with the right arm.", + "Click the gray switch with black buttons with robotic precision", + "Engage with the two-button gray switch manually", + "Activate the the gray switch with black buttons using the right arm", + "Approach and tap the switch with trapezoidal base via the right arm", + "Engage the medium switch with trapezoidal base using the right arm.", + "Engage the switch with trapezoidal base using the right arm", + "Activate the switch with trapezoidal base with robotic precision", + "Operate the gray base with black buttons with the right arm", + "Set the switch at the switch with trapezoidal base", + "Click the gray switch with black buttons directly.", + "Activate the medium switch with trapezoidal base via the right arm", + "Push the gray smooth surface switch via the right arm.", + "Initiate the gray smooth surface switch by clicking", + "Press the gray smooth surface switch using robotic control", + "Activate the plastic switch with matte buttons directly", + "Press the gray smooth surface switch directly", + "Activate the trapezoidal base switch by pressing it", + "Interact with the smooth gray switch directly", + "Tap the switch with trapezoidal base to engage it", + "Press the trapezoidal base switch with the right arm", + "Engage the plastic switch with matte buttons with a press.", + "Trigger the gray plastic switch using the right arm", + "Direct the right arm to operate the plastic switch with matte buttons", + "Press the switch with trapezoidal base via automation", + "Trigger the two-button gray switch with precision", + "Interact with the electric toggle switch.", + "Click the plastic switch with matte buttons using automated tools", + "Move to the electric toggle switch and click it.", + "Press the gray smooth surface switch carefully with the right arm", + "Engage the right arm to press the medium switch with trapezoidal base", + "Command the right arm to engage the handheld switch", + "Click the gray base with black buttons to activate it", + "Click on the smooth gray switch precisely", + "Deploy the right arm to press the gray base with black buttons", + "Deploy the right arm to operate the gray plastic switch", + "Use the right arm to interact with the electric toggle switch", + "Press the electric toggle switch using the right arm.", + "Engage the switch with trapezoidal base using the robotic arm", + "Toggle the smooth gray switch with the right arm.", + "Use the right arm for switching the medium switch with trapezoidal base", + "Press the handheld switch to activate.", + "Operate the right arm to engage the gray switch with black buttons", + "Trigger the medium switch with trapezoidal base without referencing the right arm", + "Directly interact with the gray base with black buttons", + "Locate and press the plastic switch with matte buttons", + "Use the right arm to engage the trapezoidal base switch", + "Locate and press the smooth gray switch", + "Set the right arm to press the trapezoidal base switch", + "Switch the gray smooth surface switch to its active state", + "Activate the trapezoidal base switch with the right arm.", + "Click the gray plastic switch with robotic precision", + "Engage with the handheld switch manually", + "Activate the the two-button gray switch using the right arm", + "Approach and tap the gray switch with black buttons via the right arm", + "Engage the handheld switch using the right arm.", + "Engage the handheld switch using the right arm", + "Activate the switch with trapezoidal base with robotic precision", + "Operate the handheld switch with the right arm", + "Set the switch at the gray switch with black buttons", + "Click the plastic switch with matte buttons directly.", + "Activate the plastic switch with matte buttons via the right arm", + "Push the smooth gray switch via the right arm.", + "Initiate the medium switch with trapezoidal base by clicking", + "Press the gray plastic switch using robotic control", + "Activate the medium switch with trapezoidal base directly", + "Press the switch with trapezoidal base directly", + "Activate the plastic switch with matte buttons by pressing it", + "Interact with the handheld switch directly", + "Tap the electric toggle switch to engage it", + "Press the electric toggle switch with the right arm", + "Engage the plastic switch with matte buttons with a press.", + "Trigger the two-button gray switch using the right arm", + "Direct the right arm to operate the trapezoidal base switch", + "Press the two-button gray switch via automation", + "Trigger the smooth gray switch with precision", + "Interact with the two-button gray switch.", + "Click the gray smooth surface switch using automated tools", + "Move to the switch with trapezoidal base and click it.", + "Press the two-button gray switch carefully with the right arm", + "Engage the right arm to press the trapezoidal base switch", + "Command the right arm to engage the medium switch with trapezoidal base", + "Click the smooth gray switch to activate it", + "Click on the gray plastic switch precisely", + "Deploy the right arm to press the gray base with black buttons", + "Deploy the right arm to operate the gray switch with black buttons", + "Use the right arm to interact with the two-button gray switch", + "Press the gray smooth surface switch using the right arm." + ], + "unseen": [ + "Press the gray switch medium size using the right arm", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm.", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm.", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm.", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Move and click the the gray switch medium size", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm.", + "Click the gray switch with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the gray switch using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch.", + "Click the gray switch medium size with the right arm.", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch", + "Move and click the the gray switch", + "Press the gray switch medium size using the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm.", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the switch with circular black buttons", + "Move and click the the switch with circular black buttons" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..a98853c9dbe733038e555595c31018ee80eccec7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the right arm to press the smooth gray switch", + "Engage the right arm to press the two-button gray switch", + "Activate the trapezoidal base switch by pressing it", + "Use the right arm to engage the gray smooth surface switch", + "Direct the right arm to operate the switch with trapezoidal base", + "Press the trapezoidal base switch with the right arm", + "Set the right arm to press the handheld switch", + "Press the switch with trapezoidal base to activate.", + "Initiate the gray base with black buttons by clicking", + "Press the switch with trapezoidal base carefully with the right arm", + "Use the right arm to interact with the gray base with black buttons", + "Tap the electric toggle switch to engage it", + "Toggle the gray plastic switch with the right arm.", + "Operate the gray smooth surface switch with the right arm", + "Trigger the gray base with black buttons using the right arm", + "Interact with the gray switch with black buttons.", + "Push the switch with trapezoidal base via the right arm.", + "Engage the gray base with black buttons using the robotic arm", + "Engage with the trapezoidal base switch manually", + "Activate the gray switch with black buttons via the right arm", + "Click on the gray base with black buttons precisely", + "Click the two-button gray switch to activate it", + "Activate the gray switch with black buttons directly", + "Locate and press the gray plastic switch", + "Interact with the gray base with black buttons directly", + "Operate the right arm to engage the smooth gray switch", + "Directly interact with the smooth gray switch", + "Click the two-button gray switch using automated tools", + "Set the switch at the electric toggle switch", + "Engage the switch with trapezoidal base using the right arm.", + "Command the right arm to engage the gray smooth surface switch", + "Press the handheld switch using the right arm.", + "Use the right arm for switching the trapezoidal base switch", + "Approach and tap the smooth gray switch via the right arm", + "Activate the medium switch with trapezoidal base with the right arm.", + "Engage the medium switch with trapezoidal base using the right arm", + "Engage the smooth gray switch with a press.", + "Move to the smooth gray switch and click it.", + "Trigger the gray base with black buttons with precision", + "Locate and press the two-button gray switch", + "Press the trapezoidal base switch via automation", + "Click the electric toggle switch with robotic precision", + "Deploy the right arm to operate the smooth gray switch", + "Switch the plastic switch with matte buttons to its active state", + "Press the gray smooth surface switch using robotic control", + "Click the gray switch with black buttons directly.", + "Trigger the medium switch with trapezoidal base without referencing the right arm", + "Activate the the switch with trapezoidal base using the right arm", + "Press the gray base with black buttons directly", + "Activate the switch with trapezoidal base with robotic precision", + "Deploy the right arm to press the handheld switch", + "Engage the right arm to press the gray switch with black buttons", + "Activate the electric toggle switch by pressing it", + "Use the right arm to engage the gray switch with black buttons", + "Direct the right arm to operate the electric toggle switch", + "Press the trapezoidal base switch with the right arm", + "Set the right arm to press the gray base with black buttons", + "Press the handheld switch to activate.", + "Initiate the two-button gray switch by clicking", + "Press the gray switch with black buttons carefully with the right arm", + "Use the right arm to interact with the trapezoidal base switch", + "Tap the gray switch with black buttons to engage it", + "Toggle the switch with trapezoidal base with the right arm.", + "Operate the gray base with black buttons with the right arm", + "Trigger the electric toggle switch using the right arm", + "Interact with the two-button gray switch.", + "Push the electric toggle switch via the right arm.", + "Engage the gray smooth surface switch using the robotic arm", + "Engage with the two-button gray switch manually", + "Activate the electric toggle switch via the right arm", + "Click on the plastic switch with matte buttons precisely", + "Click the gray base with black buttons to activate it", + "Activate the gray base with black buttons directly", + "Locate and press the gray base with black buttons", + "Interact with the gray base with black buttons directly", + "Operate the right arm to engage the trapezoidal base switch", + "Directly interact with the two-button gray switch", + "Click the trapezoidal base switch using automated tools", + "Set the switch at the gray switch with black buttons", + "Engage the gray smooth surface switch using the right arm.", + "Command the right arm to engage the gray switch with black buttons", + "Press the smooth gray switch using the right arm.", + "Use the right arm for switching the electric toggle switch", + "Approach and tap the smooth gray switch via the right arm", + "Activate the gray base with black buttons with the right arm.", + "Engage the plastic switch with matte buttons using the right arm", + "Engage the handheld switch with a press.", + "Move to the trapezoidal base switch and click it.", + "Trigger the switch with trapezoidal base with precision", + "Locate and press the handheld switch", + "Press the smooth gray switch via automation", + "Click the gray smooth surface switch with robotic precision", + "Deploy the right arm to operate the gray base with black buttons", + "Switch the gray switch with black buttons to its active state", + "Press the medium switch with trapezoidal base using robotic control", + "Click the handheld switch directly.", + "Trigger the medium switch with trapezoidal base without referencing the right arm", + "Activate the the gray plastic switch using the right arm", + "Press the two-button gray switch directly", + "Activate the gray base with black buttons with robotic precision" + ], + "unseen": [ + "Move and click the the gray switch", + "Click the gray switch medium size using the right arm", + "Press the gray switch using the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons using the right arm", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm.", + "Activate the switch at the gray switch", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the switch with circular black buttons", + "Click the gray switch using the right arm", + "Press the gray switch medium size using the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the gray switch", + "Click the gray switch using the right arm", + "Press the gray switch medium size using the right arm", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Press the gray switch medium size using the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size with the right arm", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons using the right arm", + "Press the gray switch medium size using the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size with the right arm.", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the gray switch medium size", + "Click the gray switch medium size using the right arm", + "Press the gray switch using the right arm", + "Use the right arm to press the gray switch.", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch with the right arm.", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the gray switch medium size", + "Click the gray switch medium size using the right arm", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm.", + "Activate the switch at the gray switch", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch", + "Click the gray switch medium size using the right arm", + "Press the gray switch using the right arm", + "Use the right arm to press the gray switch.", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch", + "Click the gray switch using the right arm", + "Press the gray switch using the right arm", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..0bce472637d9a0aee1be9ba235c89e361cb1d750 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the black switch carefully with the left arm", + "Engage the red and black switch with a press.", + "Engage the hand-sized switch with connector prongs using the left arm.", + "Directly interact with the compact switch with toggle on top", + "Engage the black switch using the robotic arm", + "Press the rectangular switch with curved lever to activate.", + "Toggle the rectangular switch with curved lever with the left arm.", + "Press the red-top black switch using robotic control", + "Activate the small switch via the left arm", + "Trigger the red and black switch with precision", + "Click on the switch with curved red toggle precisely", + "Operate the left arm to engage the rectangular black plastic switch", + "Click the small switch to activate it", + "Set the switch at the plastic switch with metal terminals", + "Press the black switch with metallic connectors with the left arm", + "Push the black switch via the left arm.", + "Approach and tap the rectangular switch with curved lever via the left arm", + "Activate the rectangular switch with curved lever by pressing it", + "Interact with the red and black switch directly", + "Set the left arm to press the switch with curved red toggle", + "Press the rectangular black plastic switch directly", + "Press the rectangular switch with curved lever using the left arm.", + "Deploy the left arm to press the black base switch with red toggle", + "Move to the black switch and click it.", + "Locate and press the black base switch with red toggle", + "Use the left arm to interact with the black switch", + "Direct the left arm to operate the red and black switch", + "Click the switch with curved red toggle directly.", + "Activate the red and black switch with the left arm.", + "Interact with the rectangular switch with curved lever.", + "Engage with the black switch manually", + "Use the left arm for switching the black switch with metallic connectors", + "Activate the the small switch using the left arm", + "Engage the hand-sized switch with connector prongs using the left arm", + "Click the red and black switch using automated tools", + "Initiate the hand-sized switch with connector prongs by clicking", + "Activate the plastic switch with metal terminals with robotic precision", + "Trigger the plastic switch with metal terminals using the left arm", + "Tap the hand-sized switch with connector prongs to engage it", + "Operate the switch with curved red toggle with the left arm", + "Engage the left arm to press the compact switch with toggle on top", + "Activate the red-top black switch directly", + "Click the small switch with robotic precision", + "Press the red-top black switch via automation", + "Deploy the left arm to operate the black switch with metallic connectors", + "Use the left arm to engage the switch with curved red toggle", + "Command the left arm to engage the red and black switch", + "Trigger the hand-sized switch with connector prongs without referencing the left arm", + "Locate and press the rectangular black plastic switch", + "Switch the black base switch with red toggle to its active state", + "Press the hand-sized switch with connector prongs carefully with the left arm", + "Engage the switch with curved red toggle with a press.", + "Engage the black base switch with red toggle using the left arm.", + "Directly interact with the red and black switch", + "Engage the red-top black switch using the robotic arm", + "Press the red-top black switch to activate.", + "Toggle the plastic switch with metal terminals with the left arm.", + "Press the rectangular black plastic switch using robotic control", + "Activate the black switch with metallic connectors via the left arm", + "Trigger the switch with curved red toggle with precision", + "Click on the switch with curved red toggle precisely", + "Operate the left arm to engage the black switch with metallic connectors", + "Click the rectangular switch with curved lever to activate it", + "Set the switch at the compact switch with toggle on top", + "Press the compact switch with toggle on top with the left arm", + "Push the black switch with metallic connectors via the left arm.", + "Approach and tap the compact switch with toggle on top via the left arm", + "Activate the black switch by pressing it", + "Interact with the rectangular switch with curved lever directly", + "Set the left arm to press the hand-sized switch with connector prongs", + "Press the switch with curved red toggle directly", + "Press the rectangular switch with curved lever using the left arm.", + "Deploy the left arm to press the red-top black switch", + "Move to the rectangular switch with curved lever and click it.", + "Locate and press the plastic switch with metal terminals", + "Use the left arm to interact with the black base switch with red toggle", + "Direct the left arm to operate the small switch", + "Click the black switch with metallic connectors directly.", + "Activate the black base switch with red toggle with the left arm.", + "Interact with the small switch.", + "Engage with the black switch manually", + "Use the left arm for switching the rectangular black plastic switch", + "Activate the the switch with curved red toggle using the left arm", + "Engage the plastic switch with metal terminals using the left arm", + "Click the red-top black switch using automated tools", + "Initiate the hand-sized switch with connector prongs by clicking", + "Activate the rectangular black plastic switch with robotic precision", + "Trigger the red and black switch using the left arm", + "Tap the rectangular black plastic switch to engage it", + "Operate the small switch with the left arm", + "Engage the left arm to press the small switch", + "Activate the plastic switch with metal terminals directly", + "Click the red and black switch with robotic precision", + "Press the red and black switch via automation", + "Deploy the left arm to operate the rectangular black plastic switch", + "Use the left arm to engage the black switch with metallic connectors", + "Command the left arm to engage the compact switch with toggle on top", + "Trigger the switch with curved red toggle without referencing the left arm", + "Locate and press the plastic switch with metal terminals", + "Switch the plastic switch with metal terminals to its active state" + ], + "unseen": [ + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Use the left arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Press the simple toggle switch using the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm.", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Press the switch with two metal prongs using the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Press the simple toggle switch using the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Press the switch with two metal prongs using the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Use the left arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Press the smooth black switch with red lever using the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Press the smooth black switch with red lever using the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Press the simple toggle switch using the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Press the switch with two metal prongs using the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Press the simple toggle switch using the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Press the smooth black switch with red lever using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..9e77e3ebf0a95ad8dc2cc91271152308e1c8d48f --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the tiny matte beige toggle switch with the right arm", + "Activate the switch with rectangular dark button by pressing it", + "Set the switch at the small trapezoid switch", + "Engage with the toggle switch with brown rectangle button manually", + "Activate the toggle switch with brown rectangle button via the right arm", + "Push the beige switch with smooth finish via the right arm.", + "Press the small trapezoid switch via automation", + "Press the matte beige switch with flat top directly", + "Press the beige switch to activate.", + "Click on the switch with rectangular dark button precisely", + "Activate the the switch with rectangular dark button using the right arm", + "Press the hand-sized light beige switch using the right arm.", + "Engage the right arm to press the beige switch", + "Deploy the right arm to operate the switch with brown button", + "Engage the switch with rectangular dark button using the robotic arm", + "Use the right arm for switching the small trapezoid switch", + "Locate and press the switch with brown button", + "Command the right arm to engage the beige switch with smooth finish", + "Deploy the right arm to press the beige switch with smooth finish", + "Engage the toggle switch with brown rectangle button using the right arm.", + "Interact with the light-colored trapezoid-shaped plastic switch directly", + "Directly interact with the toggle switch with brown rectangle button", + "Use the right arm to interact with the beige switch with smooth finish", + "Operate the right arm to engage the beige switch", + "Initiate the toggle switch with brown rectangle button by clicking", + "Click the hand-sized light beige switch to activate it", + "Approach and tap the beige switch with smooth finish via the right arm", + "Locate and press the switch with a smooth top", + "Use the right arm to engage the switch with rectangular dark button", + "Press the beige switch with smooth finish carefully with the right arm", + "Tap the matte beige switch with flat top to engage it", + "Toggle the switch with a smooth top with the right arm.", + "Operate the beige switch with smooth finish with the right arm", + "Activate the switch with a smooth top with the right arm.", + "Switch the beige switch to its active state", + "Trigger the switch with brown button with precision", + "Set the right arm to press the hand-sized light beige switch", + "Move to the beige switch with smooth finish and click it.", + "Activate the matte beige switch with flat top with robotic precision", + "Engage the light plastic switch with a press.", + "Trigger the light plastic switch using the right arm", + "Click the toggle switch with brown rectangle button using automated tools", + "Direct the right arm to operate the toggle switch with brown rectangle button", + "Press the small trapezoid switch using robotic control", + "Engage the beige switch with smooth finish using the right arm", + "Trigger the toggle switch with brown rectangle button without referencing the right arm", + "Click the beige switch with robotic precision", + "Interact with the matte beige switch with flat top.", + "Click the beige switch directly.", + "Activate the small trapezoid switch directly", + "Press the toggle switch with brown rectangle button with the right arm", + "Activate the beige switch by pressing it", + "Set the switch at the switch with rectangular dark button", + "Engage with the tiny matte beige toggle switch manually", + "Activate the small trapezoid switch via the right arm", + "Push the hand-sized light beige switch via the right arm.", + "Press the switch with a smooth top via automation", + "Press the tiny matte beige toggle switch directly", + "Press the small trapezoid switch to activate.", + "Click on the toggle switch with brown rectangle button precisely", + "Activate the the beige switch using the right arm", + "Press the hand-sized light beige switch using the right arm.", + "Engage the right arm to press the light-colored trapezoid-shaped plastic switch", + "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch", + "Engage the tiny matte beige toggle switch using the robotic arm", + "Use the right arm for switching the light-colored trapezoid-shaped plastic switch", + "Locate and press the beige switch", + "Command the right arm to engage the tiny matte beige toggle switch", + "Deploy the right arm to press the tiny matte beige toggle switch", + "Engage the switch with a smooth top using the right arm.", + "Interact with the toggle switch with brown rectangle button directly", + "Directly interact with the beige switch", + "Use the right arm to interact with the toggle switch with brown rectangle button", + "Operate the right arm to engage the tiny matte beige toggle switch", + "Initiate the light-colored trapezoid-shaped plastic switch by clicking", + "Click the light plastic switch to activate it", + "Approach and tap the hand-sized light beige switch via the right arm", + "Locate and press the switch with a smooth top", + "Use the right arm to engage the toggle switch with brown rectangle button", + "Press the small trapezoid switch carefully with the right arm", + "Tap the switch with rectangular dark button to engage it", + "Toggle the beige switch with smooth finish with the right arm.", + "Operate the light plastic switch with the right arm", + "Activate the hand-sized light beige switch with the right arm.", + "Switch the beige switch with smooth finish to its active state", + "Trigger the beige switch with smooth finish with precision", + "Set the right arm to press the switch with a smooth top", + "Move to the hand-sized light beige switch and click it.", + "Activate the hand-sized light beige switch with robotic precision", + "Engage the beige switch with a press.", + "Trigger the matte beige switch with flat top using the right arm", + "Click the small trapezoid switch using automated tools", + "Direct the right arm to operate the light plastic switch", + "Press the tiny matte beige toggle switch using robotic control", + "Engage the small trapezoid switch using the right arm", + "Trigger the switch with a smooth top without referencing the right arm", + "Click the switch with brown button with robotic precision", + "Interact with the matte beige switch with flat top.", + "Click the switch with rectangular dark button directly.", + "Activate the matte beige switch with flat top directly" + ], + "unseen": [ + "Click the small beige switch with angular sides using the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the beige switch with darker brown top", + "Click the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the beige switch with darker brown top", + "Press the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the right arm.", + "Move and click the the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the right arm.", + "Move and click the the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the small beige switch with angular sides", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the beige switch with darker brown top", + "Press the small beige switch with angular sides using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the small beige switch with angular sides", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the rectangular button switch on beige base", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..67a83bba276250f70e9986863f36a81a8c9f9ad3 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the handheld switch with robotic precision", + "Initiate the medium switch with trapezoidal base by clicking", + "Use the left arm to interact with the trapezoidal base switch", + "Click the handheld switch using automated tools", + "Trigger the plastic switch with matte buttons with precision", + "Click the medium switch with trapezoidal base with robotic precision", + "Set the left arm to press the smooth gray switch", + "Engage with the gray base with black buttons manually", + "Engage the medium switch with trapezoidal base using the robotic arm", + "Activate the the gray smooth surface switch using the left arm", + "Tap the handheld switch to engage it", + "Click the trapezoidal base switch directly.", + "Direct the left arm to operate the smooth gray switch", + "Engage the switch with trapezoidal base with a press.", + "Deploy the left arm to press the gray smooth surface switch", + "Push the medium switch with trapezoidal base via the left arm.", + "Press the plastic switch with matte buttons with the left arm", + "Click the smooth gray switch to activate it", + "Activate the gray base with black buttons directly", + "Press the handheld switch to activate.", + "Move to the smooth gray switch and click it.", + "Command the left arm to engage the handheld switch", + "Press the electric toggle switch via automation", + "Operate the handheld switch with the left arm", + "Use the left arm to engage the gray smooth surface switch", + "Activate the plastic switch with matte buttons with the left arm.", + "Locate and press the handheld switch", + "Trigger the switch with trapezoidal base using the left arm", + "Operate the left arm to engage the gray base with black buttons", + "Use the left arm for switching the gray base with black buttons", + "Press the gray switch with black buttons using robotic control", + "Switch the two-button gray switch to its active state", + "Interact with the electric toggle switch directly", + "Set the switch at the trapezoidal base switch", + "Engage the trapezoidal base switch using the left arm.", + "Locate and press the gray switch with black buttons", + "Toggle the gray plastic switch with the left arm.", + "Deploy the left arm to operate the smooth gray switch", + "Activate the medium switch with trapezoidal base via the left arm", + "Press the plastic switch with matte buttons directly", + "Press the two-button gray switch using the left arm.", + "Engage the gray base with black buttons using the left arm", + "Approach and tap the trapezoidal base switch via the left arm", + "Engage the left arm to press the gray plastic switch", + "Activate the gray switch with black buttons by pressing it", + "Directly interact with the two-button gray switch", + "Press the gray base with black buttons carefully with the left arm", + "Click on the gray switch with black buttons precisely", + "Interact with the plastic switch with matte buttons.", + "Trigger the switch with trapezoidal base without referencing the left arm", + "Activate the gray plastic switch with robotic precision", + "Initiate the smooth gray switch by clicking", + "Use the left arm to interact with the plastic switch with matte buttons", + "Click the gray switch with black buttons using automated tools", + "Trigger the gray plastic switch with precision", + "Click the medium switch with trapezoidal base with robotic precision", + "Set the left arm to press the electric toggle switch", + "Engage with the medium switch with trapezoidal base manually", + "Engage the gray switch with black buttons using the robotic arm", + "Activate the the switch with trapezoidal base using the left arm", + "Tap the gray smooth surface switch to engage it", + "Click the gray smooth surface switch directly.", + "Direct the left arm to operate the electric toggle switch", + "Engage the gray plastic switch with a press.", + "Deploy the left arm to press the switch with trapezoidal base", + "Push the medium switch with trapezoidal base via the left arm.", + "Press the two-button gray switch with the left arm", + "Click the gray switch with black buttons to activate it", + "Activate the gray base with black buttons directly", + "Press the trapezoidal base switch to activate.", + "Move to the medium switch with trapezoidal base and click it.", + "Command the left arm to engage the gray switch with black buttons", + "Press the gray base with black buttons via automation", + "Operate the plastic switch with matte buttons with the left arm", + "Use the left arm to engage the switch with trapezoidal base", + "Activate the smooth gray switch with the left arm.", + "Locate and press the gray base with black buttons", + "Trigger the plastic switch with matte buttons using the left arm", + "Operate the left arm to engage the two-button gray switch", + "Use the left arm for switching the smooth gray switch", + "Press the smooth gray switch using robotic control", + "Switch the switch with trapezoidal base to its active state", + "Interact with the trapezoidal base switch directly", + "Set the switch at the plastic switch with matte buttons", + "Engage the two-button gray switch using the left arm.", + "Locate and press the handheld switch", + "Toggle the smooth gray switch with the left arm.", + "Deploy the left arm to operate the gray switch with black buttons", + "Activate the gray switch with black buttons via the left arm", + "Press the gray plastic switch directly", + "Press the two-button gray switch using the left arm.", + "Engage the medium switch with trapezoidal base using the left arm", + "Approach and tap the plastic switch with matte buttons via the left arm", + "Engage the left arm to press the gray switch with black buttons", + "Activate the gray plastic switch by pressing it", + "Directly interact with the electric toggle switch", + "Press the gray base with black buttons carefully with the left arm", + "Click on the switch with trapezoidal base precisely", + "Interact with the gray plastic switch.", + "Trigger the gray switch with black buttons without referencing the left arm" + ], + "unseen": [ + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Click the gray switch with the left arm", + "Click the switch with circular black buttons with the left arm", + "Move and click the the gray switch medium size", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch medium size", + "Use the left arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch with the left arm", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the left arm", + "Direct the left arm to click the gray switch", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch.", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Use the left arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Click the switch with circular black buttons with the left arm", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch medium size", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Click the gray switch medium size with the left arm", + "Move and click the the gray switch", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons using the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the left arm", + "Click the switch with circular black buttons with the left arm", + "Move and click the the gray switch medium size", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the left arm", + "Click the switch with circular black buttons with the left arm", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch", + "Use the left arm to press the gray switch", + "Click the gray switch using the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the left arm", + "Direct the left arm to click the gray switch medium size", + "Use the left arm to press the gray switch medium size", + "Click the gray switch medium size using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Use the left arm to press the gray switch", + "Click the gray switch medium size using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Click the gray switch medium size with the left arm", + "Move and click the the switch with circular black buttons", + "Press the gray switch using the left arm", + "Direct the left arm to click the gray switch", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Click the gray switch medium size with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..46af9aa6810b5aa3d1392ed8db309ad6a60d890a --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Toggle the switch with the right arm.", + "Interact with the gray switch with red toggle directly", + "Activate the compact switch with flat base with robotic precision", + "Activate the the red bar switch using the right arm", + "Activate the compact switch with flat base directly", + "Click on the light gray square switch precisely", + "Switch the light gray square switch to its active state", + "Tap the electrical switch with protruding toggle to engage it", + "Trigger the switch without referencing the right arm", + "Engage the square switch with red bar using the right arm", + "Move to the square switch with red bar and click it.", + "Click the switch using automated tools", + "Activate the gray switch with red toggle by pressing it", + "Initiate the switch with thin red toggle by clicking", + "Locate and press the switch with thin red toggle", + "Click the switch with robotic precision", + "Press the toggle switch light gray base via automation", + "Trigger the light gray square switch with precision", + "Engage the switch for electrical control using the right arm.", + "Press the red bar switch carefully with the right arm", + "Deploy the right arm to press the plastic gray body switch", + "Direct the right arm to operate the switch", + "Engage the light gray square switch with a press.", + "Operate the light gray square switch with the right arm", + "Operate the right arm to engage the electrical switch with protruding toggle", + "Press the light gray square switch directly", + "Push the light gray square switch via the right arm.", + "Use the right arm to engage the red bar switch", + "Engage with the red bar switch manually", + "Locate and press the switch with thin red toggle", + "Directly interact with the light gray square switch", + "Activate the plastic gray body switch with the right arm.", + "Interact with the square switch with red bar.", + "Press the plastic gray body switch to activate.", + "Set the switch at the red bar switch", + "Command the right arm to engage the light gray square switch", + "Approach and tap the red bar switch via the right arm", + "Engage the right arm to press the switch with thin red toggle", + "Deploy the right arm to operate the light gray square switch", + "Press the switch for electrical control with the right arm", + "Click the plastic gray body switch to activate it", + "Use the right arm to interact with the control switch with red lever", + "Engage the plastic gray body switch using the robotic arm", + "Trigger the toggle switch light gray base using the right arm", + "Press the control switch with red lever using robotic control", + "Use the right arm for switching the control switch with red lever", + "Activate the plastic gray body switch via the right arm", + "Click the gray switch with red toggle directly.", + "Press the gray switch with red toggle using the right arm.", + "Set the right arm to press the square switch with red bar", + "Toggle the plastic gray body switch with the right arm.", + "Interact with the electrical switch with protruding toggle directly", + "Activate the control switch with red lever with robotic precision", + "Activate the the switch using the right arm", + "Activate the red bar switch directly", + "Click on the red bar switch precisely", + "Switch the red bar switch to its active state", + "Tap the switch to engage it", + "Trigger the electrical switch with protruding toggle without referencing the right arm", + "Engage the switch with thin red toggle using the right arm", + "Move to the switch with thin red toggle and click it.", + "Click the plastic gray body switch using automated tools", + "Activate the compact switch with flat base by pressing it", + "Initiate the red bar switch by clicking", + "Locate and press the toggle switch light gray base", + "Click the gray switch with red toggle with robotic precision", + "Press the red bar switch via automation", + "Trigger the control switch with red lever with precision", + "Engage the compact switch with flat base using the right arm.", + "Press the toggle switch light gray base carefully with the right arm", + "Deploy the right arm to press the red bar switch", + "Direct the right arm to operate the plastic gray body switch", + "Engage the square switch with red bar with a press.", + "Operate the switch for electrical control with the right arm", + "Operate the right arm to engage the square switch with red bar", + "Press the toggle switch light gray base directly", + "Push the switch via the right arm.", + "Use the right arm to engage the gray switch with red toggle", + "Engage with the switch with thin red toggle manually", + "Locate and press the compact switch with flat base", + "Directly interact with the electrical switch with protruding toggle", + "Activate the switch for electrical control with the right arm.", + "Interact with the switch.", + "Press the compact switch with flat base to activate.", + "Set the switch at the switch", + "Command the right arm to engage the switch with thin red toggle", + "Approach and tap the switch for electrical control via the right arm", + "Engage the right arm to press the switch for electrical control", + "Deploy the right arm to operate the control switch with red lever", + "Press the switch with the right arm", + "Click the electrical switch with protruding toggle to activate it", + "Use the right arm to interact with the toggle switch light gray base", + "Engage the gray switch with red toggle using the robotic arm", + "Trigger the switch with thin red toggle using the right arm", + "Press the control switch with red lever using robotic control", + "Use the right arm for switching the switch for electrical control", + "Activate the gray switch with red toggle via the right arm", + "Click the control switch with red lever directly.", + "Press the plastic gray body switch using the right arm.", + "Set the right arm to press the light gray square switch" + ], + "unseen": [ + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Press the flat square gray switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm", + "Press the flat square gray switch using the right arm", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Press the hand-sized square electrical switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the smooth gray base switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Press the hand-sized square electrical switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm.", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Press the hand-sized square electrical switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the right arm.", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm", + "Press the hand-sized square electrical switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm", + "Press the flat square gray switch using the right arm", + "Activate the switch at the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Press the hand-sized square electrical switch using the right arm", + "Activate the switch at the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Move and click the the smooth gray base switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..9b6dbf7a89d0206d1ba1af54a35d2ecdf9f704ba --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for switching the switch for electrical control", + "Initiate the red bar switch by clicking", + "Activate the the light gray square switch using the right arm", + "Directly interact with the control switch with red lever", + "Click the switch directly.", + "Set the switch at the toggle switch light gray base", + "Locate and press the toggle switch light gray base", + "Operate the right arm to engage the plastic gray body switch", + "Activate the compact switch with flat base with robotic precision", + "Press the toggle switch light gray base using the right arm.", + "Locate and press the plastic gray body switch", + "Click the switch for electrical control to activate it", + "Engage with the toggle switch light gray base manually", + "Trigger the square switch with red bar without referencing the right arm", + "Direct the right arm to operate the square switch with red bar", + "Press the gray switch with red toggle directly", + "Engage the light gray square switch using the right arm.", + "Use the right arm to interact with the compact switch with flat base", + "Toggle the switch for electrical control with the right arm.", + "Trigger the electrical switch with protruding toggle with precision", + "Activate the red bar switch with the right arm.", + "Tap the light gray square switch to engage it", + "Click on the toggle switch light gray base precisely", + "Trigger the gray switch with red toggle using the right arm", + "Use the right arm to engage the control switch with red lever", + "Activate the gray switch with red toggle via the right arm", + "Press the toggle switch light gray base with the right arm", + "Operate the switch with the right arm", + "Engage the switch for electrical control with a press.", + "Command the right arm to engage the gray switch with red toggle", + "Engage the red bar switch using the right arm", + "Press the control switch with red lever to activate.", + "Activate the switch by pressing it", + "Click the control switch with red lever using automated tools", + "Activate the switch with thin red toggle directly", + "Move to the electrical switch with protruding toggle and click it.", + "Interact with the switch with thin red toggle directly", + "Set the right arm to press the light gray square switch", + "Press the switch for electrical control carefully with the right arm", + "Interact with the electrical switch with protruding toggle.", + "Click the light gray square switch with robotic precision", + "Press the switch for electrical control via automation", + "Engage the square switch with red bar using the robotic arm", + "Approach and tap the switch for electrical control via the right arm", + "Engage the right arm to press the electrical switch with protruding toggle", + "Deploy the right arm to press the control switch with red lever", + "Deploy the right arm to operate the control switch with red lever", + "Push the light gray square switch via the right arm.", + "Switch the switch to its active state", + "Press the switch using robotic control", + "Use the right arm for switching the toggle switch light gray base", + "Initiate the square switch with red bar by clicking", + "Activate the the electrical switch with protruding toggle using the right arm", + "Directly interact with the toggle switch light gray base", + "Click the switch directly.", + "Set the switch at the light gray square switch", + "Locate and press the switch for electrical control", + "Operate the right arm to engage the plastic gray body switch", + "Activate the square switch with red bar with robotic precision", + "Press the electrical switch with protruding toggle using the right arm.", + "Locate and press the square switch with red bar", + "Click the compact switch with flat base to activate it", + "Engage with the red bar switch manually", + "Trigger the red bar switch without referencing the right arm", + "Direct the right arm to operate the red bar switch", + "Press the switch directly", + "Engage the toggle switch light gray base using the right arm.", + "Use the right arm to interact with the gray switch with red toggle", + "Toggle the switch with thin red toggle with the right arm.", + "Trigger the electrical switch with protruding toggle with precision", + "Activate the red bar switch with the right arm.", + "Tap the red bar switch to engage it", + "Click on the electrical switch with protruding toggle precisely", + "Trigger the red bar switch using the right arm", + "Use the right arm to engage the switch with thin red toggle", + "Activate the plastic gray body switch via the right arm", + "Press the red bar switch with the right arm", + "Operate the toggle switch light gray base with the right arm", + "Engage the square switch with red bar with a press.", + "Command the right arm to engage the compact switch with flat base", + "Engage the red bar switch using the right arm", + "Press the electrical switch with protruding toggle to activate.", + "Activate the toggle switch light gray base by pressing it", + "Click the red bar switch using automated tools", + "Activate the control switch with red lever directly", + "Move to the switch for electrical control and click it.", + "Interact with the gray switch with red toggle directly", + "Set the right arm to press the compact switch with flat base", + "Press the plastic gray body switch carefully with the right arm", + "Interact with the switch with thin red toggle.", + "Click the electrical switch with protruding toggle with robotic precision", + "Press the red bar switch via automation", + "Engage the light gray square switch using the robotic arm", + "Approach and tap the switch for electrical control via the right arm", + "Engage the right arm to press the gray switch with red toggle", + "Deploy the right arm to press the red bar switch", + "Deploy the right arm to operate the plastic gray body switch", + "Push the switch for electrical control via the right arm.", + "Switch the toggle switch light gray base to its active state", + "Press the light gray square switch using robotic control" + ], + "unseen": [ + "Use the right arm to press the smooth gray base switch", + "Click the flat square gray switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the flat square gray switch.", + "Use the right arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Direct the right arm to click the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch.", + "Use the right arm to press the smooth gray base switch", + "Click the flat square gray switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Direct the right arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch.", + "Use the right arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Move and click the the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Direct the right arm to click the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Use the right arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the flat square gray switch.", + "Use the right arm to press the smooth gray base switch", + "Click the smooth gray base switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Use the right arm to press the flat square gray switch", + "Click the flat square gray switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the flat square gray switch using the right arm", + "Click the flat square gray switch using the right arm", + "Direct the right arm to click the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Use the right arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Direct the right arm to click the smooth gray base switch", + "Click the flat square gray switch with the right arm", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Use the right arm to press the smooth gray base switch", + "Click the smooth gray base switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Direct the right arm to click the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch.", + "Use the right arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Direct the right arm to click the smooth gray base switch", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..eff67a3816c7e87147fe3ca6b25465ef389663d8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the black switch with slim profile with robotic precision", + "Interact with the control switch.", + "Press the control switch with the left arm", + "Click the compact rectangular black switch using automated tools", + "Operate the black switch with slim profile with the left arm", + "Click the control switch with robotic precision", + "Interact with the control switch directly", + "Set the left arm to press the slanted-edge plastic black switch", + "Toggle the black rectangular control switch with the left arm.", + "Engage the switch with slanted sides with a press.", + "Trigger the slanted-edge plastic black switch using the left arm", + "Use the left arm to engage the compact rectangular black switch", + "Press the black switch directly", + "Click the black switch with matte coating directly.", + "Press the sleek black rectangular switch via automation", + "Press the sleek black rectangular switch carefully with the left arm", + "Engage the black switch using the left arm.", + "Activate the slanted-edge plastic black switch via the left arm", + "Locate and press the switch with slanted sides", + "Directly interact with the sleek black rectangular switch", + "Use the left arm for switching the compact rectangular black switch", + "Click the black rectangular control switch to activate it", + "Locate and press the medium-sized black rectangular switch", + "Command the left arm to engage the black rectangular control switch", + "Activate the medium-sized black rectangular switch by pressing it", + "Engage with the sleek black rectangular switch manually", + "Approach and tap the slanted-edge plastic black switch via the left arm", + "Activate the the medium-sized black rectangular switch using the left arm", + "Initiate the black switch by clicking", + "Activate the black rectangular control switch directly", + "Trigger the slanted-edge plastic black switch without referencing the left arm", + "Engage the left arm to press the switch with slanted sides", + "Press the rectangular switch with smooth surface to activate.", + "Press the medium-sized black rectangular switch using the left arm.", + "Operate the left arm to engage the sleek black rectangular switch", + "Press the black switch with matte coating using robotic control", + "Direct the left arm to operate the compact rectangular black switch", + "Deploy the left arm to operate the compact rectangular black switch", + "Trigger the compact rectangular black switch with precision", + "Deploy the left arm to press the black switch with matte coating", + "Engage the sleek black rectangular switch using the left arm", + "Use the left arm to interact with the black rectangular control switch", + "Move to the rectangular switch with smooth surface and click it.", + "Activate the black switch with slim profile with the left arm.", + "Tap the black switch with slim profile to engage it", + "Switch the compact rectangular black switch to its active state", + "Set the switch at the black switch with matte coating", + "Push the black switch with matte coating via the left arm.", + "Click on the rectangular switch with smooth surface precisely", + "Engage the black switch with matte coating using the robotic arm", + "Activate the sleek black rectangular switch with robotic precision", + "Interact with the black switch.", + "Press the sleek black rectangular switch with the left arm", + "Click the control switch using automated tools", + "Operate the control switch with the left arm", + "Click the palm-sized black switch with robotic precision", + "Interact with the black rectangular control switch directly", + "Set the left arm to press the black switch", + "Toggle the black switch with slim profile with the left arm.", + "Engage the black rectangular control switch with a press.", + "Trigger the sleek black rectangular switch using the left arm", + "Use the left arm to engage the medium-sized black rectangular switch", + "Press the switch with slanted sides directly", + "Click the black rectangular control switch directly.", + "Press the compact rectangular black switch via automation", + "Press the medium-sized black rectangular switch carefully with the left arm", + "Engage the black switch using the left arm.", + "Activate the black rectangular control switch via the left arm", + "Locate and press the black switch with slim profile", + "Directly interact with the black rectangular control switch", + "Use the left arm for switching the black switch with matte coating", + "Click the compact rectangular black switch to activate it", + "Locate and press the rectangular switch with smooth surface", + "Command the left arm to engage the control switch", + "Activate the black rectangular control switch by pressing it", + "Engage with the black switch with matte coating manually", + "Approach and tap the black rectangular control switch via the left arm", + "Activate the the medium-sized black rectangular switch using the left arm", + "Initiate the slanted-edge plastic black switch by clicking", + "Activate the sleek black rectangular switch directly", + "Trigger the rectangular switch with smooth surface without referencing the left arm", + "Engage the left arm to press the medium-sized black rectangular switch", + "Press the switch with slanted sides to activate.", + "Press the black switch with matte coating using the left arm.", + "Operate the left arm to engage the rectangular switch with smooth surface", + "Press the black rectangular control switch using robotic control", + "Direct the left arm to operate the black switch with slim profile", + "Deploy the left arm to operate the control switch", + "Trigger the rectangular switch with smooth surface with precision", + "Deploy the left arm to press the slanted-edge plastic black switch", + "Engage the sleek black rectangular switch using the left arm", + "Use the left arm to interact with the slanted-edge plastic black switch", + "Move to the black switch with slim profile and click it.", + "Activate the rectangular switch with smooth surface with the left arm.", + "Tap the control switch to engage it", + "Switch the black switch to its active state", + "Set the switch at the palm-sized black switch", + "Push the palm-sized black switch via the left arm.", + "Click on the black rectangular control switch precisely", + "Engage the palm-sized black switch using the robotic arm" + ], + "unseen": [ + "Click the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the matte black plastic switch", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Press the smooth black switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Move and click the the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the smooth black switch", + "Use the left arm to press the smooth black switch", + "Click the matte black plastic switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Move and click the the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the matte black plastic switch", + "Click the matte black plastic switch with the left arm.", + "Click the smooth black switch with the left arm", + "Click the smooth black switch using the left arm", + "Click the smooth black switch with the left arm", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the rectangular black switch", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Move and click the the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the matte black plastic switch", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm", + "Press the smooth black switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the smooth black switch", + "Click the matte black plastic switch with the left arm.", + "Click the smooth black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the matte black plastic switch", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the smooth black switch", + "Use the left arm to press the rectangular black switch", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Direct the left arm to click the smooth black switch", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Click the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Activate the switch at the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..53d09400a0f1ad492b73b382ba5614bed5cd9973 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the matte beige switch with flat top", + "Deploy the right arm to operate the beige switch with smooth finish", + "Press the hand-sized light beige switch to activate.", + "Push the switch with brown button via the right arm.", + "Use the right arm for switching the small trapezoid switch", + "Operate the right arm to engage the toggle switch with brown rectangle button", + "Trigger the toggle switch with brown rectangle button with precision", + "Click the tiny matte beige toggle switch with robotic precision", + "Engage the matte beige switch with flat top using the right arm.", + "Use the right arm to interact with the beige switch", + "Activate the beige switch via the right arm", + "Activate the small trapezoid switch by pressing it", + "Toggle the small trapezoid switch with the right arm.", + "Operate the switch with rectangular dark button with the right arm", + "Press the hand-sized light beige switch using robotic control", + "Set the switch at the switch with brown button", + "Press the switch with rectangular dark button using the right arm.", + "Initiate the light plastic switch by clicking", + "Click the beige switch with smooth finish to activate it", + "Activate the switch with rectangular dark button with the right arm.", + "Direct the right arm to operate the switch with brown button", + "Locate and press the switch with rectangular dark button", + "Engage the hand-sized light beige switch using the robotic arm", + "Activate the switch with rectangular dark button with robotic precision", + "Trigger the toggle switch with brown rectangle button without referencing the right arm", + "Engage with the switch with rectangular dark button manually", + "Interact with the toggle switch with brown rectangle button.", + "Activate the switch with a smooth top directly", + "Use the right arm to engage the small trapezoid switch", + "Deploy the right arm to press the light-colored trapezoid-shaped plastic switch", + "Locate and press the hand-sized light beige switch", + "Click the switch with brown button directly.", + "Command the right arm to engage the hand-sized light beige switch", + "Directly interact with the switch with rectangular dark button", + "Press the beige switch with smooth finish directly", + "Press the beige switch with smooth finish carefully with the right arm", + "Approach and tap the matte beige switch with flat top via the right arm", + "Activate the the switch with rectangular dark button using the right arm", + "Interact with the toggle switch with brown rectangle button directly", + "Tap the beige switch with smooth finish to engage it", + "Switch the beige switch to its active state", + "Trigger the switch with rectangular dark button using the right arm", + "Engage the light-colored trapezoid-shaped plastic switch with a press.", + "Set the right arm to press the switch with brown button", + "Click on the toggle switch with brown rectangle button precisely", + "Move to the beige switch and click it.", + "Click the tiny matte beige toggle switch using automated tools", + "Press the small trapezoid switch via automation", + "Engage the small trapezoid switch using the right arm", + "Press the switch with a smooth top with the right arm", + "Engage the right arm to press the light plastic switch", + "Deploy the right arm to operate the toggle switch with brown rectangle button", + "Press the switch with rectangular dark button to activate.", + "Push the beige switch via the right arm.", + "Use the right arm for switching the small trapezoid switch", + "Operate the right arm to engage the small trapezoid switch", + "Trigger the beige switch with smooth finish with precision", + "Click the tiny matte beige toggle switch with robotic precision", + "Engage the hand-sized light beige switch using the right arm.", + "Use the right arm to interact with the tiny matte beige toggle switch", + "Activate the small trapezoid switch via the right arm", + "Activate the switch with a smooth top by pressing it", + "Toggle the tiny matte beige toggle switch with the right arm.", + "Operate the hand-sized light beige switch with the right arm", + "Press the tiny matte beige toggle switch using robotic control", + "Set the switch at the hand-sized light beige switch", + "Press the small trapezoid switch using the right arm.", + "Initiate the light-colored trapezoid-shaped plastic switch by clicking", + "Click the switch with brown button to activate it", + "Activate the tiny matte beige toggle switch with the right arm.", + "Direct the right arm to operate the light plastic switch", + "Locate and press the hand-sized light beige switch", + "Engage the toggle switch with brown rectangle button using the robotic arm", + "Activate the switch with brown button with robotic precision", + "Trigger the tiny matte beige toggle switch without referencing the right arm", + "Engage with the matte beige switch with flat top manually", + "Interact with the switch with rectangular dark button.", + "Activate the light plastic switch directly", + "Use the right arm to engage the tiny matte beige toggle switch", + "Deploy the right arm to press the toggle switch with brown rectangle button", + "Locate and press the switch with rectangular dark button", + "Click the beige switch directly.", + "Command the right arm to engage the tiny matte beige toggle switch", + "Directly interact with the switch with a smooth top", + "Press the tiny matte beige toggle switch directly", + "Press the matte beige switch with flat top carefully with the right arm", + "Approach and tap the switch with brown button via the right arm", + "Activate the the switch with a smooth top using the right arm", + "Interact with the switch with a smooth top directly", + "Tap the light plastic switch to engage it", + "Switch the light-colored trapezoid-shaped plastic switch to its active state", + "Trigger the matte beige switch with flat top using the right arm", + "Engage the tiny matte beige toggle switch with a press.", + "Set the right arm to press the beige switch with smooth finish", + "Click on the tiny matte beige toggle switch precisely", + "Move to the switch with rectangular dark button and click it.", + "Click the beige switch with smooth finish using automated tools", + "Press the switch with rectangular dark button via automation", + "Engage the switch with rectangular dark button using the right arm", + "Press the switch with a smooth top with the right arm" + ], + "unseen": [ + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top.", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top.", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..3c69bac29d3bd0b1e3dca688b3afc074d762d818 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move to the switch with three metal pins and click it.", + "Toggle the toggle switch with black housing with the right arm.", + "Locate and press the small switch with red lever", + "Use the right arm for switching the plastic switch with metal prongs", + "Click the smooth red switch with labels directly.", + "Operate the right arm to engage the switch with three metal pins", + "Activate the metal-pronged black switch with the right arm.", + "Click the switch for turning circuits on off using automated tools", + "Directly interact with the two-tone red black switch", + "Click the black base switch with robotic precision", + "Activate the the plastic switch with metal prongs using the right arm", + "Deploy the right arm to operate the switch with three metal pins", + "Press the two-tone red black switch to activate.", + "Activate the rectangular switch directly", + "Engage the metal-pronged black switch using the robotic arm", + "Press the metal-pronged black switch carefully with the right arm", + "Operate the switch with three metal pins with the right arm", + "Press the black base switch using robotic control", + "Click the small switch with red lever to activate it", + "Approach and tap the two-tone red black switch via the right arm", + "Engage the red and black electrical switch with a press.", + "Activate the small switch with red lever via the right arm", + "Initiate the black base switch by clicking", + "Use the right arm to engage the toggle switch with black housing", + "Engage with the rectangular switch manually", + "Interact with the black base switch.", + "Use the right arm to interact with the small switch with red lever", + "Engage the small switch with red lever using the right arm.", + "Trigger the red and black electrical switch using the right arm", + "Press the black base switch using the right arm.", + "Interact with the red and black electrical switch directly", + "Trigger the black base switch with precision", + "Click on the plastic switch with metal prongs precisely", + "Press the tiny rectangular switch via automation", + "Activate the plastic switch with metal prongs by pressing it", + "Engage the right arm to press the plastic switch with metal prongs", + "Activate the black base switch with robotic precision", + "Press the small switch with red lever with the right arm", + "Set the switch at the rectangular switch", + "Engage the toggle switch with black housing using the right arm", + "Press the switch with three metal pins directly", + "Command the right arm to engage the smooth red switch with labels", + "Locate and press the tiny rectangular switch", + "Set the right arm to press the metal-pronged black switch", + "Trigger the small switch with red lever without referencing the right arm", + "Tap the rectangular switch to engage it", + "Direct the right arm to operate the toggle switch with black housing", + "Switch the tiny rectangular switch to its active state", + "Push the small switch with red lever via the right arm.", + "Deploy the right arm to press the red and black electrical switch", + "Move to the switch with three metal pins and click it.", + "Toggle the plastic switch with metal prongs with the right arm.", + "Locate and press the red and black electrical switch", + "Use the right arm for switching the red and black electrical switch", + "Click the two-tone red black switch directly.", + "Operate the right arm to engage the switch with three metal pins", + "Activate the red and black electrical switch with the right arm.", + "Click the plastic switch with metal prongs using automated tools", + "Directly interact with the switch with three metal pins", + "Click the red and black electrical switch with robotic precision", + "Activate the the black base switch using the right arm", + "Deploy the right arm to operate the red and black electrical switch", + "Press the red and black electrical switch to activate.", + "Activate the smooth red switch with labels directly", + "Engage the toggle switch with black housing using the robotic arm", + "Press the switch with three metal pins carefully with the right arm", + "Operate the plastic switch with metal prongs with the right arm", + "Press the two-tone red black switch using robotic control", + "Click the rectangular switch to activate it", + "Approach and tap the tiny rectangular switch via the right arm", + "Engage the metal-pronged black switch with a press.", + "Activate the toggle switch with black housing via the right arm", + "Initiate the metal-pronged black switch by clicking", + "Use the right arm to engage the switch for turning circuits on off", + "Engage with the plastic switch with metal prongs manually", + "Interact with the plastic switch with metal prongs.", + "Use the right arm to interact with the black base switch", + "Engage the switch with three metal pins using the right arm.", + "Trigger the smooth red switch with labels using the right arm", + "Press the plastic switch with metal prongs using the right arm.", + "Interact with the plastic switch with metal prongs directly", + "Trigger the smooth red switch with labels with precision", + "Click on the toggle switch with black housing precisely", + "Press the small switch with red lever via automation", + "Activate the plastic switch with metal prongs by pressing it", + "Engage the right arm to press the small switch with red lever", + "Activate the small switch with red lever with robotic precision", + "Press the two-tone red black switch with the right arm", + "Set the switch at the small switch with red lever", + "Engage the two-tone red black switch using the right arm", + "Press the black base switch directly", + "Command the right arm to engage the toggle switch with black housing", + "Locate and press the two-tone red black switch", + "Set the right arm to press the small switch with red lever", + "Trigger the toggle switch with black housing without referencing the right arm", + "Tap the tiny rectangular switch to engage it", + "Direct the right arm to operate the black base switch", + "Switch the toggle switch with black housing to its active state", + "Push the toggle switch with black housing via the right arm.", + "Deploy the right arm to press the metal-pronged black switch" + ], + "unseen": [ + "Move and click the the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Move and click the the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Move and click the the curved toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Move and click the the curved toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the curved toggle switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..5dd7cf550178006d6373f3bfe98e2fd863509fff --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the angled-edge gray square switch with robotic precision", + "Press the palm-sized light gray switch via automation", + "Activate the smooth gray switch directly", + "Deploy the left arm to operate the square gray switch panel", + "Trigger the small square switch made of plastic with precision", + "Click on the square gray switch panel precisely", + "Interact with the small square switch made of plastic directly", + "Engage the left arm to press the switch with rectangular raised area", + "Trigger the switch with rectangular raised area without referencing the left arm", + "Press the switch with rectangular raised area to activate.", + "Locate and press the light gray plastic switch", + "Engage the switch for electrical control with a press.", + "Operate the square gray switch panel with the left arm", + "Engage the palm-sized light gray switch using the left arm.", + "Set the switch at the square gray switch panel", + "Activate the smooth gray switch with robotic precision", + "Approach and tap the small square switch made of plastic via the left arm", + "Push the square switch with smooth surface via the left arm.", + "Activate the small square switch via the left arm", + "Press the switch with rectangular raised area using robotic control", + "Engage the switch with smooth light gray finish using the robotic arm", + "Click the small square switch made of plastic directly.", + "Activate the small square switch with the left arm.", + "Set the left arm to press the palm-sized light gray switch", + "Switch the small square switch to its active state", + "Activate the square switch with smooth surface by pressing it", + "Locate and press the switch with rectangular raised area", + "Use the left arm to engage the switch with rectangular raised area", + "Press the switch with rectangular raised area directly", + "Tap the angled-edge gray square switch to engage it", + "Directly interact with the smooth gray switch", + "Interact with the small square switch made of plastic.", + "Move to the angled-edge gray square switch and click it.", + "Press the palm-sized light gray switch with the left arm", + "Trigger the small square switch using the left arm", + "Engage the small square switch made of plastic using the left arm", + "Engage with the small square switch manually", + "Operate the left arm to engage the square gray switch panel", + "Use the left arm for switching the square switch with smooth surface", + "Initiate the switch for electrical control by clicking", + "Click the smooth gray switch to activate it", + "Click the smooth gray switch using automated tools", + "Use the left arm to interact with the square gray switch panel", + "Press the small square switch made of plastic using the left arm.", + "Command the left arm to engage the switch for electrical control", + "Direct the left arm to operate the angled-edge gray square switch", + "Deploy the left arm to press the square switch with smooth surface", + "Activate the the switch with smooth light gray finish using the left arm", + "Press the square gray switch panel carefully with the left arm", + "Toggle the switch with rectangular raised area with the left arm.", + "Click the switch with smooth light gray finish with robotic precision", + "Press the switch with rectangular raised area via automation", + "Activate the switch with smooth light gray finish directly", + "Deploy the left arm to operate the square gray switch panel", + "Trigger the light gray plastic switch with precision", + "Click on the switch for electrical control precisely", + "Interact with the smooth gray switch directly", + "Engage the left arm to press the smooth gray switch", + "Trigger the switch with smooth light gray finish without referencing the left arm", + "Press the smooth gray switch to activate.", + "Locate and press the small square switch made of plastic", + "Engage the switch for electrical control with a press.", + "Operate the flat square with raised center with the left arm", + "Engage the switch for electrical control using the left arm.", + "Set the switch at the smooth gray switch", + "Activate the switch with smooth light gray finish with robotic precision", + "Approach and tap the light gray plastic switch via the left arm", + "Push the square gray switch panel via the left arm.", + "Activate the small square switch via the left arm", + "Press the small square switch made of plastic using robotic control", + "Engage the light gray plastic switch using the robotic arm", + "Click the light gray plastic switch directly.", + "Activate the square gray switch panel with the left arm.", + "Set the left arm to press the square gray switch panel", + "Switch the square switch with smooth surface to its active state", + "Activate the switch for electrical control by pressing it", + "Locate and press the light gray plastic switch", + "Use the left arm to engage the small square switch made of plastic", + "Press the small square switch directly", + "Tap the switch for electrical control to engage it", + "Directly interact with the small square switch", + "Interact with the small square switch.", + "Move to the small square switch and click it.", + "Press the smooth gray switch with the left arm", + "Trigger the switch for electrical control using the left arm", + "Engage the switch for electrical control using the left arm", + "Engage with the square switch with smooth surface manually", + "Operate the left arm to engage the small square switch", + "Use the left arm for switching the light gray plastic switch", + "Initiate the small square switch made of plastic by clicking", + "Click the flat square with raised center to activate it", + "Click the light gray plastic switch using automated tools", + "Use the left arm to interact with the light gray plastic switch", + "Press the flat square with raised center using the left arm.", + "Command the left arm to engage the palm-sized light gray switch", + "Direct the left arm to operate the smooth gray switch", + "Deploy the left arm to press the smooth gray switch", + "Activate the the square gray switch panel using the left arm", + "Press the light gray plastic switch carefully with the left arm", + "Toggle the palm-sized light gray switch with the left arm." + ], + "unseen": [ + "Press the gray switch with slanted sides using the left arm", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the flat gray switch", + "Click the flat gray switch with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the flat gray switch with the left arm.", + "Direct the left arm to click the switch with angled edges", + "Use the left arm to press the switch with angled edges.", + "Press the gray switch with slanted sides using the left arm", + "Move and click the the switch with angled edges", + "Use the left arm to press the flat gray switch", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the flat gray switch", + "Click the switch with angled edges using the left arm", + "Click the flat gray switch with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the flat gray switch", + "Use the left arm to press the gray switch with slanted sides.", + "Press the switch with angled edges using the left arm", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the switch with angled edges", + "Use the left arm to press the flat gray switch.", + "Press the switch with angled edges using the left arm", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the switch with angled edges", + "Click the switch with angled edges with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides.", + "Press the flat gray switch using the left arm", + "Move and click the the switch with angled edges", + "Use the left arm to press the switch with angled edges", + "Click the switch with angled edges with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the flat gray switch", + "Use the left arm to press the switch with angled edges.", + "Press the flat gray switch using the left arm", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the flat gray switch", + "Click the switch with angled edges with the left arm", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides using the left arm", + "Click the switch with angled edges with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the flat gray switch", + "Use the left arm to press the gray switch with slanted sides.", + "Press the switch with angled edges using the left arm", + "Move and click the the flat gray switch", + "Use the left arm to press the flat gray switch", + "Click the flat gray switch with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the switch with angled edges", + "Use the left arm to press the gray switch with slanted sides.", + "Press the flat gray switch using the left arm", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the gray switch with slanted sides", + "Use the left arm to press the flat gray switch.", + "Press the switch with angled edges using the left arm", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Direct the left arm to click the gray switch with slanted sides", + "Use the left arm to press the flat gray switch.", + "Press the gray switch with slanted sides using the left arm", + "Move and click the the switch with angled edges", + "Use the left arm to press the flat gray switch", + "Click the switch with angled edges with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch using the left arm", + "Click the flat gray switch with the left arm", + "Click the switch with angled edges with the left arm.", + "Direct the left arm to click the switch with angled edges", + "Use the left arm to press the gray switch with slanted sides." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..446adcb14b651597b84e9f85edadd773ae302643 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the light plastic switch", + "Interact with the switch with a smooth top.", + "Press the switch with brown button using the right arm.", + "Activate the tiny matte beige toggle switch with the right arm.", + "Press the switch with brown button to activate.", + "Interact with the small trapezoid switch directly", + "Operate the right arm to engage the switch with rectangular dark button", + "Press the switch with rectangular dark button directly", + "Trigger the light plastic switch using the right arm", + "Use the right arm to interact with the switch with brown button", + "Approach and tap the small trapezoid switch via the right arm", + "Activate the hand-sized light beige switch with robotic precision", + "Directly interact with the light plastic switch", + "Press the light plastic switch using robotic control", + "Trigger the matte beige switch with flat top without referencing the right arm", + "Command the right arm to engage the switch with a smooth top", + "Use the right arm to engage the toggle switch with brown rectangle button", + "Press the light plastic switch carefully with the right arm", + "Click the small trapezoid switch to activate it", + "Deploy the right arm to operate the small trapezoid switch", + "Engage the switch with brown button using the robotic arm", + "Activate the beige switch directly", + "Deploy the right arm to press the beige switch with smooth finish", + "Move to the matte beige switch with flat top and click it.", + "Set the switch at the switch with a smooth top", + "Engage the right arm to press the hand-sized light beige switch", + "Initiate the toggle switch with brown rectangle button by clicking", + "Click on the switch with brown button precisely", + "Click the toggle switch with brown rectangle button with robotic precision", + "Engage the beige switch with smooth finish using the right arm.", + "Use the right arm for switching the switch with a smooth top", + "Locate and press the hand-sized light beige switch", + "Engage the switch with rectangular dark button with a press.", + "Set the right arm to press the light-colored trapezoid-shaped plastic switch", + "Switch the matte beige switch with flat top to its active state", + "Press the switch with rectangular dark button via automation", + "Click the hand-sized light beige switch using automated tools", + "Engage the tiny matte beige toggle switch using the right arm", + "Trigger the toggle switch with brown rectangle button with precision", + "Toggle the hand-sized light beige switch with the right arm.", + "Click the light plastic switch directly.", + "Activate the light-colored trapezoid-shaped plastic switch by pressing it", + "Push the hand-sized light beige switch via the right arm.", + "Direct the right arm to operate the beige switch with smooth finish", + "Activate the the switch with a smooth top using the right arm", + "Activate the light-colored trapezoid-shaped plastic switch via the right arm", + "Press the light-colored trapezoid-shaped plastic switch with the right arm", + "Operate the beige switch with the right arm", + "Engage with the beige switch with smooth finish manually", + "Tap the switch with brown button to engage it", + "Locate and press the switch with a smooth top", + "Interact with the small trapezoid switch.", + "Press the hand-sized light beige switch using the right arm.", + "Activate the small trapezoid switch with the right arm.", + "Press the tiny matte beige toggle switch to activate.", + "Interact with the beige switch with smooth finish directly", + "Operate the right arm to engage the small trapezoid switch", + "Press the small trapezoid switch directly", + "Trigger the hand-sized light beige switch using the right arm", + "Use the right arm to interact with the switch with a smooth top", + "Approach and tap the light plastic switch via the right arm", + "Activate the light plastic switch with robotic precision", + "Directly interact with the beige switch", + "Press the small trapezoid switch using robotic control", + "Trigger the switch with brown button without referencing the right arm", + "Command the right arm to engage the matte beige switch with flat top", + "Use the right arm to engage the beige switch", + "Press the toggle switch with brown rectangle button carefully with the right arm", + "Click the toggle switch with brown rectangle button to activate it", + "Deploy the right arm to operate the beige switch with smooth finish", + "Engage the beige switch with smooth finish using the robotic arm", + "Activate the matte beige switch with flat top directly", + "Deploy the right arm to press the switch with brown button", + "Move to the matte beige switch with flat top and click it.", + "Set the switch at the hand-sized light beige switch", + "Engage the right arm to press the matte beige switch with flat top", + "Initiate the switch with a smooth top by clicking", + "Click on the tiny matte beige toggle switch precisely", + "Click the switch with a smooth top with robotic precision", + "Engage the small trapezoid switch using the right arm.", + "Use the right arm for switching the toggle switch with brown rectangle button", + "Locate and press the hand-sized light beige switch", + "Engage the beige switch with a press.", + "Set the right arm to press the small trapezoid switch", + "Switch the switch with rectangular dark button to its active state", + "Press the light plastic switch via automation", + "Click the light plastic switch using automated tools", + "Engage the switch with a smooth top using the right arm", + "Trigger the light plastic switch with precision", + "Toggle the light plastic switch with the right arm.", + "Click the small trapezoid switch directly.", + "Activate the small trapezoid switch by pressing it", + "Push the light plastic switch via the right arm.", + "Direct the right arm to operate the hand-sized light beige switch", + "Activate the the beige switch using the right arm", + "Activate the beige switch with smooth finish via the right arm", + "Press the switch with rectangular dark button with the right arm", + "Operate the tiny matte beige toggle switch with the right arm", + "Engage with the light plastic switch manually", + "Tap the switch with rectangular dark button to engage it" + ], + "unseen": [ + "Press the beige switch with darker brown top using the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the rectangular button switch on beige base with the right arm", + "Press the small beige switch with angular sides using the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the rectangular button switch on beige base with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top with the right arm", + "Press the rectangular button switch on beige base using the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the right arm", + "Press the rectangular button switch on beige base using the right arm", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm", + "Press the rectangular button switch on beige base using the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0bbe6c88087a5581ac478bfbd4b2667e65cf18 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the sleek black rectangular switch using the right arm", + "Engage the black switch with matte coating using the robotic arm", + "Interact with the control switch directly", + "Trigger the black switch with matte coating using the right arm", + "Initiate the black switch by clicking", + "Direct the right arm to operate the switch with slanted sides", + "Engage the sleek black rectangular switch using the right arm.", + "Click the compact rectangular black switch with robotic precision", + "Switch the black rectangular control switch to its active state", + "Press the switch with slanted sides using robotic control", + "Directly interact with the black switch", + "Approach and tap the control switch via the right arm", + "Locate and press the control switch", + "Trigger the black switch without referencing the right arm", + "Press the medium-sized black rectangular switch with the right arm", + "Press the compact rectangular black switch using the right arm.", + "Activate the the rectangular switch with smooth surface using the right arm", + "Click the palm-sized black switch directly.", + "Command the right arm to engage the palm-sized black switch", + "Press the palm-sized black switch carefully with the right arm", + "Use the right arm for switching the control switch", + "Activate the switch with slanted sides with the right arm.", + "Push the black switch with slim profile via the right arm.", + "Activate the switch with slanted sides via the right arm", + "Tap the black rectangular control switch to engage it", + "Activate the medium-sized black rectangular switch with robotic precision", + "Move to the palm-sized black switch and click it.", + "Set the right arm to press the switch with slanted sides", + "Engage with the black switch with matte coating manually", + "Use the right arm to engage the black switch with matte coating", + "Activate the control switch directly", + "Trigger the black switch with matte coating with precision", + "Set the switch at the switch with slanted sides", + "Press the black switch with matte coating via automation", + "Click the slanted-edge plastic black switch using automated tools", + "Interact with the medium-sized black rectangular switch.", + "Click on the black switch with matte coating precisely", + "Use the right arm to interact with the medium-sized black rectangular switch", + "Click the palm-sized black switch to activate it", + "Deploy the right arm to press the palm-sized black switch", + "Activate the black switch with matte coating by pressing it", + "Operate the palm-sized black switch with the right arm", + "Engage the black switch with slim profile with a press.", + "Operate the right arm to engage the sleek black rectangular switch", + "Engage the right arm to press the black switch with matte coating", + "Deploy the right arm to operate the black switch", + "Press the compact rectangular black switch to activate.", + "Locate and press the black switch with matte coating", + "Toggle the sleek black rectangular switch with the right arm.", + "Press the sleek black rectangular switch directly", + "Engage the black switch with matte coating using the right arm", + "Engage the palm-sized black switch using the robotic arm", + "Interact with the switch with slanted sides directly", + "Trigger the palm-sized black switch using the right arm", + "Initiate the rectangular switch with smooth surface by clicking", + "Direct the right arm to operate the rectangular switch with smooth surface", + "Engage the black switch using the right arm.", + "Click the compact rectangular black switch with robotic precision", + "Switch the switch with slanted sides to its active state", + "Press the rectangular switch with smooth surface using robotic control", + "Directly interact with the rectangular switch with smooth surface", + "Approach and tap the compact rectangular black switch via the right arm", + "Locate and press the switch with slanted sides", + "Trigger the black rectangular control switch without referencing the right arm", + "Press the slanted-edge plastic black switch with the right arm", + "Press the black rectangular control switch using the right arm.", + "Activate the the slanted-edge plastic black switch using the right arm", + "Click the black switch directly.", + "Command the right arm to engage the compact rectangular black switch", + "Press the black switch with matte coating carefully with the right arm", + "Use the right arm for switching the black switch with slim profile", + "Activate the black rectangular control switch with the right arm.", + "Push the rectangular switch with smooth surface via the right arm.", + "Activate the black switch with slim profile via the right arm", + "Tap the slanted-edge plastic black switch to engage it", + "Activate the black switch with slim profile with robotic precision", + "Move to the black rectangular control switch and click it.", + "Set the right arm to press the switch with slanted sides", + "Engage with the compact rectangular black switch manually", + "Use the right arm to engage the medium-sized black rectangular switch", + "Activate the palm-sized black switch directly", + "Trigger the slanted-edge plastic black switch with precision", + "Set the switch at the black rectangular control switch", + "Press the compact rectangular black switch via automation", + "Click the switch with slanted sides using automated tools", + "Interact with the black switch with matte coating.", + "Click on the black rectangular control switch precisely", + "Use the right arm to interact with the slanted-edge plastic black switch", + "Click the control switch to activate it", + "Deploy the right arm to press the control switch", + "Activate the medium-sized black rectangular switch by pressing it", + "Operate the black switch with matte coating with the right arm", + "Engage the black switch with slim profile with a press.", + "Operate the right arm to engage the black switch with matte coating", + "Engage the right arm to press the medium-sized black rectangular switch", + "Deploy the right arm to operate the sleek black rectangular switch", + "Press the palm-sized black switch to activate.", + "Locate and press the black rectangular control switch", + "Toggle the control switch with the right arm.", + "Press the slanted-edge plastic black switch directly" + ], + "unseen": [ + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the smooth black switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the smooth black switch", + "Use the right arm to press the smooth black switch", + "Click the rectangular black switch using the right arm", + "Press the rectangular black switch using the right arm", + "Activate the switch at the smooth black switch", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the rectangular black switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Direct the right arm to click the rectangular black switch", + "Move and click the the smooth black switch", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the right arm.", + "Click the smooth black switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the smooth black switch", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch using the right arm", + "Press the rectangular black switch using the right arm", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the smooth black switch with the right arm.", + "Click the rectangular black switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the matte black plastic switch", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch using the right arm", + "Press the smooth black switch using the right arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the smooth black switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Direct the right arm to click the matte black plastic switch", + "Move and click the the matte black plastic switch", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the rectangular black switch with the right arm.", + "Click the rectangular black switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the rectangular black switch", + "Use the right arm to press the smooth black switch", + "Click the rectangular black switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Activate the switch at the rectangular black switch", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the matte black plastic switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the smooth black switch", + "Use the right arm to press the rectangular black switch", + "Click the matte black plastic switch using the right arm", + "Press the rectangular black switch using the right arm", + "Activate the switch at the smooth black switch", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the matte black plastic switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the rectangular black switch", + "Use the right arm to press the rectangular black switch", + "Click the smooth black switch using the right arm", + "Press the smooth black switch using the right arm", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the right arm.", + "Click the rectangular black switch with the right arm", + "Direct the right arm to click the rectangular black switch", + "Move and click the the matte black plastic switch", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch using the right arm", + "Press the smooth black switch using the right arm", + "Activate the switch at the rectangular black switch", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Direct the right arm to click the smooth black switch", + "Move and click the the matte black plastic switch", + "Use the right arm to press the rectangular black switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..549c853707a12fb80cc0d3b2b944da795adde4f2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the toggle switch with black housing carefully with the right arm", + "Press the two-tone red black switch with the right arm", + "Click the smooth red switch with labels using automated tools", + "Tap the plastic switch with metal prongs to engage it", + "Directly interact with the red and black electrical switch", + "Command the right arm to engage the plastic switch with metal prongs", + "Operate the metal-pronged black switch with the right arm", + "Press the smooth red switch with labels to activate.", + "Deploy the right arm to press the switch for turning circuits on off", + "Use the right arm for switching the small switch with red lever", + "Press the switch for turning circuits on off using the right arm.", + "Switch the red and black electrical switch to its active state", + "Set the switch at the rectangular switch", + "Activate the toggle switch with black housing by pressing it", + "Click the rectangular switch directly.", + "Trigger the tiny rectangular switch using the right arm", + "Engage the right arm to press the two-tone red black switch", + "Locate and press the switch with three metal pins", + "Interact with the two-tone red black switch.", + "Trigger the switch with three metal pins without referencing the right arm", + "Click on the metal-pronged black switch precisely", + "Activate the switch for turning circuits on off with robotic precision", + "Press the toggle switch with black housing directly", + "Move to the small switch with red lever and click it.", + "Activate the switch with three metal pins with the right arm.", + "Trigger the switch for turning circuits on off with precision", + "Deploy the right arm to operate the switch with three metal pins", + "Engage with the rectangular switch manually", + "Push the tiny rectangular switch via the right arm.", + "Direct the right arm to operate the tiny rectangular switch", + "Activate the rectangular switch via the right arm", + "Locate and press the metal-pronged black switch", + "Initiate the black base switch by clicking", + "Engage the black base switch using the right arm.", + "Operate the right arm to engage the tiny rectangular switch", + "Press the rectangular switch using robotic control", + "Click the black base switch with robotic precision", + "Activate the rectangular switch directly", + "Engage the red and black electrical switch using the robotic arm", + "Interact with the toggle switch with black housing directly", + "Press the two-tone red black switch via automation", + "Approach and tap the black base switch via the right arm", + "Set the right arm to press the tiny rectangular switch", + "Activate the the metal-pronged black switch using the right arm", + "Click the plastic switch with metal prongs to activate it", + "Toggle the switch with three metal pins with the right arm.", + "Use the right arm to interact with the red and black electrical switch", + "Engage the black base switch with a press.", + "Use the right arm to engage the toggle switch with black housing", + "Engage the switch for turning circuits on off using the right arm", + "Press the switch with three metal pins carefully with the right arm", + "Press the two-tone red black switch with the right arm", + "Click the black base switch using automated tools", + "Tap the small switch with red lever to engage it", + "Directly interact with the smooth red switch with labels", + "Command the right arm to engage the switch for turning circuits on off", + "Operate the smooth red switch with labels with the right arm", + "Press the switch for turning circuits on off to activate.", + "Deploy the right arm to press the toggle switch with black housing", + "Use the right arm for switching the small switch with red lever", + "Press the switch for turning circuits on off using the right arm.", + "Switch the smooth red switch with labels to its active state", + "Set the switch at the smooth red switch with labels", + "Activate the switch with three metal pins by pressing it", + "Click the tiny rectangular switch directly.", + "Trigger the two-tone red black switch using the right arm", + "Engage the right arm to press the smooth red switch with labels", + "Locate and press the red and black electrical switch", + "Interact with the two-tone red black switch.", + "Trigger the small switch with red lever without referencing the right arm", + "Click on the rectangular switch precisely", + "Activate the metal-pronged black switch with robotic precision", + "Press the plastic switch with metal prongs directly", + "Move to the switch with three metal pins and click it.", + "Activate the tiny rectangular switch with the right arm.", + "Trigger the rectangular switch with precision", + "Deploy the right arm to operate the rectangular switch", + "Engage with the small switch with red lever manually", + "Push the switch for turning circuits on off via the right arm.", + "Direct the right arm to operate the tiny rectangular switch", + "Activate the smooth red switch with labels via the right arm", + "Locate and press the rectangular switch", + "Initiate the toggle switch with black housing by clicking", + "Engage the red and black electrical switch using the right arm.", + "Operate the right arm to engage the toggle switch with black housing", + "Press the tiny rectangular switch using robotic control", + "Click the black base switch with robotic precision", + "Activate the tiny rectangular switch directly", + "Engage the switch with three metal pins using the robotic arm", + "Interact with the metal-pronged black switch directly", + "Press the switch with three metal pins via automation", + "Approach and tap the plastic switch with metal prongs via the right arm", + "Set the right arm to press the black base switch", + "Activate the the red and black electrical switch using the right arm", + "Click the switch with three metal pins to activate it", + "Toggle the smooth red switch with labels with the right arm.", + "Use the right arm to interact with the tiny rectangular switch", + "Engage the red and black electrical switch with a press.", + "Use the right arm to engage the red and black electrical switch", + "Engage the rectangular switch using the right arm" + ], + "unseen": [ + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Direct the right arm to click the curved toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..1653da096a8f8205f65ae45b6d1fc91ff0e2d296 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the black switch directly", + "Approach and tap the switch with curved red toggle via the left arm", + "Use the left arm to engage the plastic switch with metal terminals", + "Locate and press the hand-sized switch with connector prongs", + "Deploy the left arm to operate the black base switch with red toggle", + "Press the black switch directly", + "Operate the left arm to engage the rectangular black plastic switch", + "Tap the red and black switch to engage it", + "Activate the black base switch with red toggle with robotic precision", + "Use the left arm to interact with the rectangular switch with curved lever", + "Switch the compact switch with toggle on top to its active state", + "Initiate the red and black switch by clicking", + "Engage the rectangular black plastic switch using the robotic arm", + "Activate the switch with curved red toggle via the left arm", + "Press the switch with curved red toggle carefully with the left arm", + "Set the switch at the switch with curved red toggle", + "Push the compact switch with toggle on top via the left arm.", + "Click the red and black switch to activate it", + "Set the left arm to press the rectangular black plastic switch", + "Direct the left arm to operate the black base switch with red toggle", + "Trigger the hand-sized switch with connector prongs with precision", + "Engage the left arm to press the rectangular switch with curved lever", + "Move to the hand-sized switch with connector prongs and click it.", + "Interact with the small switch directly", + "Engage with the switch with curved red toggle manually", + "Activate the small switch by pressing it", + "Directly interact with the plastic switch with metal terminals", + "Command the left arm to engage the black switch with metallic connectors", + "Deploy the left arm to press the switch with curved red toggle", + "Press the black switch with the left arm", + "Engage the black switch with metallic connectors using the left arm.", + "Press the rectangular switch with curved lever to activate.", + "Press the red-top black switch using robotic control", + "Locate and press the switch with curved red toggle", + "Click the compact switch with toggle on top with robotic precision", + "Activate the rectangular black plastic switch with the left arm.", + "Toggle the rectangular black plastic switch with the left arm.", + "Press the black base switch with red toggle using the left arm.", + "Engage the black switch using the left arm", + "Engage the black switch with metallic connectors with a press.", + "Operate the switch with curved red toggle with the left arm", + "Trigger the black switch without referencing the left arm", + "Click the rectangular switch with curved lever directly.", + "Interact with the rectangular black plastic switch.", + "Press the black switch with metallic connectors via automation", + "Trigger the rectangular switch with curved lever using the left arm", + "Activate the the black switch with metallic connectors using the left arm", + "Use the left arm for switching the rectangular black plastic switch", + "Click the rectangular switch with curved lever using automated tools", + "Click on the rectangular black plastic switch precisely", + "Activate the small switch directly", + "Approach and tap the hand-sized switch with connector prongs via the left arm", + "Use the left arm to engage the red and black switch", + "Locate and press the red-top black switch", + "Deploy the left arm to operate the black base switch with red toggle", + "Press the black switch with metallic connectors directly", + "Operate the left arm to engage the small switch", + "Tap the switch with curved red toggle to engage it", + "Activate the plastic switch with metal terminals with robotic precision", + "Use the left arm to interact with the switch with curved red toggle", + "Switch the switch with curved red toggle to its active state", + "Initiate the black switch with metallic connectors by clicking", + "Engage the black switch using the robotic arm", + "Activate the hand-sized switch with connector prongs via the left arm", + "Press the rectangular black plastic switch carefully with the left arm", + "Set the switch at the red and black switch", + "Push the black switch via the left arm.", + "Click the black switch to activate it", + "Set the left arm to press the black switch with metallic connectors", + "Direct the left arm to operate the black switch with metallic connectors", + "Trigger the rectangular black plastic switch with precision", + "Engage the left arm to press the plastic switch with metal terminals", + "Move to the black switch with metallic connectors and click it.", + "Interact with the compact switch with toggle on top directly", + "Engage with the plastic switch with metal terminals manually", + "Activate the black switch with metallic connectors by pressing it", + "Directly interact with the red and black switch", + "Command the left arm to engage the rectangular switch with curved lever", + "Deploy the left arm to press the small switch", + "Press the rectangular black plastic switch with the left arm", + "Engage the small switch using the left arm.", + "Press the small switch to activate.", + "Press the compact switch with toggle on top using robotic control", + "Locate and press the hand-sized switch with connector prongs", + "Click the black switch with robotic precision", + "Activate the rectangular switch with curved lever with the left arm.", + "Toggle the rectangular black plastic switch with the left arm.", + "Press the switch with curved red toggle using the left arm.", + "Engage the small switch using the left arm", + "Engage the plastic switch with metal terminals with a press.", + "Operate the plastic switch with metal terminals with the left arm", + "Trigger the rectangular black plastic switch without referencing the left arm", + "Click the small switch directly.", + "Interact with the red-top black switch.", + "Press the rectangular switch with curved lever via automation", + "Trigger the rectangular switch with curved lever using the left arm", + "Activate the the hand-sized switch with connector prongs using the left arm", + "Use the left arm for switching the black switch", + "Click the small switch using automated tools", + "Click on the black switch with metallic connectors precisely" + ], + "unseen": [ + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Direct the left arm to click the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Direct the left arm to click the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch.", + "Direct the left arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Direct the left arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Press the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Direct the left arm to click the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Direct the left arm to click the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Direct the left arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Press the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Direct the left arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Direct the left arm to click the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Direct the left arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Press the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..9af2bd0814b99c8d2f6dd1b22930fe882c319c16 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the plastic switch with angled edges with robotic precision", + "Use the left arm to engage the switch trapezoid shape brown marking", + "Trigger the hand-sized switch tan smooth finish with precision", + "Interact with the switch trapezoid shape brown marking directly", + "Set the left arm to press the small light tan switch", + "Tap the rectangular switch with slanted sides to engage it", + "Toggle the small light tan switch with the left arm.", + "Engage with the hand-sized switch tan smooth finish manually", + "Switch the hand-sized switch tan smooth finish to its active state", + "Press the tan switch using robotic control", + "Activate the angled switch light tan color via the left arm", + "Use the left arm for switching the smooth tan switch with textured sides", + "Press the tan switch via automation", + "Directly interact with the hand-sized switch tan smooth finish", + "Engage the trapezoid-shaped switch smooth surface with a press.", + "Operate the left arm to engage the hand-sized switch tan smooth finish", + "Engage the switch with darker rectangle using the robotic arm", + "Press the plastic switch with angled edges to activate.", + "Press the tan switch carefully with the left arm", + "Initiate the plastic switch with angled edges by clicking", + "Interact with the small light tan switch.", + "Click on the light tan rectangular switch smooth finish precisely", + "Press the hand-sized switch tan smooth finish directly", + "Use the left arm to interact with the switch with darker rectangle", + "Locate and press the light tan rectangular switch smooth finish", + "Deploy the left arm to operate the small light tan switch", + "Direct the left arm to operate the hand-sized switch tan smooth finish", + "Trigger the light tan rectangular switch smooth finish using the left arm", + "Activate the angled switch light tan color by pressing it", + "Engage the left arm to press the plastic switch with angled edges", + "Push the smooth tan switch with textured sides via the left arm.", + "Operate the switch with darker rectangle with the left arm", + "Click the light tan rectangular switch smooth finish directly.", + "Engage the smooth tan switch with textured sides using the left arm.", + "Press the smooth tan switch with textured sides using the left arm.", + "Press the flat switch with the left arm", + "Activate the the plastic switch with angled edges using the left arm", + "Deploy the left arm to press the tan switch", + "Locate and press the plastic switch with angled edges", + "Activate the angled switch light tan color directly", + "Click the switch with darker rectangle using automated tools", + "Click the plastic switch with angled edges with robotic precision", + "Click the hand-sized switch tan smooth finish to activate it", + "Activate the switch trapezoid shape brown marking with the left arm.", + "Engage the flat switch using the left arm", + "Command the left arm to engage the trapezoid-shaped switch smooth surface", + "Move to the light tan rectangular switch smooth finish and click it.", + "Approach and tap the tan switch via the left arm", + "Set the switch at the tan switch", + "Trigger the tan switch without referencing the left arm", + "Activate the angled switch light tan color with robotic precision", + "Use the left arm to engage the rectangular switch with slanted sides", + "Trigger the plastic switch with angled edges with precision", + "Interact with the switch with darker rectangle directly", + "Set the left arm to press the flat switch", + "Tap the tan switch to engage it", + "Toggle the plastic switch with angled edges with the left arm.", + "Engage with the plastic switch with angled edges manually", + "Switch the smooth tan switch with textured sides to its active state", + "Press the flat switch using robotic control", + "Activate the switch with darker rectangle via the left arm", + "Use the left arm for switching the smooth tan switch with textured sides", + "Press the smooth tan switch with textured sides via automation", + "Directly interact with the plastic switch with angled edges", + "Engage the angled switch light tan color with a press.", + "Operate the left arm to engage the light tan rectangular switch smooth finish", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Press the rectangular switch with slanted sides to activate.", + "Press the trapezoid-shaped switch smooth surface carefully with the left arm", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Interact with the switch trapezoid shape brown marking.", + "Click on the switch trapezoid shape brown marking precisely", + "Press the hand-sized switch tan smooth finish directly", + "Use the left arm to interact with the hand-sized switch tan smooth finish", + "Locate and press the hand-sized switch tan smooth finish", + "Deploy the left arm to operate the tan switch", + "Direct the left arm to operate the switch trapezoid shape brown marking", + "Trigger the smooth tan switch with textured sides using the left arm", + "Activate the switch trapezoid shape brown marking by pressing it", + "Engage the left arm to press the switch trapezoid shape brown marking", + "Push the switch with darker rectangle via the left arm.", + "Operate the angled switch light tan color with the left arm", + "Click the light tan rectangular switch smooth finish directly.", + "Engage the plastic switch with angled edges using the left arm.", + "Press the small light tan switch using the left arm.", + "Press the plastic switch with angled edges with the left arm", + "Activate the the smooth tan switch with textured sides using the left arm", + "Deploy the left arm to press the switch with darker rectangle", + "Locate and press the rectangular switch with slanted sides", + "Activate the switch trapezoid shape brown marking directly", + "Click the trapezoid-shaped switch smooth surface using automated tools", + "Click the light tan rectangular switch smooth finish with robotic precision", + "Click the tan switch to activate it", + "Activate the plastic switch with angled edges with the left arm.", + "Engage the tan switch using the left arm", + "Command the left arm to engage the smooth tan switch with textured sides", + "Move to the rectangular switch with slanted sides and click it.", + "Approach and tap the light tan rectangular switch smooth finish via the left arm", + "Set the switch at the light tan rectangular switch smooth finish", + "Trigger the light tan rectangular switch smooth finish without referencing the left arm" + ], + "unseen": [ + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the small flat switch tan top", + "Press the small flat switch tan top using the left arm", + "Click the small flat switch tan top with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the small flat switch tan top with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the small flat switch tan top", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the small flat switch tan top", + "Press the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the lightweight plastic switch angled edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..61db531fffdc024170f8e29eb7994cc20c24f1b5 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Direct the right arm to operate the smooth gray switch", + "Engage the smooth gray switch using the right arm", + "Press the smooth gray switch carefully with the right arm", + "Activate the smooth gray switch directly", + "Use the right arm for switching the gray smooth surface switch", + "Set the right arm to press the gray base with black buttons", + "Press the gray plastic switch via automation", + "Click the smooth gray switch to activate it", + "Engage the gray plastic switch using the right arm.", + "Deploy the right arm to press the gray smooth surface switch", + "Interact with the switch with trapezoidal base.", + "Engage with the trapezoidal base switch manually", + "Click the medium switch with trapezoidal base with robotic precision", + "Operate the medium switch with trapezoidal base with the right arm", + "Initiate the trapezoidal base switch by clicking", + "Press the gray plastic switch using the right arm.", + "Toggle the handheld switch with the right arm.", + "Activate the the gray base with black buttons using the right arm", + "Switch the trapezoidal base switch to its active state", + "Trigger the medium switch with trapezoidal base using the right arm", + "Activate the two-button gray switch with the right arm.", + "Push the plastic switch with matte buttons via the right arm.", + "Trigger the handheld switch with precision", + "Activate the handheld switch via the right arm", + "Locate and press the smooth gray switch", + "Engage the right arm to press the handheld switch", + "Deploy the right arm to operate the two-button gray switch", + "Command the right arm to engage the trapezoidal base switch", + "Interact with the gray smooth surface switch directly", + "Click the smooth gray switch using automated tools", + "Press the gray base with black buttons using robotic control", + "Move to the smooth gray switch and click it.", + "Activate the two-button gray switch with robotic precision", + "Operate the right arm to engage the gray smooth surface switch", + "Press the trapezoidal base switch directly", + "Engage the electric toggle switch using the robotic arm", + "Press the gray base with black buttons to activate.", + "Use the right arm to interact with the gray plastic switch", + "Use the right arm to engage the two-button gray switch", + "Directly interact with the trapezoidal base switch", + "Press the gray switch with black buttons with the right arm", + "Tap the smooth gray switch to engage it", + "Approach and tap the handheld switch via the right arm", + "Set the switch at the two-button gray switch", + "Engage the gray smooth surface switch with a press.", + "Trigger the gray plastic switch without referencing the right arm", + "Click the electric toggle switch directly.", + "Locate and press the handheld switch", + "Activate the gray switch with black buttons by pressing it", + "Click on the gray switch with black buttons precisely", + "Direct the right arm to operate the two-button gray switch", + "Engage the smooth gray switch using the right arm", + "Press the switch with trapezoidal base carefully with the right arm", + "Activate the gray base with black buttons directly", + "Use the right arm for switching the electric toggle switch", + "Set the right arm to press the two-button gray switch", + "Press the gray switch with black buttons via automation", + "Click the gray base with black buttons to activate it", + "Engage the switch with trapezoidal base using the right arm.", + "Deploy the right arm to press the two-button gray switch", + "Interact with the electric toggle switch.", + "Engage with the trapezoidal base switch manually", + "Click the gray plastic switch with robotic precision", + "Operate the medium switch with trapezoidal base with the right arm", + "Initiate the gray switch with black buttons by clicking", + "Press the plastic switch with matte buttons using the right arm.", + "Toggle the switch with trapezoidal base with the right arm.", + "Activate the the two-button gray switch using the right arm", + "Switch the electric toggle switch to its active state", + "Trigger the handheld switch using the right arm", + "Activate the gray base with black buttons with the right arm.", + "Push the medium switch with trapezoidal base via the right arm.", + "Trigger the plastic switch with matte buttons with precision", + "Activate the medium switch with trapezoidal base via the right arm", + "Locate and press the gray smooth surface switch", + "Engage the right arm to press the smooth gray switch", + "Deploy the right arm to operate the medium switch with trapezoidal base", + "Command the right arm to engage the gray smooth surface switch", + "Interact with the smooth gray switch directly", + "Click the medium switch with trapezoidal base using automated tools", + "Press the trapezoidal base switch using robotic control", + "Move to the trapezoidal base switch and click it.", + "Activate the gray base with black buttons with robotic precision", + "Operate the right arm to engage the gray smooth surface switch", + "Press the handheld switch directly", + "Engage the smooth gray switch using the robotic arm", + "Press the gray base with black buttons to activate.", + "Use the right arm to interact with the plastic switch with matte buttons", + "Use the right arm to engage the gray smooth surface switch", + "Directly interact with the gray switch with black buttons", + "Press the gray plastic switch with the right arm", + "Tap the switch with trapezoidal base to engage it", + "Approach and tap the switch with trapezoidal base via the right arm", + "Set the switch at the electric toggle switch", + "Engage the medium switch with trapezoidal base with a press.", + "Trigger the trapezoidal base switch without referencing the right arm", + "Click the trapezoidal base switch directly.", + "Locate and press the gray smooth surface switch", + "Activate the two-button gray switch by pressing it", + "Click on the handheld switch precisely" + ], + "unseen": [ + "Move and click the the gray switch medium size", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Direct the right arm to click the switch with circular black buttons", + "Press the gray switch using the right arm", + "Click the gray switch medium size using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the switch with circular black buttons.", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the switch with circular black buttons", + "Direct the right arm to click the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch using the right arm", + "Click the gray switch with the right arm.", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch", + "Direct the right arm to click the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Direct the right arm to click the gray switch", + "Press the gray switch medium size using the right arm", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch.", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Direct the right arm to click the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Move and click the the switch with circular black buttons", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Direct the right arm to click the gray switch", + "Press the gray switch using the right arm", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch with the right arm.", + "Use the right arm to press the switch with circular black buttons.", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Direct the right arm to click the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch.", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Press the gray switch using the right arm", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..f88ca79cb04afa1801fef6c564ad3f82bb2f7eb2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage with the beige switch manually", + "Switch the beige switch to its active state", + "Click the switch with a smooth top directly.", + "Press the switch with brown button directly", + "Activate the hand-sized light beige switch directly", + "Activate the hand-sized light beige switch via the left arm", + "Press the toggle switch with brown rectangle button carefully with the left arm", + "Press the toggle switch with brown rectangle button via automation", + "Locate and press the switch with rectangular dark button", + "Set the left arm to press the beige switch with smooth finish", + "Engage the left arm to press the hand-sized light beige switch", + "Click the matte beige switch with flat top with robotic precision", + "Direct the left arm to operate the switch with rectangular dark button", + "Press the switch with brown button using robotic control", + "Trigger the matte beige switch with flat top with precision", + "Trigger the hand-sized light beige switch without referencing the left arm", + "Tap the beige switch to engage it", + "Set the switch at the beige switch", + "Activate the matte beige switch with flat top with robotic precision", + "Engage the switch with a smooth top using the left arm", + "Operate the switch with rectangular dark button with the left arm", + "Activate the switch with rectangular dark button by pressing it", + "Press the switch with a smooth top using the left arm.", + "Click the beige switch with smooth finish using automated tools", + "Interact with the switch with brown button directly", + "Engage the beige switch using the left arm.", + "Engage the switch with a smooth top using the robotic arm", + "Activate the switch with rectangular dark button with the left arm.", + "Locate and press the small trapezoid switch", + "Engage the beige switch with a press.", + "Operate the left arm to engage the beige switch", + "Approach and tap the switch with brown button via the left arm", + "Move to the hand-sized light beige switch and click it.", + "Use the left arm to interact with the switch with brown button", + "Deploy the left arm to operate the beige switch with smooth finish", + "Toggle the small trapezoid switch with the left arm.", + "Use the left arm to engage the beige switch", + "Click on the beige switch with smooth finish precisely", + "Press the beige switch with the left arm", + "Click the matte beige switch with flat top to activate it", + "Deploy the left arm to press the light plastic switch", + "Press the matte beige switch with flat top to activate.", + "Command the left arm to engage the tiny matte beige toggle switch", + "Directly interact with the beige switch with smooth finish", + "Initiate the switch with brown button by clicking", + "Activate the the switch with a smooth top using the left arm", + "Interact with the light plastic switch.", + "Push the switch with rectangular dark button via the left arm.", + "Trigger the beige switch using the left arm", + "Use the left arm for switching the matte beige switch with flat top", + "Engage with the light-colored trapezoid-shaped plastic switch manually", + "Switch the matte beige switch with flat top to its active state", + "Click the beige switch directly.", + "Press the tiny matte beige toggle switch directly", + "Activate the beige switch directly", + "Activate the light-colored trapezoid-shaped plastic switch via the left arm", + "Press the beige switch with smooth finish carefully with the left arm", + "Press the light plastic switch via automation", + "Locate and press the light plastic switch", + "Set the left arm to press the switch with brown button", + "Engage the left arm to press the switch with a smooth top", + "Click the matte beige switch with flat top with robotic precision", + "Direct the left arm to operate the light-colored trapezoid-shaped plastic switch", + "Press the tiny matte beige toggle switch using robotic control", + "Trigger the beige switch with smooth finish with precision", + "Trigger the light-colored trapezoid-shaped plastic switch without referencing the left arm", + "Tap the light plastic switch to engage it", + "Set the switch at the beige switch", + "Activate the tiny matte beige toggle switch with robotic precision", + "Engage the matte beige switch with flat top using the left arm", + "Operate the tiny matte beige toggle switch with the left arm", + "Activate the tiny matte beige toggle switch by pressing it", + "Press the matte beige switch with flat top using the left arm.", + "Click the beige switch using automated tools", + "Interact with the toggle switch with brown rectangle button directly", + "Engage the beige switch with smooth finish using the left arm.", + "Engage the hand-sized light beige switch using the robotic arm", + "Activate the beige switch with the left arm.", + "Locate and press the hand-sized light beige switch", + "Engage the matte beige switch with flat top with a press.", + "Operate the left arm to engage the tiny matte beige toggle switch", + "Approach and tap the beige switch via the left arm", + "Move to the beige switch and click it.", + "Use the left arm to interact with the matte beige switch with flat top", + "Deploy the left arm to operate the switch with a smooth top", + "Toggle the small trapezoid switch with the left arm.", + "Use the left arm to engage the switch with rectangular dark button", + "Click on the beige switch with smooth finish precisely", + "Press the beige switch with the left arm", + "Click the switch with brown button to activate it", + "Deploy the left arm to press the hand-sized light beige switch", + "Press the beige switch to activate.", + "Command the left arm to engage the switch with rectangular dark button", + "Directly interact with the tiny matte beige toggle switch", + "Initiate the light-colored trapezoid-shaped plastic switch by clicking", + "Activate the the tiny matte beige toggle switch using the left arm", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Push the switch with brown button via the left arm.", + "Trigger the switch with brown button using the left arm", + "Use the left arm for switching the light-colored trapezoid-shaped plastic switch" + ], + "unseen": [ + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm.", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the left arm", + "Press the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm.", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm.", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Use the left arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm.", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the rectangular button switch on beige base with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm.", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Click the beige switch with darker brown top with the left arm", + "Press the beige switch with darker brown top using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..a5ee1ec8130b260aad2e7e3061cc1125519424b0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the black switch with metallic connectors using the robotic arm", + "Click the black switch directly.", + "Activate the compact switch with toggle on top by pressing it", + "Press the black base switch with red toggle using the right arm.", + "Engage the right arm to press the black switch with metallic connectors", + "Approach and tap the plastic switch with metal terminals via the right arm", + "Interact with the rectangular switch with curved lever directly", + "Deploy the right arm to press the compact switch with toggle on top", + "Engage the compact switch with toggle on top with a press.", + "Locate and press the small switch", + "Use the right arm for switching the plastic switch with metal terminals", + "Push the small switch via the right arm.", + "Press the rectangular switch with curved lever with the right arm", + "Operate the right arm to engage the rectangular switch with curved lever", + "Set the right arm to press the red-top black switch", + "Activate the the switch with curved red toggle using the right arm", + "Trigger the rectangular black plastic switch with precision", + "Click the hand-sized switch with connector prongs using automated tools", + "Trigger the black base switch with red toggle without referencing the right arm", + "Activate the small switch directly", + "Move to the plastic switch with metal terminals and click it.", + "Press the compact switch with toggle on top via automation", + "Activate the small switch via the right arm", + "Directly interact with the compact switch with toggle on top", + "Press the rectangular black plastic switch directly", + "Engage the plastic switch with metal terminals using the right arm", + "Click the plastic switch with metal terminals with robotic precision", + "Switch the rectangular switch with curved lever to its active state", + "Engage with the red-top black switch manually", + "Use the right arm to interact with the black base switch with red toggle", + "Operate the red-top black switch with the right arm", + "Click the compact switch with toggle on top to activate it", + "Locate and press the red and black switch", + "Press the rectangular switch with curved lever using robotic control", + "Activate the plastic switch with metal terminals with robotic precision", + "Click on the compact switch with toggle on top precisely", + "Command the right arm to engage the black switch with metallic connectors", + "Trigger the switch with curved red toggle using the right arm", + "Activate the compact switch with toggle on top with the right arm.", + "Press the red-top black switch carefully with the right arm", + "Interact with the rectangular black plastic switch.", + "Use the right arm to engage the small switch", + "Initiate the red and black switch by clicking", + "Deploy the right arm to operate the rectangular black plastic switch", + "Direct the right arm to operate the small switch", + "Set the switch at the rectangular black plastic switch", + "Engage the black switch using the right arm.", + "Tap the rectangular black plastic switch to engage it", + "Toggle the compact switch with toggle on top with the right arm.", + "Press the red and black switch to activate.", + "Engage the rectangular black plastic switch using the robotic arm", + "Click the small switch directly.", + "Activate the red and black switch by pressing it", + "Press the hand-sized switch with connector prongs using the right arm.", + "Engage the right arm to press the compact switch with toggle on top", + "Approach and tap the plastic switch with metal terminals via the right arm", + "Interact with the black switch directly", + "Deploy the right arm to press the black switch with metallic connectors", + "Engage the black switch with metallic connectors with a press.", + "Locate and press the switch with curved red toggle", + "Use the right arm for switching the black base switch with red toggle", + "Push the red and black switch via the right arm.", + "Press the hand-sized switch with connector prongs with the right arm", + "Operate the right arm to engage the black base switch with red toggle", + "Set the right arm to press the red-top black switch", + "Activate the the rectangular switch with curved lever using the right arm", + "Trigger the red and black switch with precision", + "Click the compact switch with toggle on top using automated tools", + "Trigger the switch with curved red toggle without referencing the right arm", + "Activate the black switch directly", + "Move to the switch with curved red toggle and click it.", + "Press the hand-sized switch with connector prongs via automation", + "Activate the black base switch with red toggle via the right arm", + "Directly interact with the compact switch with toggle on top", + "Press the compact switch with toggle on top directly", + "Engage the red and black switch using the right arm", + "Click the rectangular black plastic switch with robotic precision", + "Switch the red-top black switch to its active state", + "Engage with the black switch manually", + "Use the right arm to interact with the rectangular black plastic switch", + "Operate the red and black switch with the right arm", + "Click the rectangular black plastic switch to activate it", + "Locate and press the small switch", + "Press the black switch with metallic connectors using robotic control", + "Activate the switch with curved red toggle with robotic precision", + "Click on the small switch precisely", + "Command the right arm to engage the plastic switch with metal terminals", + "Trigger the rectangular switch with curved lever using the right arm", + "Activate the small switch with the right arm.", + "Press the black switch carefully with the right arm", + "Interact with the black switch.", + "Use the right arm to engage the black switch with metallic connectors", + "Initiate the plastic switch with metal terminals by clicking", + "Deploy the right arm to operate the rectangular switch with curved lever", + "Direct the right arm to operate the black switch with metallic connectors", + "Set the switch at the black base switch with red toggle", + "Engage the switch with curved red toggle using the right arm.", + "Tap the hand-sized switch with connector prongs to engage it", + "Toggle the hand-sized switch with connector prongs with the right arm.", + "Press the compact switch with toggle on top to activate." + ], + "unseen": [ + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever using the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch using the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch using the right arm", + "Press the switch with two metal prongs using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..8267de03a649db0b15e5a4ef14d05756cdf456f8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ARX-X5/meta/scene_info.json @@ -0,0 +1,552 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "056_switch/base4", + "{a}": "right" + } + }, + "episode_1": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "056_switch/base6", + "{a}": "left" + } + }, + "episode_2": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + 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a/robotwin_multiembodiments/turn_switch/aloha-agilex/data/episode9.hdf5 b/robotwin_multiembodiments/turn_switch/aloha-agilex/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..1103b2dc604ee8dd0ccd95a63a72b6c3890a4ea1 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1099df1543e0320b3214c386aa6a72ef06ce1452c75fb0b7c8075f6a5f0d420 +size 4998071 diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/config.yml b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8c118a89a92436c78ebf9d967c211d09a08e3ef8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/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/turn_switch/aloha-agilex/meta/info.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..2b0f398988b766326675ee861a42f4dfe97f6e24 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/info.json @@ -0,0 +1,67 @@ +{ + "task": "turn_switch", + "embodiment": "aloha-agilex", + "camera_views": [ + "head_camera", + "left_camera", + "right_camera" + ], + "data_resolution": "320x240", + "num_episodes": 50, + "embodiment_config": { + "urdf": "urdf/arx5_description_isaac.urdf", + "dual_arm": true, + "left_arm": [ + "fl_joint1", + "fl_joint2", + "fl_joint3", + "fl_joint4", + "fl_joint5", + "fl_joint6" + ], + "right_arm": [ + "fr_joint1", + "fr_joint2", + "fr_joint3", + "fr_joint4", + "fr_joint5", + "fr_joint6" + ], + "left_gripper": [ + "fl_joint7", + [ + [ + "fl_joint8", + 1.0, + 0.0 + ] + ] + ], + "right_gripper": [ + "fr_joint7", + [ + [ + "fr_joint8", + 1.0, + 0.0 + ] + ] + ], + "gripper_scale": [ + -0.01, + 0.045 + ], + "grasp_axis": [ + -1.0, + 0.0, + 0.0 + ], + "grasp_axis_verified": [ + 1.0, + 0.0, + 0.0 + ], + "grasp_axis_note": "default render is GT-exact and does not use grasp_axis; verified approach axis is +X (endpose sits at wrist fl_link6)." + }, + "source_renderer": "render/render_robotwin.py" +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3fd941311eaa28da2979069e6771a80c38a673 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Directly interact with the plastic switch with angled edges", + "Click on the flat switch precisely", + "Engage the switch trapezoid shape brown marking with a press.", + "Activate the switch with darker rectangle directly", + "Engage the angled switch light tan color using the left arm.", + "Approach and tap the switch with darker rectangle via the left arm", + "Click the rectangular switch with slanted sides using automated tools", + "Push the small light tan switch via the left arm.", + "Engage the flat switch using the left arm", + "Click the small light tan switch to activate it", + "Initiate the tan switch by clicking", + "Press the light tan rectangular switch smooth finish via automation", + "Command the left arm to engage the smooth tan switch with textured sides", + "Engage the angled switch light tan color using the robotic arm", + "Deploy the left arm to operate the light tan rectangular switch smooth finish", + "Use the left arm to interact with the rectangular switch with slanted sides", + "Press the light tan rectangular switch smooth finish directly", + "Activate the trapezoid-shaped switch smooth surface via the left arm", + "Move to the tan switch and click it.", + "Trigger the light tan rectangular switch smooth finish with precision", + "Press the switch trapezoid shape brown marking using the left arm.", + "Press the switch with darker rectangle using robotic control", + "Press the tan switch carefully with the left arm", + "Trigger the switch trapezoid shape brown marking using the left arm", + "Activate the smooth tan switch with textured sides with the left arm.", + "Use the left arm for switching the small light tan switch", + "Interact with the hand-sized switch tan smooth finish directly", + "Activate the the hand-sized switch tan smooth finish using the left arm", + "Trigger the angled switch light tan color without referencing the left arm", + "Direct the left arm to operate the angled switch light tan color", + "Click the flat switch with robotic precision", + "Operate the switch trapezoid shape brown marking with the left arm", + "Deploy the left arm to press the light tan rectangular switch smooth finish", + "Click the hand-sized switch tan smooth finish directly.", + "Engage the left arm to press the light tan rectangular switch smooth finish", + "Interact with the tan switch.", + "Engage with the tan switch manually", + "Use the left arm to engage the light tan rectangular switch smooth finish", + "Tap the plastic switch with angled edges to engage it", + "Locate and press the switch trapezoid shape brown marking", + "Locate and press the switch with darker rectangle", + "Set the left arm to press the switch trapezoid shape brown marking", + "Set the switch at the light tan rectangular switch smooth finish", + "Activate the hand-sized switch tan smooth finish by pressing it", + "Activate the light tan rectangular switch smooth finish with robotic precision", + "Press the flat switch with the left arm", + "Operate the left arm to engage the small light tan switch", + "Toggle the tan switch with the left arm.", + "Press the switch with darker rectangle to activate.", + "Switch the small light tan switch to its active state", + "Directly interact with the small light tan switch", + "Click on the light tan rectangular switch smooth finish precisely", + "Engage the smooth tan switch with textured sides with a press.", + "Activate the plastic switch with angled edges directly", + "Engage the trapezoid-shaped switch smooth surface using the left arm.", + "Approach and tap the switch trapezoid shape brown marking via the left arm", + "Click the angled switch light tan color using automated tools", + "Push the plastic switch with angled edges via the left arm.", + "Engage the hand-sized switch tan smooth finish using the left arm", + "Click the smooth tan switch with textured sides to activate it", + "Initiate the switch trapezoid shape brown marking by clicking", + "Press the smooth tan switch with textured sides via automation", + "Command the left arm to engage the trapezoid-shaped switch smooth surface", + "Engage the smooth tan switch with textured sides using the robotic arm", + "Deploy the left arm to operate the plastic switch with angled edges", + "Use the left arm to interact with the switch trapezoid shape brown marking", + "Press the tan switch directly", + "Activate the small light tan switch via the left arm", + "Move to the rectangular switch with slanted sides and click it.", + "Trigger the rectangular switch with slanted sides with precision", + "Press the small light tan switch using the left arm.", + "Press the switch trapezoid shape brown marking using robotic control", + "Press the switch trapezoid shape brown marking carefully with the left arm", + "Trigger the smooth tan switch with textured sides using the left arm", + "Activate the hand-sized switch tan smooth finish with the left arm.", + "Use the left arm for switching the light tan rectangular switch smooth finish", + "Interact with the hand-sized switch tan smooth finish directly", + "Activate the the rectangular switch with slanted sides using the left arm", + "Trigger the light tan rectangular switch smooth finish without referencing the left arm", + "Direct the left arm to operate the angled switch light tan color", + "Click the rectangular switch with slanted sides with robotic precision", + "Operate the small light tan switch with the left arm", + "Deploy the left arm to press the hand-sized switch tan smooth finish", + "Click the tan switch directly.", + "Engage the left arm to press the rectangular switch with slanted sides", + "Interact with the trapezoid-shaped switch smooth surface.", + "Engage with the hand-sized switch tan smooth finish manually", + "Use the left arm to engage the plastic switch with angled edges", + "Tap the flat switch to engage it", + "Locate and press the smooth tan switch with textured sides", + "Locate and press the small light tan switch", + "Set the left arm to press the rectangular switch with slanted sides", + "Set the switch at the trapezoid-shaped switch smooth surface", + "Activate the flat switch by pressing it", + "Activate the tan switch with robotic precision", + "Press the plastic switch with angled edges with the left arm", + "Operate the left arm to engage the light tan rectangular switch smooth finish", + "Toggle the angled switch light tan color with the left arm.", + "Press the rectangular switch with slanted sides to activate.", + "Switch the plastic switch with angled edges to its active state" + ], + "unseen": [ + "Click the small flat switch tan top using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top using the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top using the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the small flat switch tan top using the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..42bbb7d912480e54f74e50eb03e7da96dee15572 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Initiate the plastic switch with angled edges by clicking", + "Trigger the smooth tan switch with textured sides with precision", + "Click on the hand-sized switch tan smooth finish precisely", + "Activate the trapezoid-shaped switch smooth surface via the right arm", + "Activate the switch with darker rectangle by pressing it", + "Click the smooth tan switch with textured sides using automated tools", + "Engage the light tan rectangular switch smooth finish using the right arm", + "Press the small light tan switch using robotic control", + "Interact with the rectangular switch with slanted sides.", + "Move to the switch trapezoid shape brown marking and click it.", + "Activate the switch trapezoid shape brown marking with the right arm.", + "Press the switch trapezoid shape brown marking with the right arm", + "Push the rectangular switch with slanted sides via the right arm.", + "Locate and press the switch with darker rectangle", + "Operate the right arm to engage the hand-sized switch tan smooth finish", + "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm", + "Use the right arm to interact with the trapezoid-shaped switch smooth surface", + "Use the right arm to engage the tan switch", + "Press the light tan rectangular switch smooth finish carefully with the right arm", + "Press the tan switch directly", + "Approach and tap the tan switch via the right arm", + "Click the rectangular switch with slanted sides with robotic precision", + "Press the switch with darker rectangle using the right arm.", + "Operate the small light tan switch with the right arm", + "Set the right arm to press the angled switch light tan color", + "Set the switch at the rectangular switch with slanted sides", + "Deploy the right arm to press the switch with darker rectangle", + "Engage the small light tan switch using the robotic arm", + "Switch the light tan rectangular switch smooth finish to its active state", + "Command the right arm to engage the rectangular switch with slanted sides", + "Locate and press the switch with darker rectangle", + "Press the angled switch light tan color to activate.", + "Direct the right arm to operate the rectangular switch with slanted sides", + "Engage the plastic switch with angled edges using the right arm.", + "Directly interact with the switch trapezoid shape brown marking", + "Engage the light tan rectangular switch smooth finish with a press.", + "Tap the light tan rectangular switch smooth finish to engage it", + "Toggle the switch trapezoid shape brown marking with the right arm.", + "Press the rectangular switch with slanted sides via automation", + "Click the rectangular switch with slanted sides to activate it", + "Activate the the tan switch using the right arm", + "Engage with the switch trapezoid shape brown marking manually", + "Deploy the right arm to operate the angled switch light tan color", + "Engage the right arm to press the smooth tan switch with textured sides", + "Trigger the rectangular switch with slanted sides using the right arm", + "Use the right arm for switching the rectangular switch with slanted sides", + "Activate the smooth tan switch with textured sides with robotic precision", + "Activate the switch trapezoid shape brown marking directly", + "Click the hand-sized switch tan smooth finish directly.", + "Interact with the flat switch directly", + "Initiate the plastic switch with angled edges by clicking", + "Trigger the switch trapezoid shape brown marking with precision", + "Click on the smooth tan switch with textured sides precisely", + "Activate the tan switch via the right arm", + "Activate the flat switch by pressing it", + "Click the hand-sized switch tan smooth finish using automated tools", + "Engage the tan switch using the right arm", + "Press the smooth tan switch with textured sides using robotic control", + "Interact with the plastic switch with angled edges.", + "Move to the flat switch and click it.", + "Activate the switch with darker rectangle with the right arm.", + "Press the light tan rectangular switch smooth finish with the right arm", + "Push the tan switch via the right arm.", + "Locate and press the switch trapezoid shape brown marking", + "Operate the right arm to engage the flat switch", + "Trigger the flat switch without referencing the right arm", + "Use the right arm to interact with the switch trapezoid shape brown marking", + "Use the right arm to engage the plastic switch with angled edges", + "Press the angled switch light tan color carefully with the right arm", + "Press the switch with darker rectangle directly", + "Approach and tap the small light tan switch via the right arm", + "Click the rectangular switch with slanted sides with robotic precision", + "Press the rectangular switch with slanted sides using the right arm.", + "Operate the light tan rectangular switch smooth finish with the right arm", + "Set the right arm to press the angled switch light tan color", + "Set the switch at the light tan rectangular switch smooth finish", + "Deploy the right arm to press the hand-sized switch tan smooth finish", + "Engage the small light tan switch using the robotic arm", + "Switch the tan switch to its active state", + "Command the right arm to engage the tan switch", + "Locate and press the plastic switch with angled edges", + "Press the light tan rectangular switch smooth finish to activate.", + "Direct the right arm to operate the light tan rectangular switch smooth finish", + "Engage the trapezoid-shaped switch smooth surface using the right arm.", + "Directly interact with the switch with darker rectangle", + "Engage the trapezoid-shaped switch smooth surface with a press.", + "Tap the switch trapezoid shape brown marking to engage it", + "Toggle the hand-sized switch tan smooth finish with the right arm.", + "Press the tan switch via automation", + "Click the hand-sized switch tan smooth finish to activate it", + "Activate the the angled switch light tan color using the right arm", + "Engage with the small light tan switch manually", + "Deploy the right arm to operate the small light tan switch", + "Engage the right arm to press the smooth tan switch with textured sides", + "Trigger the rectangular switch with slanted sides using the right arm", + "Use the right arm for switching the tan switch", + "Activate the small light tan switch with robotic precision", + "Activate the plastic switch with angled edges directly", + "Click the light tan rectangular switch smooth finish directly.", + "Interact with the smooth tan switch with textured sides directly" + ], + "unseen": [ + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Move and click the the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top", + "Move and click the the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Move and click the the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..119018c1c4789ba75197a46b82aea20817c77702 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the black base switch with robotic precision", + "Activate the the switch for turning circuits on off using the left arm", + "Engage the rectangular switch using the robotic arm", + "Switch the tiny rectangular switch to its active state", + "Engage with the metal-pronged black switch manually", + "Command the left arm to engage the rectangular switch", + "Trigger the toggle switch with black housing with precision", + "Activate the metal-pronged black switch via the left arm", + "Direct the left arm to operate the switch with three metal pins", + "Move to the metal-pronged black switch and click it.", + "Locate and press the red and black electrical switch", + "Press the tiny rectangular switch carefully with the left arm", + "Press the tiny rectangular switch to activate.", + "Operate the smooth red switch with labels with the left arm", + "Click the black base switch directly.", + "Toggle the smooth red switch with labels with the left arm.", + "Push the rectangular switch via the left arm.", + "Locate and press the two-tone red black switch", + "Press the switch for turning circuits on off with the left arm", + "Approach and tap the switch with three metal pins via the left arm", + "Interact with the toggle switch with black housing directly", + "Trigger the black base switch without referencing the left arm", + "Press the red and black electrical switch via automation", + "Trigger the red and black electrical switch using the left arm", + "Set the left arm to press the tiny rectangular switch", + "Click the switch for turning circuits on off to activate it", + "Set the switch at the red and black electrical switch", + "Press the black base switch using the left arm.", + "Click the switch for turning circuits on off with robotic precision", + "Activate the small switch with red lever with the left arm.", + "Operate the left arm to engage the black base switch", + "Use the left arm for switching the two-tone red black switch", + "Press the switch with three metal pins directly", + "Press the toggle switch with black housing using robotic control", + "Interact with the tiny rectangular switch.", + "Use the left arm to interact with the black base switch", + "Engage the metal-pronged black switch using the left arm.", + "Activate the metal-pronged black switch by pressing it", + "Deploy the left arm to operate the smooth red switch with labels", + "Tap the toggle switch with black housing to engage it", + "Engage the smooth red switch with labels using the left arm", + "Initiate the switch for turning circuits on off by clicking", + "Click on the red and black electrical switch precisely", + "Deploy the left arm to press the small switch with red lever", + "Engage the left arm to press the switch for turning circuits on off", + "Use the left arm to engage the small switch with red lever", + "Engage the metal-pronged black switch with a press.", + "Activate the small switch with red lever directly", + "Click the two-tone red black switch using automated tools", + "Directly interact with the metal-pronged black switch", + "Activate the switch for turning circuits on off with robotic precision", + "Activate the the rectangular switch using the left arm", + "Engage the rectangular switch using the robotic arm", + "Switch the smooth red switch with labels to its active state", + "Engage with the toggle switch with black housing manually", + "Command the left arm to engage the small switch with red lever", + "Trigger the metal-pronged black switch with precision", + "Activate the plastic switch with metal prongs via the left arm", + "Direct the left arm to operate the switch for turning circuits on off", + "Move to the toggle switch with black housing and click it.", + "Locate and press the black base switch", + "Press the metal-pronged black switch carefully with the left arm", + "Press the black base switch to activate.", + "Operate the metal-pronged black switch with the left arm", + "Click the switch for turning circuits on off directly.", + "Toggle the rectangular switch with the left arm.", + "Push the switch for turning circuits on off via the left arm.", + "Locate and press the plastic switch with metal prongs", + "Press the plastic switch with metal prongs with the left arm", + "Approach and tap the black base switch via the left arm", + "Interact with the smooth red switch with labels directly", + "Trigger the toggle switch with black housing without referencing the left arm", + "Press the small switch with red lever via automation", + "Trigger the smooth red switch with labels using the left arm", + "Set the left arm to press the metal-pronged black switch", + "Click the plastic switch with metal prongs to activate it", + "Set the switch at the smooth red switch with labels", + "Press the plastic switch with metal prongs using the left arm.", + "Click the smooth red switch with labels with robotic precision", + "Activate the rectangular switch with the left arm.", + "Operate the left arm to engage the black base switch", + "Use the left arm for switching the smooth red switch with labels", + "Press the metal-pronged black switch directly", + "Press the metal-pronged black switch using robotic control", + "Interact with the black base switch.", + "Use the left arm to interact with the two-tone red black switch", + "Engage the black base switch using the left arm.", + "Activate the small switch with red lever by pressing it", + "Deploy the left arm to operate the rectangular switch", + "Tap the metal-pronged black switch to engage it", + "Engage the switch for turning circuits on off using the left arm", + "Initiate the smooth red switch with labels by clicking", + "Click on the toggle switch with black housing precisely", + "Deploy the left arm to press the toggle switch with black housing", + "Engage the left arm to press the plastic switch with metal prongs", + "Use the left arm to engage the tiny rectangular switch", + "Engage the red and black electrical switch with a press.", + "Activate the rectangular switch directly", + "Click the red and black electrical switch using automated tools", + "Directly interact with the switch with three metal pins" + ], + "unseen": [ + "Click the curved toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the curved toggle switch", + "Use the left arm to press the red toggle switch.", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef6a743e879469f800ed5540908ea034d16095e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the black switch with matte coating", + "Press the medium-sized black rectangular switch directly", + "Push the slanted-edge plastic black switch via the left arm.", + "Locate and press the slanted-edge plastic black switch", + "Engage with the compact rectangular black switch manually", + "Approach and tap the slanted-edge plastic black switch via the left arm", + "Click the slanted-edge plastic black switch using automated tools", + "Engage the palm-sized black switch using the left arm", + "Activate the rectangular switch with smooth surface directly", + "Press the compact rectangular black switch with the left arm", + "Use the left arm for switching the compact rectangular black switch", + "Press the black switch with matte coating via automation", + "Click on the palm-sized black switch precisely", + "Click the black rectangular control switch to activate it", + "Use the left arm to interact with the palm-sized black switch", + "Activate the the black switch with slim profile using the left arm", + "Set the switch at the sleek black rectangular switch", + "Engage the switch with slanted sides using the left arm.", + "Operate the sleek black rectangular switch with the left arm", + "Engage the left arm to press the black switch with matte coating", + "Command the left arm to engage the black switch with matte coating", + "Press the slanted-edge plastic black switch carefully with the left arm", + "Switch the black switch with matte coating to its active state", + "Trigger the black switch with slim profile without referencing the left arm", + "Engage the black switch with matte coating using the robotic arm", + "Activate the compact rectangular black switch with the left arm.", + "Set the left arm to press the compact rectangular black switch", + "Direct the left arm to operate the rectangular switch with smooth surface", + "Tap the medium-sized black rectangular switch to engage it", + "Press the control switch using robotic control", + "Trigger the medium-sized black rectangular switch using the left arm", + "Move to the control switch and click it.", + "Deploy the left arm to operate the switch with slanted sides", + "Press the black rectangular control switch using the left arm.", + "Engage the switch with slanted sides with a press.", + "Click the palm-sized black switch with robotic precision", + "Interact with the black switch with matte coating.", + "Operate the left arm to engage the palm-sized black switch", + "Deploy the left arm to press the black switch with matte coating", + "Press the compact rectangular black switch to activate.", + "Interact with the medium-sized black rectangular switch directly", + "Activate the sleek black rectangular switch via the left arm", + "Initiate the slanted-edge plastic black switch by clicking", + "Directly interact with the palm-sized black switch", + "Activate the control switch with robotic precision", + "Toggle the medium-sized black rectangular switch with the left arm.", + "Trigger the slanted-edge plastic black switch with precision", + "Activate the rectangular switch with smooth surface by pressing it", + "Click the sleek black rectangular switch directly.", + "Use the left arm to engage the slanted-edge plastic black switch", + "Locate and press the compact rectangular black switch", + "Press the slanted-edge plastic black switch directly", + "Push the control switch via the left arm.", + "Locate and press the medium-sized black rectangular switch", + "Engage with the black switch with slim profile manually", + "Approach and tap the medium-sized black rectangular switch via the left arm", + "Click the black switch with matte coating using automated tools", + "Engage the black rectangular control switch using the left arm", + "Activate the slanted-edge plastic black switch directly", + "Press the control switch with the left arm", + "Use the left arm for switching the black switch with slim profile", + "Press the black rectangular control switch via automation", + "Click on the black switch with slim profile precisely", + "Click the black switch to activate it", + "Use the left arm to interact with the sleek black rectangular switch", + "Activate the the palm-sized black switch using the left arm", + "Set the switch at the rectangular switch with smooth surface", + "Engage the black switch with matte coating using the left arm.", + "Operate the palm-sized black switch with the left arm", + "Engage the left arm to press the compact rectangular black switch", + "Command the left arm to engage the control switch", + "Press the switch with slanted sides carefully with the left arm", + "Switch the black switch to its active state", + "Trigger the rectangular switch with smooth surface without referencing the left arm", + "Engage the switch with slanted sides using the robotic arm", + "Activate the palm-sized black switch with the left arm.", + "Set the left arm to press the black switch", + "Direct the left arm to operate the medium-sized black rectangular switch", + "Tap the slanted-edge plastic black switch to engage it", + "Press the slanted-edge plastic black switch using robotic control", + "Trigger the rectangular switch with smooth surface using the left arm", + "Move to the palm-sized black switch and click it.", + "Deploy the left arm to operate the black rectangular control switch", + "Press the slanted-edge plastic black switch using the left arm.", + "Engage the black switch with a press.", + "Click the black switch with slim profile with robotic precision", + "Interact with the palm-sized black switch.", + "Operate the left arm to engage the medium-sized black rectangular switch", + "Deploy the left arm to press the black switch with matte coating", + "Press the slanted-edge plastic black switch to activate.", + "Interact with the medium-sized black rectangular switch directly", + "Activate the black switch with matte coating via the left arm", + "Initiate the compact rectangular black switch by clicking", + "Directly interact with the sleek black rectangular switch", + "Activate the rectangular switch with smooth surface with robotic precision", + "Toggle the black switch with slim profile with the left arm.", + "Trigger the rectangular switch with smooth surface with precision", + "Activate the rectangular switch with smooth surface by pressing it", + "Click the medium-sized black rectangular switch directly.", + "Use the left arm to engage the switch with slanted sides" + ], + "unseen": [ + "Direct the left arm to click the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Move and click the the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm.", + "Press the smooth black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Direct the left arm to click the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Move and click the the smooth black switch", + "Click the rectangular black switch with the left arm", + "Click the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm.", + "Press the smooth black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Direct the left arm to click the rectangular black switch", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Direct the left arm to click the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Move and click the the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Click the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Direct the left arm to click the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Move and click the the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm.", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Direct the left arm to click the smooth black switch", + "Activate the switch at the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Direct the left arm to click the rectangular black switch", + "Activate the switch at the rectangular black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Move and click the the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Click the smooth black switch using the left arm", + "Click the smooth black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Direct the left arm to click the smooth black switch", + "Activate the switch at the rectangular black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Move and click the the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Click the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm.", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Direct the left arm to click the matte black plastic switch", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Move and click the the smooth black switch", + "Click the rectangular black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Direct the left arm to click the rectangular black switch", + "Activate the switch at the smooth black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Move and click the the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm.", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..53dbc5a1398d5c37d69b393fcf04d1496b95d244 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the left arm to press the black switch with matte coating", + "Initiate the sleek black rectangular switch by clicking", + "Toggle the black switch with slim profile with the left arm.", + "Trigger the black rectangular control switch with precision", + "Interact with the black rectangular control switch.", + "Directly interact with the control switch", + "Press the rectangular switch with smooth surface using robotic control", + "Operate the control switch with the left arm", + "Approach and tap the slanted-edge plastic black switch via the left arm", + "Engage with the palm-sized black switch manually", + "Activate the black switch with slim profile with the left arm.", + "Press the control switch directly", + "Operate the left arm to engage the slanted-edge plastic black switch", + "Trigger the black switch with matte coating using the left arm", + "Trigger the compact rectangular black switch without referencing the left arm", + "Press the black switch via automation", + "Press the black rectangular control switch carefully with the left arm", + "Click the black switch with slim profile using automated tools", + "Tap the medium-sized black rectangular switch to engage it", + "Use the left arm to engage the black switch with matte coating", + "Press the rectangular switch with smooth surface using the left arm.", + "Activate the rectangular switch with smooth surface by pressing it", + "Deploy the left arm to operate the black switch", + "Use the left arm for switching the rectangular switch with smooth surface", + "Deploy the left arm to press the palm-sized black switch", + "Switch the black switch to its active state", + "Click on the control switch precisely", + "Click the black switch with matte coating with robotic precision", + "Interact with the medium-sized black rectangular switch directly", + "Engage the black switch with matte coating with a press.", + "Press the black switch with matte coating with the left arm", + "Click the black switch with slim profile to activate it", + "Engage the control switch using the robotic arm", + "Use the left arm to interact with the black switch", + "Locate and press the black switch with matte coating", + "Click the compact rectangular black switch directly.", + "Activate the black rectangular control switch directly", + "Locate and press the slanted-edge plastic black switch", + "Press the control switch to activate.", + "Set the switch at the rectangular switch with smooth surface", + "Activate the palm-sized black switch via the left arm", + "Command the left arm to engage the rectangular switch with smooth surface", + "Activate the sleek black rectangular switch with robotic precision", + "Engage the compact rectangular black switch using the left arm.", + "Push the compact rectangular black switch via the left arm.", + "Activate the the black switch with slim profile using the left arm", + "Direct the left arm to operate the rectangular switch with smooth surface", + "Move to the rectangular switch with smooth surface and click it.", + "Engage the black rectangular control switch using the left arm", + "Engage the left arm to press the switch with slanted sides", + "Set the left arm to press the black switch with matte coating", + "Initiate the sleek black rectangular switch by clicking", + "Toggle the compact rectangular black switch with the left arm.", + "Trigger the compact rectangular black switch with precision", + "Interact with the switch with slanted sides.", + "Directly interact with the black switch with slim profile", + "Press the slanted-edge plastic black switch using robotic control", + "Operate the palm-sized black switch with the left arm", + "Approach and tap the switch with slanted sides via the left arm", + "Engage with the rectangular switch with smooth surface manually", + "Activate the slanted-edge plastic black switch with the left arm.", + "Press the palm-sized black switch directly", + "Operate the left arm to engage the rectangular switch with smooth surface", + "Trigger the palm-sized black switch using the left arm", + "Trigger the sleek black rectangular switch without referencing the left arm", + "Press the palm-sized black switch via automation", + "Press the rectangular switch with smooth surface carefully with the left arm", + "Click the black switch with matte coating using automated tools", + "Tap the palm-sized black switch to engage it", + "Use the left arm to engage the slanted-edge plastic black switch", + "Press the rectangular switch with smooth surface using the left arm.", + "Activate the black switch with matte coating by pressing it", + "Deploy the left arm to operate the rectangular switch with smooth surface", + "Use the left arm for switching the palm-sized black switch", + "Deploy the left arm to press the sleek black rectangular switch", + "Switch the black switch to its active state", + "Click on the black rectangular control switch precisely", + "Click the rectangular switch with smooth surface with robotic precision", + "Interact with the control switch directly", + "Engage the switch with slanted sides with a press.", + "Press the black switch with slim profile with the left arm", + "Click the medium-sized black rectangular switch to activate it", + "Engage the sleek black rectangular switch using the robotic arm", + "Use the left arm to interact with the black rectangular control switch", + "Locate and press the black switch", + "Click the compact rectangular black switch directly.", + "Activate the black rectangular control switch directly", + "Locate and press the black switch with matte coating", + "Press the medium-sized black rectangular switch to activate.", + "Set the switch at the medium-sized black rectangular switch", + "Activate the black switch with matte coating via the left arm", + "Command the left arm to engage the black rectangular control switch", + "Activate the black switch with matte coating with robotic precision", + "Engage the slanted-edge plastic black switch using the left arm.", + "Push the black switch with slim profile via the left arm.", + "Activate the the slanted-edge plastic black switch using the left arm", + "Direct the left arm to operate the medium-sized black rectangular switch", + "Move to the sleek black rectangular switch and click it.", + "Engage the compact rectangular black switch using the left arm", + "Engage the left arm to press the rectangular switch with smooth surface" + ], + "unseen": [ + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the smooth black switch with the left arm.", + "Move and click the the matte black plastic switch", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the smooth black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the left arm.", + "Move and click the the matte black plastic switch", + "Press the smooth black switch using the left arm", + "Click the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the rectangular black switch.", + "Click the smooth black switch with the left arm.", + "Move and click the the rectangular black switch", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Move and click the the matte black plastic switch", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Click the matte black plastic switch with the left arm.", + "Move and click the the smooth black switch", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the smooth black switch.", + "Click the smooth black switch with the left arm.", + "Move and click the the rectangular black switch", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the rectangular black switch.", + "Click the smooth black switch with the left arm.", + "Move and click the the smooth black switch", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the left arm.", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Click the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the rectangular black switch", + "Use the left arm to press the smooth black switch.", + "Click the matte black plastic switch with the left arm.", + "Move and click the the matte black plastic switch", + "Press the rectangular black switch using the left arm", + "Click the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Direct the left arm to click the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Move and click the the matte black plastic switch", + "Press the matte black plastic switch using the left arm", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the smooth black switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e3821266cbe33984c6d7911bed5c538650a5a4 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the the two-tone red black switch using the left arm", + "Set the left arm to press the toggle switch with black housing", + "Approach and tap the smooth red switch with labels via the left arm", + "Direct the left arm to operate the small switch with red lever", + "Activate the small switch with red lever directly", + "Operate the left arm to engage the tiny rectangular switch", + "Engage the metal-pronged black switch using the left arm.", + "Press the tiny rectangular switch using the left arm.", + "Interact with the black base switch directly", + "Engage with the tiny rectangular switch manually", + "Engage the plastic switch with metal prongs using the robotic arm", + "Switch the metal-pronged black switch to its active state", + "Interact with the plastic switch with metal prongs.", + "Activate the switch with three metal pins via the left arm", + "Use the left arm for switching the red and black electrical switch", + "Toggle the toggle switch with black housing with the left arm.", + "Click on the switch with three metal pins precisely", + "Engage the metal-pronged black switch using the left arm", + "Set the switch at the plastic switch with metal prongs", + "Deploy the left arm to press the small switch with red lever", + "Activate the plastic switch with metal prongs by pressing it", + "Trigger the switch with three metal pins with precision", + "Locate and press the plastic switch with metal prongs", + "Press the tiny rectangular switch directly", + "Press the switch with three metal pins to activate.", + "Press the tiny rectangular switch via automation", + "Activate the tiny rectangular switch with the left arm.", + "Locate and press the switch for turning circuits on off", + "Click the two-tone red black switch using automated tools", + "Operate the small switch with red lever with the left arm", + "Engage the left arm to press the small switch with red lever", + "Directly interact with the metal-pronged black switch", + "Press the metal-pronged black switch carefully with the left arm", + "Trigger the metal-pronged black switch using the left arm", + "Use the left arm to engage the switch with three metal pins", + "Push the red and black electrical switch via the left arm.", + "Press the red and black electrical switch with the left arm", + "Click the tiny rectangular switch directly.", + "Move to the red and black electrical switch and click it.", + "Trigger the toggle switch with black housing without referencing the left arm", + "Command the left arm to engage the red and black electrical switch", + "Initiate the black base switch by clicking", + "Click the toggle switch with black housing with robotic precision", + "Use the left arm to interact with the switch for turning circuits on off", + "Engage the switch with three metal pins with a press.", + "Click the two-tone red black switch to activate it", + "Deploy the left arm to operate the switch with three metal pins", + "Tap the smooth red switch with labels to engage it", + "Press the black base switch using robotic control", + "Activate the rectangular switch with robotic precision", + "Activate the the tiny rectangular switch using the left arm", + "Set the left arm to press the smooth red switch with labels", + "Approach and tap the toggle switch with black housing via the left arm", + "Direct the left arm to operate the switch with three metal pins", + "Activate the plastic switch with metal prongs directly", + "Operate the left arm to engage the two-tone red black switch", + "Engage the smooth red switch with labels using the left arm.", + "Press the metal-pronged black switch using the left arm.", + "Interact with the tiny rectangular switch directly", + "Engage with the metal-pronged black switch manually", + "Engage the black base switch using the robotic arm", + "Switch the black base switch to its active state", + "Interact with the black base switch.", + "Activate the tiny rectangular switch via the left arm", + "Use the left arm for switching the metal-pronged black switch", + "Toggle the toggle switch with black housing with the left arm.", + "Click on the rectangular switch precisely", + "Engage the red and black electrical switch using the left arm", + "Set the switch at the red and black electrical switch", + "Deploy the left arm to press the switch for turning circuits on off", + "Activate the switch with three metal pins by pressing it", + "Trigger the switch with three metal pins with precision", + "Locate and press the tiny rectangular switch", + "Press the switch for turning circuits on off directly", + "Press the black base switch to activate.", + "Press the black base switch via automation", + "Activate the two-tone red black switch with the left arm.", + "Locate and press the plastic switch with metal prongs", + "Click the switch for turning circuits on off using automated tools", + "Operate the tiny rectangular switch with the left arm", + "Engage the left arm to press the two-tone red black switch", + "Directly interact with the plastic switch with metal prongs", + "Press the metal-pronged black switch carefully with the left arm", + "Trigger the switch for turning circuits on off using the left arm", + "Use the left arm to engage the rectangular switch", + "Push the red and black electrical switch via the left arm.", + "Press the tiny rectangular switch with the left arm", + "Click the switch for turning circuits on off directly.", + "Move to the rectangular switch and click it.", + "Trigger the toggle switch with black housing without referencing the left arm", + "Command the left arm to engage the smooth red switch with labels", + "Initiate the small switch with red lever by clicking", + "Click the black base switch with robotic precision", + "Use the left arm to interact with the tiny rectangular switch", + "Engage the rectangular switch with a press.", + "Click the toggle switch with black housing to activate it", + "Deploy the left arm to operate the metal-pronged black switch", + "Tap the smooth red switch with labels to engage it", + "Press the two-tone red black switch using robotic control", + "Activate the plastic switch with metal prongs with robotic precision" + ], + "unseen": [ + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Move and click the the red toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Move and click the the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Move and click the the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Move and click the the curved toggle switch", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Move and click the the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Move and click the the curved toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..194a2389918f165ee58bbe63f944b9ef30d4c8ef --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the the small square switch made of plastic using the right arm", + "Click the square switch with smooth surface directly.", + "Operate the right arm to engage the light gray plastic switch", + "Directly interact with the smooth gray switch", + "Operate the angled-edge gray square switch with the right arm", + "Interact with the square gray switch panel directly", + "Press the switch for electrical control using robotic control", + "Push the small square switch made of plastic via the right arm.", + "Trigger the small square switch without referencing the right arm", + "Click the flat square with raised center to activate it", + "Approach and tap the switch for electrical control via the right arm", + "Switch the light gray plastic switch to its active state", + "Press the switch with smooth light gray finish directly", + "Press the square gray switch panel via automation", + "Activate the switch with smooth light gray finish with the right arm.", + "Activate the angled-edge gray square switch by pressing it", + "Engage the flat square with raised center with a press.", + "Engage the square switch with smooth surface using the robotic arm", + "Press the palm-sized light gray switch with the right arm", + "Direct the right arm to operate the palm-sized light gray switch", + "Interact with the palm-sized light gray switch.", + "Deploy the right arm to press the palm-sized light gray switch", + "Press the square switch with smooth surface to activate.", + "Engage the switch with rectangular raised area using the right arm", + "Engage the right arm to press the smooth gray switch", + "Use the right arm to engage the switch for electrical control", + "Activate the square switch with smooth surface with robotic precision", + "Toggle the smooth gray switch with the right arm.", + "Engage with the flat square with raised center manually", + "Move to the square gray switch panel and click it.", + "Tap the light gray plastic switch to engage it", + "Initiate the switch with smooth light gray finish by clicking", + "Command the right arm to engage the square gray switch panel", + "Use the right arm for switching the square switch with smooth surface", + "Trigger the angled-edge gray square switch with precision", + "Locate and press the small square switch made of plastic", + "Click the smooth gray switch using automated tools", + "Click on the palm-sized light gray switch precisely", + "Trigger the smooth gray switch using the right arm", + "Use the right arm to interact with the square switch with smooth surface", + "Set the switch at the square gray switch panel", + "Press the palm-sized light gray switch carefully with the right arm", + "Deploy the right arm to operate the switch for electrical control", + "Activate the light gray plastic switch via the right arm", + "Press the light gray plastic switch using the right arm.", + "Locate and press the palm-sized light gray switch", + "Engage the switch with rectangular raised area using the right arm.", + "Activate the switch with smooth light gray finish directly", + "Set the right arm to press the angled-edge gray square switch", + "Click the switch with smooth light gray finish with robotic precision", + "Activate the the square switch with smooth surface using the right arm", + "Click the square switch with smooth surface directly.", + "Operate the right arm to engage the square gray switch panel", + "Directly interact with the palm-sized light gray switch", + "Operate the palm-sized light gray switch with the right arm", + "Interact with the square gray switch panel directly", + "Press the switch with smooth light gray finish using robotic control", + "Push the switch with rectangular raised area via the right arm.", + "Trigger the light gray plastic switch without referencing the right arm", + "Click the smooth gray switch to activate it", + "Approach and tap the palm-sized light gray switch via the right arm", + "Switch the flat square with raised center to its active state", + "Press the switch with rectangular raised area directly", + "Press the small square switch made of plastic via automation", + "Activate the flat square with raised center with the right arm.", + "Activate the switch for electrical control by pressing it", + "Engage the switch with rectangular raised area with a press.", + "Engage the square gray switch panel using the robotic arm", + "Press the square switch with smooth surface with the right arm", + "Direct the right arm to operate the square switch with smooth surface", + "Interact with the angled-edge gray square switch.", + "Deploy the right arm to press the palm-sized light gray switch", + "Press the switch with rectangular raised area to activate.", + "Engage the angled-edge gray square switch using the right arm", + "Engage the right arm to press the square gray switch panel", + "Use the right arm to engage the square gray switch panel", + "Activate the angled-edge gray square switch with robotic precision", + "Toggle the flat square with raised center with the right arm.", + "Engage with the palm-sized light gray switch manually", + "Move to the switch for electrical control and click it.", + "Tap the palm-sized light gray switch to engage it", + "Initiate the small square switch by clicking", + "Command the right arm to engage the small square switch", + "Use the right arm for switching the switch for electrical control", + "Trigger the palm-sized light gray switch with precision", + "Locate and press the smooth gray switch", + "Click the square gray switch panel using automated tools", + "Click on the switch with rectangular raised area precisely", + "Trigger the palm-sized light gray switch using the right arm", + "Use the right arm to interact with the small square switch", + "Set the switch at the square switch with smooth surface", + "Press the small square switch carefully with the right arm", + "Deploy the right arm to operate the switch with smooth light gray finish", + "Activate the small square switch via the right arm", + "Press the switch with rectangular raised area using the right arm.", + "Locate and press the switch with smooth light gray finish", + "Engage the angled-edge gray square switch using the right arm.", + "Activate the angled-edge gray square switch directly", + "Set the right arm to press the light gray plastic switch", + "Click the square switch with smooth surface with robotic precision" + ], + "unseen": [ + "Click the flat gray switch with the right arm", + "Move and click the the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the flat gray switch using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Move and click the the flat gray switch", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch with the right arm", + "Move and click the the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Move and click the the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Move and click the the flat gray switch", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the switch with angled edges with the right arm", + "Move and click the the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Move and click the the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges.", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch with the right arm", + "Move and click the the switch with angled edges", + "Direct the right arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch.", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the flat gray switch", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the gray switch with slanted sides", + "Direct the right arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Use the right arm to press the gray switch with slanted sides", + "Click the flat gray switch with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7a65a1b1c5516e416272549d9823d4d81d8b96 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the angled-edge gray square switch using robotic control", + "Activate the switch with smooth light gray finish via the right arm", + "Press the smooth gray switch directly", + "Trigger the switch for electrical control without referencing the right arm", + "Command the right arm to engage the small square switch made of plastic", + "Click on the smooth gray switch precisely", + "Trigger the angled-edge gray square switch using the right arm", + "Press the square switch with smooth surface via automation", + "Move to the switch with smooth light gray finish and click it.", + "Activate the flat square with raised center with robotic precision", + "Tap the angled-edge gray square switch to engage it", + "Set the switch at the angled-edge gray square switch", + "Approach and tap the small square switch made of plastic via the right arm", + "Use the right arm to engage the angled-edge gray square switch", + "Operate the right arm to engage the palm-sized light gray switch", + "Press the switch for electrical control to activate.", + "Activate the the square gray switch panel using the right arm", + "Use the right arm to interact with the small square switch", + "Switch the switch for electrical control to its active state", + "Engage the flat square with raised center using the right arm.", + "Deploy the right arm to operate the flat square with raised center", + "Locate and press the switch for electrical control", + "Activate the angled-edge gray square switch directly", + "Engage the switch for electrical control with a press.", + "Activate the small square switch made of plastic with the right arm.", + "Interact with the smooth gray switch.", + "Engage the switch for electrical control using the right arm", + "Interact with the square switch with smooth surface directly", + "Press the square gray switch panel with the right arm", + "Operate the flat square with raised center with the right arm", + "Deploy the right arm to press the angled-edge gray square switch", + "Engage with the square gray switch panel manually", + "Trigger the switch for electrical control with precision", + "Click the small square switch made of plastic using automated tools", + "Press the smooth gray switch carefully with the right arm", + "Toggle the palm-sized light gray switch with the right arm.", + "Activate the square gray switch panel by pressing it", + "Initiate the angled-edge gray square switch by clicking", + "Click the switch with smooth light gray finish to activate it", + "Direct the right arm to operate the flat square with raised center", + "Click the switch with rectangular raised area directly.", + "Locate and press the palm-sized light gray switch", + "Set the right arm to press the square switch with smooth surface", + "Push the angled-edge gray square switch via the right arm.", + "Press the switch with rectangular raised area using the right arm.", + "Directly interact with the light gray plastic switch", + "Engage the switch with rectangular raised area using the robotic arm", + "Click the small square switch with robotic precision", + "Engage the right arm to press the angled-edge gray square switch", + "Use the right arm for switching the smooth gray switch", + "Press the square switch with smooth surface using robotic control", + "Activate the palm-sized light gray switch via the right arm", + "Press the angled-edge gray square switch directly", + "Trigger the light gray plastic switch without referencing the right arm", + "Command the right arm to engage the switch with smooth light gray finish", + "Click on the square gray switch panel precisely", + "Trigger the palm-sized light gray switch using the right arm", + "Press the light gray plastic switch via automation", + "Move to the switch for electrical control and click it.", + "Activate the flat square with raised center with robotic precision", + "Tap the square switch with smooth surface to engage it", + "Set the switch at the switch for electrical control", + "Approach and tap the small square switch via the right arm", + "Use the right arm to engage the palm-sized light gray switch", + "Operate the right arm to engage the small square switch", + "Press the light gray plastic switch to activate.", + "Activate the the switch for electrical control using the right arm", + "Use the right arm to interact with the palm-sized light gray switch", + "Switch the square switch with smooth surface to its active state", + "Engage the light gray plastic switch using the right arm.", + "Deploy the right arm to operate the small square switch made of plastic", + "Locate and press the palm-sized light gray switch", + "Activate the switch with rectangular raised area directly", + "Engage the flat square with raised center with a press.", + "Activate the square switch with smooth surface with the right arm.", + "Interact with the angled-edge gray square switch.", + "Engage the light gray plastic switch using the right arm", + "Interact with the square gray switch panel directly", + "Press the square gray switch panel with the right arm", + "Operate the switch with rectangular raised area with the right arm", + "Deploy the right arm to press the small square switch", + "Engage with the switch with smooth light gray finish manually", + "Trigger the switch for electrical control with precision", + "Click the square switch with smooth surface using automated tools", + "Press the flat square with raised center carefully with the right arm", + "Toggle the small square switch made of plastic with the right arm.", + "Activate the small square switch by pressing it", + "Initiate the small square switch made of plastic by clicking", + "Click the square switch with smooth surface to activate it", + "Direct the right arm to operate the switch for electrical control", + "Click the square gray switch panel directly.", + "Locate and press the square switch with smooth surface", + "Set the right arm to press the angled-edge gray square switch", + "Push the switch with smooth light gray finish via the right arm.", + "Press the smooth gray switch using the right arm.", + "Directly interact with the flat square with raised center", + "Engage the angled-edge gray square switch using the robotic arm", + "Click the switch for electrical control with robotic precision", + "Engage the right arm to press the switch with rectangular raised area", + "Use the right arm for switching the small square switch made of plastic" + ], + "unseen": [ + "Click the switch with angled edges with the right arm", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the flat gray switch using the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the flat gray switch", + "Move and click the the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the flat gray switch", + "Move and click the the switch with angled edges", + "Click the flat gray switch using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the switch with angled edges", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..477e0033375c962e1a214aab29f0edb443ae2cd4 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the tiny rectangular switch precisely", + "Activate the plastic switch with metal prongs with the right arm.", + "Move to the metal-pronged black switch and click it.", + "Use the right arm for switching the red and black electrical switch", + "Use the right arm to engage the red and black electrical switch", + "Toggle the switch for turning circuits on off with the right arm.", + "Deploy the right arm to press the small switch with red lever", + "Command the right arm to engage the metal-pronged black switch", + "Set the switch at the tiny rectangular switch", + "Directly interact with the smooth red switch with labels", + "Press the rectangular switch using the right arm.", + "Press the two-tone red black switch using robotic control", + "Click the small switch with red lever using automated tools", + "Use the right arm to interact with the smooth red switch with labels", + "Click the small switch with red lever to activate it", + "Push the two-tone red black switch via the right arm.", + "Trigger the smooth red switch with labels without referencing the right arm", + "Trigger the red and black electrical switch using the right arm", + "Deploy the right arm to operate the metal-pronged black switch", + "Press the red and black electrical switch with the right arm", + "Set the right arm to press the switch with three metal pins", + "Initiate the two-tone red black switch by clicking", + "Switch the two-tone red black switch to its active state", + "Interact with the black base switch directly", + "Interact with the tiny rectangular switch.", + "Activate the the plastic switch with metal prongs using the right arm", + "Operate the right arm to engage the tiny rectangular switch", + "Press the plastic switch with metal prongs carefully with the right arm", + "Activate the black base switch via the right arm", + "Activate the smooth red switch with labels directly", + "Engage the rectangular switch using the right arm.", + "Activate the rectangular switch by pressing it", + "Activate the small switch with red lever with robotic precision", + "Click the plastic switch with metal prongs directly.", + "Click the black base switch with robotic precision", + "Engage the black base switch using the robotic arm", + "Direct the right arm to operate the tiny rectangular switch", + "Operate the rectangular switch with the right arm", + "Press the black base switch directly", + "Trigger the toggle switch with black housing with precision", + "Approach and tap the toggle switch with black housing via the right arm", + "Press the switch for turning circuits on off to activate.", + "Tap the tiny rectangular switch to engage it", + "Engage the two-tone red black switch with a press.", + "Press the smooth red switch with labels via automation", + "Locate and press the black base switch", + "Engage the black base switch using the right arm", + "Engage with the red and black electrical switch manually", + "Engage the right arm to press the toggle switch with black housing", + "Locate and press the red and black electrical switch", + "Click on the plastic switch with metal prongs precisely", + "Activate the rectangular switch with the right arm.", + "Move to the rectangular switch and click it.", + "Use the right arm for switching the rectangular switch", + "Use the right arm to engage the plastic switch with metal prongs", + "Toggle the toggle switch with black housing with the right arm.", + "Deploy the right arm to press the tiny rectangular switch", + "Command the right arm to engage the red and black electrical switch", + "Set the switch at the switch for turning circuits on off", + "Directly interact with the metal-pronged black switch", + "Press the red and black electrical switch using the right arm.", + "Press the switch for turning circuits on off using robotic control", + "Click the rectangular switch using automated tools", + "Use the right arm to interact with the rectangular switch", + "Click the tiny rectangular switch to activate it", + "Push the rectangular switch via the right arm.", + "Trigger the toggle switch with black housing without referencing the right arm", + "Trigger the tiny rectangular switch using the right arm", + "Deploy the right arm to operate the switch for turning circuits on off", + "Press the small switch with red lever with the right arm", + "Set the right arm to press the switch for turning circuits on off", + "Initiate the metal-pronged black switch by clicking", + "Switch the switch with three metal pins to its active state", + "Interact with the switch with three metal pins directly", + "Interact with the toggle switch with black housing.", + "Activate the the small switch with red lever using the right arm", + "Operate the right arm to engage the rectangular switch", + "Press the toggle switch with black housing carefully with the right arm", + "Activate the two-tone red black switch via the right arm", + "Activate the small switch with red lever directly", + "Engage the two-tone red black switch using the right arm.", + "Activate the metal-pronged black switch by pressing it", + "Activate the tiny rectangular switch with robotic precision", + "Click the plastic switch with metal prongs directly.", + "Click the two-tone red black switch with robotic precision", + "Engage the plastic switch with metal prongs using the robotic arm", + "Direct the right arm to operate the small switch with red lever", + "Operate the switch for turning circuits on off with the right arm", + "Press the plastic switch with metal prongs directly", + "Trigger the plastic switch with metal prongs with precision", + "Approach and tap the black base switch via the right arm", + "Press the black base switch to activate.", + "Tap the two-tone red black switch to engage it", + "Engage the red and black electrical switch with a press.", + "Press the two-tone red black switch via automation", + "Locate and press the rectangular switch", + "Engage the metal-pronged black switch using the right arm", + "Engage with the two-tone red black switch manually", + "Engage the right arm to press the small switch with red lever", + "Locate and press the toggle switch with black housing" + ], + "unseen": [ + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch.", + "Press the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the curved toggle switch.", + "Press the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..d23dd51cb8795b0ff5eb5ca480a7c5d1b522e465 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the tiny matte beige toggle switch by pressing it", + "Push the beige switch with smooth finish via the left arm.", + "Trigger the beige switch with smooth finish using the left arm", + "Switch the light plastic switch to its active state", + "Activate the beige switch with smooth finish with the left arm.", + "Set the switch at the tiny matte beige toggle switch", + "Activate the switch with rectangular dark button with robotic precision", + "Approach and tap the switch with rectangular dark button via the left arm", + "Tap the small trapezoid switch to engage it", + "Deploy the left arm to press the switch with rectangular dark button", + "Move to the switch with brown button and click it.", + "Operate the left arm to engage the beige switch with smooth finish", + "Operate the light-colored trapezoid-shaped plastic switch with the left arm", + "Activate the small trapezoid switch via the left arm", + "Toggle the switch with a smooth top with the left arm.", + "Deploy the left arm to operate the beige switch with smooth finish", + "Set the left arm to press the switch with a smooth top", + "Directly interact with the beige switch", + "Use the left arm to interact with the switch with rectangular dark button", + "Press the toggle switch with brown rectangle button to activate.", + "Initiate the light-colored trapezoid-shaped plastic switch by clicking", + "Command the left arm to engage the switch with rectangular dark button", + "Press the light-colored trapezoid-shaped plastic switch with the left arm", + "Interact with the beige switch.", + "Use the left arm to engage the beige switch", + "Click on the small trapezoid switch precisely", + "Locate and press the tiny matte beige toggle switch", + "Click the small trapezoid switch using automated tools", + "Trigger the hand-sized light beige switch with precision", + "Use the left arm for switching the tiny matte beige toggle switch", + "Press the switch with brown button directly", + "Locate and press the switch with brown button", + "Press the light plastic switch using the left arm.", + "Press the hand-sized light beige switch carefully with the left arm", + "Direct the left arm to operate the switch with a smooth top", + "Engage the matte beige switch with flat top using the left arm", + "Click the light-colored trapezoid-shaped plastic switch directly.", + "Press the light plastic switch via automation", + "Activate the the beige switch using the left arm", + "Click the switch with rectangular dark button with robotic precision", + "Interact with the switch with a smooth top directly", + "Engage the beige switch with smooth finish using the robotic arm", + "Press the matte beige switch with flat top using robotic control", + "Engage the switch with rectangular dark button with a press.", + "Engage the matte beige switch with flat top using the left arm.", + "Activate the switch with a smooth top directly", + "Trigger the switch with rectangular dark button without referencing the left arm", + "Engage the left arm to press the switch with a smooth top", + "Engage with the matte beige switch with flat top manually", + "Click the toggle switch with brown rectangle button to activate it", + "Activate the toggle switch with brown rectangle button by pressing it", + "Push the beige switch via the left arm.", + "Trigger the tiny matte beige toggle switch using the left arm", + "Switch the beige switch to its active state", + "Activate the switch with brown button with the left arm.", + "Set the switch at the light-colored trapezoid-shaped plastic switch", + "Activate the hand-sized light beige switch with robotic precision", + "Approach and tap the switch with rectangular dark button via the left arm", + "Tap the switch with rectangular dark button to engage it", + "Deploy the left arm to press the hand-sized light beige switch", + "Move to the switch with brown button and click it.", + "Operate the left arm to engage the toggle switch with brown rectangle button", + "Operate the toggle switch with brown rectangle button with the left arm", + "Activate the switch with brown button via the left arm", + "Toggle the hand-sized light beige switch with the left arm.", + "Deploy the left arm to operate the hand-sized light beige switch", + "Set the left arm to press the light-colored trapezoid-shaped plastic switch", + "Directly interact with the beige switch with smooth finish", + "Use the left arm to interact with the switch with rectangular dark button", + "Press the switch with rectangular dark button to activate.", + "Initiate the switch with brown button by clicking", + "Command the left arm to engage the beige switch with smooth finish", + "Press the small trapezoid switch with the left arm", + "Interact with the matte beige switch with flat top.", + "Use the left arm to engage the switch with brown button", + "Click on the light plastic switch precisely", + "Locate and press the tiny matte beige toggle switch", + "Click the small trapezoid switch using automated tools", + "Trigger the light-colored trapezoid-shaped plastic switch with precision", + "Use the left arm for switching the tiny matte beige toggle switch", + "Press the switch with rectangular dark button directly", + "Locate and press the hand-sized light beige switch", + "Press the tiny matte beige toggle switch using the left arm.", + "Press the matte beige switch with flat top carefully with the left arm", + "Direct the left arm to operate the small trapezoid switch", + "Engage the tiny matte beige toggle switch using the left arm", + "Click the small trapezoid switch directly.", + "Press the switch with a smooth top via automation", + "Activate the the light plastic switch using the left arm", + "Click the small trapezoid switch with robotic precision", + "Interact with the switch with a smooth top directly", + "Engage the matte beige switch with flat top using the robotic arm", + "Press the beige switch with smooth finish using robotic control", + "Engage the beige switch with a press.", + "Engage the light-colored trapezoid-shaped plastic switch using the left arm.", + "Activate the small trapezoid switch directly", + "Trigger the light plastic switch without referencing the left arm", + "Engage the left arm to press the switch with a smooth top", + "Engage with the beige switch with smooth finish manually", + "Click the tiny matte beige toggle switch to activate it" + ], + "unseen": [ + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the beige switch with darker brown top", + "Click the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides.", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..008c8b8dd235cc1a922404d07eb991d1202f0b54 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the switch with darker rectangle using the right arm.", + "Operate the right arm to engage the tan switch", + "Direct the right arm to operate the trapezoid-shaped switch smooth surface", + "Trigger the plastic switch with angled edges using the right arm", + "Engage with the small light tan switch manually", + "Operate the rectangular switch with slanted sides with the right arm", + "Engage the plastic switch with angled edges with a press.", + "Click the small light tan switch using automated tools", + "Engage the tan switch using the right arm.", + "Activate the hand-sized switch tan smooth finish directly", + "Activate the flat switch via the right arm", + "Press the angled switch light tan color with the right arm", + "Press the light tan rectangular switch smooth finish directly", + "Press the plastic switch with angled edges carefully with the right arm", + "Interact with the angled switch light tan color directly", + "Press the rectangular switch with slanted sides to activate.", + "Tap the rectangular switch with slanted sides to engage it", + "Approach and tap the rectangular switch with slanted sides via the right arm", + "Toggle the switch trapezoid shape brown marking with the right arm.", + "Command the right arm to engage the trapezoid-shaped switch smooth surface", + "Trigger the angled switch light tan color with precision", + "Move to the hand-sized switch tan smooth finish and click it.", + "Activate the the trapezoid-shaped switch smooth surface using the right arm", + "Switch the flat switch to its active state", + "Deploy the right arm to operate the flat switch", + "Directly interact with the smooth tan switch with textured sides", + "Use the right arm to engage the rectangular switch with slanted sides", + "Click on the plastic switch with angled edges precisely", + "Press the flat switch via automation", + "Use the right arm for switching the angled switch light tan color", + "Trigger the light tan rectangular switch smooth finish without referencing the right arm", + "Engage the tan switch using the right arm", + "Deploy the right arm to press the rectangular switch with slanted sides", + "Locate and press the light tan rectangular switch smooth finish", + "Engage the switch trapezoid shape brown marking using the robotic arm", + "Click the tan switch directly.", + "Engage the right arm to press the rectangular switch with slanted sides", + "Locate and press the rectangular switch with slanted sides", + "Click the smooth tan switch with textured sides to activate it", + "Initiate the switch trapezoid shape brown marking by clicking", + "Activate the smooth tan switch with textured sides by pressing it", + "Push the rectangular switch with slanted sides via the right arm.", + "Use the right arm to interact with the rectangular switch with slanted sides", + "Click the angled switch light tan color with robotic precision", + "Set the right arm to press the trapezoid-shaped switch smooth surface", + "Set the switch at the hand-sized switch tan smooth finish", + "Press the hand-sized switch tan smooth finish using robotic control", + "Interact with the smooth tan switch with textured sides.", + "Activate the flat switch with robotic precision", + "Activate the hand-sized switch tan smooth finish with the right arm.", + "Press the hand-sized switch tan smooth finish using the right arm.", + "Operate the right arm to engage the light tan rectangular switch smooth finish", + "Direct the right arm to operate the hand-sized switch tan smooth finish", + "Trigger the rectangular switch with slanted sides using the right arm", + "Engage with the angled switch light tan color manually", + "Operate the smooth tan switch with textured sides with the right arm", + "Engage the flat switch with a press.", + "Click the switch trapezoid shape brown marking using automated tools", + "Engage the rectangular switch with slanted sides using the right arm.", + "Activate the smooth tan switch with textured sides directly", + "Activate the angled switch light tan color via the right arm", + "Press the small light tan switch with the right arm", + "Press the plastic switch with angled edges directly", + "Press the smooth tan switch with textured sides carefully with the right arm", + "Interact with the switch trapezoid shape brown marking directly", + "Press the plastic switch with angled edges to activate.", + "Tap the tan switch to engage it", + "Approach and tap the angled switch light tan color via the right arm", + "Toggle the flat switch with the right arm.", + "Command the right arm to engage the smooth tan switch with textured sides", + "Trigger the trapezoid-shaped switch smooth surface with precision", + "Move to the hand-sized switch tan smooth finish and click it.", + "Activate the the angled switch light tan color using the right arm", + "Switch the flat switch to its active state", + "Deploy the right arm to operate the tan switch", + "Directly interact with the rectangular switch with slanted sides", + "Use the right arm to engage the angled switch light tan color", + "Click on the smooth tan switch with textured sides precisely", + "Press the trapezoid-shaped switch smooth surface via automation", + "Use the right arm for switching the rectangular switch with slanted sides", + "Trigger the smooth tan switch with textured sides without referencing the right arm", + "Engage the tan switch using the right arm", + "Deploy the right arm to press the small light tan switch", + "Locate and press the trapezoid-shaped switch smooth surface", + "Engage the plastic switch with angled edges using the robotic arm", + "Click the tan switch directly.", + "Engage the right arm to press the small light tan switch", + "Locate and press the flat switch", + "Click the rectangular switch with slanted sides to activate it", + "Initiate the flat switch by clicking", + "Activate the rectangular switch with slanted sides by pressing it", + "Push the switch with darker rectangle via the right arm.", + "Use the right arm to interact with the small light tan switch", + "Click the hand-sized switch tan smooth finish with robotic precision", + "Set the right arm to press the plastic switch with angled edges", + "Set the switch at the switch trapezoid shape brown marking", + "Press the rectangular switch with slanted sides using robotic control", + "Interact with the switch with darker rectangle.", + "Activate the angled switch light tan color with robotic precision", + "Activate the tan switch with the right arm." + ], + "unseen": [ + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab07913d762df83ab95cf80b8b1fbb7169b2eb2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the the control switch using the left arm", + "Click the switch with slanted sides using automated tools", + "Locate and press the slanted-edge plastic black switch", + "Engage the black rectangular control switch using the robotic arm", + "Engage with the sleek black rectangular switch manually", + "Activate the black switch with slim profile by pressing it", + "Use the left arm to interact with the slanted-edge plastic black switch", + "Set the switch at the black rectangular control switch", + "Click on the medium-sized black rectangular switch precisely", + "Trigger the compact rectangular black switch with precision", + "Press the rectangular switch with smooth surface using robotic control", + "Activate the black switch with matte coating with robotic precision", + "Interact with the sleek black rectangular switch directly", + "Press the black switch with matte coating directly", + "Trigger the slanted-edge plastic black switch without referencing the left arm", + "Press the rectangular switch with smooth surface with the left arm", + "Switch the palm-sized black switch to its active state", + "Set the left arm to press the control switch", + "Operate the left arm to engage the medium-sized black rectangular switch", + "Command the left arm to engage the compact rectangular black switch", + "Push the compact rectangular black switch via the left arm.", + "Activate the black switch with the left arm.", + "Trigger the black switch with slim profile using the left arm", + "Engage the black switch with slim profile using the left arm", + "Directly interact with the black switch with matte coating", + "Use the left arm to engage the black switch with matte coating", + "Locate and press the black switch", + "Use the left arm for switching the rectangular switch with smooth surface", + "Engage the palm-sized black switch with a press.", + "Initiate the switch with slanted sides by clicking", + "Engage the left arm to press the switch with slanted sides", + "Engage the black switch with slim profile using the left arm.", + "Interact with the sleek black rectangular switch.", + "Press the control switch via automation", + "Press the medium-sized black rectangular switch to activate.", + "Deploy the left arm to operate the compact rectangular black switch", + "Deploy the left arm to press the control switch", + "Press the control switch carefully with the left arm", + "Activate the medium-sized black rectangular switch via the left arm", + "Direct the left arm to operate the medium-sized black rectangular switch", + "Press the black switch with slim profile using the left arm.", + "Click the black switch to activate it", + "Click the rectangular switch with smooth surface directly.", + "Move to the medium-sized black rectangular switch and click it.", + "Toggle the medium-sized black rectangular switch with the left arm.", + "Activate the compact rectangular black switch directly", + "Click the sleek black rectangular switch with robotic precision", + "Approach and tap the control switch via the left arm", + "Operate the compact rectangular black switch with the left arm", + "Tap the slanted-edge plastic black switch to engage it", + "Activate the the compact rectangular black switch using the left arm", + "Click the sleek black rectangular switch using automated tools", + "Locate and press the compact rectangular black switch", + "Engage the control switch using the robotic arm", + "Engage with the medium-sized black rectangular switch manually", + "Activate the sleek black rectangular switch by pressing it", + "Use the left arm to interact with the compact rectangular black switch", + "Set the switch at the black rectangular control switch", + "Click on the slanted-edge plastic black switch precisely", + "Trigger the black rectangular control switch with precision", + "Press the palm-sized black switch using robotic control", + "Activate the slanted-edge plastic black switch with robotic precision", + "Interact with the sleek black rectangular switch directly", + "Press the switch with slanted sides directly", + "Trigger the black rectangular control switch without referencing the left arm", + "Press the rectangular switch with smooth surface with the left arm", + "Switch the switch with slanted sides to its active state", + "Set the left arm to press the slanted-edge plastic black switch", + "Operate the left arm to engage the black switch with slim profile", + "Command the left arm to engage the slanted-edge plastic black switch", + "Push the black switch with matte coating via the left arm.", + "Activate the black switch with the left arm.", + "Trigger the medium-sized black rectangular switch using the left arm", + "Engage the switch with slanted sides using the left arm", + "Directly interact with the black rectangular control switch", + "Use the left arm to engage the rectangular switch with smooth surface", + "Locate and press the black switch with slim profile", + "Use the left arm for switching the black rectangular control switch", + "Engage the sleek black rectangular switch with a press.", + "Initiate the switch with slanted sides by clicking", + "Engage the left arm to press the black switch with matte coating", + "Engage the switch with slanted sides using the left arm.", + "Interact with the black rectangular control switch.", + "Press the compact rectangular black switch via automation", + "Press the control switch to activate.", + "Deploy the left arm to operate the control switch", + "Deploy the left arm to press the black switch with matte coating", + "Press the rectangular switch with smooth surface carefully with the left arm", + "Activate the switch with slanted sides via the left arm", + "Direct the left arm to operate the switch with slanted sides", + "Press the rectangular switch with smooth surface using the left arm.", + "Click the black rectangular control switch to activate it", + "Click the slanted-edge plastic black switch directly.", + "Move to the sleek black rectangular switch and click it.", + "Toggle the black switch with matte coating with the left arm.", + "Activate the medium-sized black rectangular switch directly", + "Click the black switch with slim profile with robotic precision", + "Approach and tap the sleek black rectangular switch via the left arm", + "Operate the rectangular switch with smooth surface with the left arm", + "Tap the sleek black rectangular switch to engage it" + ], + "unseen": [ + "Move and click the the smooth black switch", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch", + "Activate the switch at the smooth black switch", + "Use the left arm to press the smooth black switch.", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Move and click the the smooth black switch", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Click the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Move and click the the rectangular black switch", + "Press the smooth black switch using the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Click the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Use the left arm to press the rectangular black switch.", + "Click the matte black plastic switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Click the rectangular black switch using the left arm", + "Click the smooth black switch with the left arm", + "Move and click the the matte black plastic switch", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the smooth black switch", + "Use the left arm to press the smooth black switch.", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Click the rectangular black switch using the left arm", + "Click the smooth black switch with the left arm", + "Move and click the the matte black plastic switch", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the smooth black switch", + "Use the left arm to press the smooth black switch.", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Click the rectangular black switch using the left arm", + "Click the smooth black switch with the left arm", + "Move and click the the matte black plastic switch", + "Press the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Use the left arm to press the rectangular black switch.", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Click the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Use the left arm to press the smooth black switch.", + "Click the smooth black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Click the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Move and click the the smooth black switch", + "Press the smooth black switch using the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Click the smooth black switch using the left arm", + "Click the smooth black switch with the left arm", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the smooth black switch", + "Use the left arm to press the smooth black switch.", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Click the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5025f53c11b5681355fda752908250461bd54d --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Tap the flat switch to engage it", + "Click on the flat switch precisely", + "Activate the angled switch light tan color by pressing it", + "Click the flat switch with robotic precision", + "Deploy the right arm to press the plastic switch with angled edges", + "Move to the rectangular switch with slanted sides and click it.", + "Press the trapezoid-shaped switch smooth surface using the right arm.", + "Operate the right arm to engage the trapezoid-shaped switch smooth surface", + "Locate and press the hand-sized switch tan smooth finish", + "Engage with the switch with darker rectangle manually", + "Initiate the hand-sized switch tan smooth finish by clicking", + "Press the switch trapezoid shape brown marking with the right arm", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Engage the switch with darker rectangle using the right arm.", + "Engage the right arm to press the flat switch", + "Locate and press the trapezoid-shaped switch smooth surface", + "Directly interact with the small light tan switch", + "Use the right arm for switching the light tan rectangular switch smooth finish", + "Click the switch trapezoid shape brown marking using automated tools", + "Use the right arm to engage the switch trapezoid shape brown marking", + "Press the tan switch directly", + "Activate the rectangular switch with slanted sides via the right arm", + "Press the trapezoid-shaped switch smooth surface carefully with the right arm", + "Press the angled switch light tan color using robotic control", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Toggle the light tan rectangular switch smooth finish with the right arm.", + "Press the trapezoid-shaped switch smooth surface to activate.", + "Use the right arm to interact with the tan switch", + "Trigger the flat switch with precision", + "Activate the small light tan switch directly", + "Engage the switch trapezoid shape brown marking with a press.", + "Activate the small light tan switch with robotic precision", + "Click the hand-sized switch tan smooth finish directly.", + "Activate the small light tan switch with the right arm.", + "Direct the right arm to operate the trapezoid-shaped switch smooth surface", + "Activate the the switch with darker rectangle using the right arm", + "Trigger the switch trapezoid shape brown marking using the right arm", + "Approach and tap the tan switch via the right arm", + "Switch the plastic switch with angled edges to its active state", + "Press the trapezoid-shaped switch smooth surface via automation", + "Deploy the right arm to operate the plastic switch with angled edges", + "Trigger the flat switch without referencing the right arm", + "Push the hand-sized switch tan smooth finish via the right arm.", + "Interact with the smooth tan switch with textured sides.", + "Interact with the light tan rectangular switch smooth finish directly", + "Command the right arm to engage the switch trapezoid shape brown marking", + "Set the right arm to press the hand-sized switch tan smooth finish", + "Click the smooth tan switch with textured sides to activate it", + "Set the switch at the switch with darker rectangle", + "Operate the tan switch with the right arm", + "Tap the trapezoid-shaped switch smooth surface to engage it", + "Click on the plastic switch with angled edges precisely", + "Activate the light tan rectangular switch smooth finish by pressing it", + "Click the hand-sized switch tan smooth finish with robotic precision", + "Deploy the right arm to press the trapezoid-shaped switch smooth surface", + "Move to the switch with darker rectangle and click it.", + "Press the flat switch using the right arm.", + "Operate the right arm to engage the hand-sized switch tan smooth finish", + "Locate and press the small light tan switch", + "Engage with the small light tan switch manually", + "Initiate the rectangular switch with slanted sides by clicking", + "Press the tan switch with the right arm", + "Engage the angled switch light tan color using the robotic arm", + "Engage the plastic switch with angled edges using the right arm.", + "Engage the right arm to press the switch trapezoid shape brown marking", + "Locate and press the angled switch light tan color", + "Directly interact with the hand-sized switch tan smooth finish", + "Use the right arm for switching the switch trapezoid shape brown marking", + "Click the tan switch using automated tools", + "Use the right arm to engage the angled switch light tan color", + "Press the angled switch light tan color directly", + "Activate the switch trapezoid shape brown marking via the right arm", + "Press the switch with darker rectangle carefully with the right arm", + "Press the hand-sized switch tan smooth finish using robotic control", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Toggle the switch with darker rectangle with the right arm.", + "Press the tan switch to activate.", + "Use the right arm to interact with the trapezoid-shaped switch smooth surface", + "Trigger the switch trapezoid shape brown marking with precision", + "Activate the rectangular switch with slanted sides directly", + "Engage the flat switch with a press.", + "Activate the trapezoid-shaped switch smooth surface with robotic precision", + "Click the trapezoid-shaped switch smooth surface directly.", + "Activate the flat switch with the right arm.", + "Direct the right arm to operate the smooth tan switch with textured sides", + "Activate the the flat switch using the right arm", + "Trigger the trapezoid-shaped switch smooth surface using the right arm", + "Approach and tap the light tan rectangular switch smooth finish via the right arm", + "Switch the trapezoid-shaped switch smooth surface to its active state", + "Press the hand-sized switch tan smooth finish via automation", + "Deploy the right arm to operate the plastic switch with angled edges", + "Trigger the angled switch light tan color without referencing the right arm", + "Push the rectangular switch with slanted sides via the right arm.", + "Interact with the trapezoid-shaped switch smooth surface.", + "Interact with the switch with darker rectangle directly", + "Command the right arm to engage the hand-sized switch tan smooth finish", + "Set the right arm to press the switch with darker rectangle", + "Click the flat switch to activate it", + "Set the switch at the light tan rectangular switch smooth finish", + "Operate the switch trapezoid shape brown marking with the right arm" + ], + "unseen": [ + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top with the right arm", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the small flat switch tan top with the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Move and click the the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Move and click the the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top with the right arm", + "Move and click the the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top.", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top with the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..880caae098df786f5e86e4a1c7969500937021be --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the small switch with red lever via automation", + "Move to the red and black electrical switch and click it.", + "Engage the left arm to press the black base switch", + "Directly interact with the red and black electrical switch", + "Click the plastic switch with metal prongs using automated tools", + "Click the switch with three metal pins directly.", + "Activate the switch with three metal pins with robotic precision", + "Press the switch with three metal pins directly", + "Toggle the plastic switch with metal prongs with the left arm.", + "Trigger the red and black electrical switch without referencing the left arm", + "Locate and press the black base switch", + "Press the toggle switch with black housing with the left arm", + "Trigger the two-tone red black switch using the left arm", + "Locate and press the toggle switch with black housing", + "Click the black base switch with robotic precision", + "Engage the switch for turning circuits on off using the left arm.", + "Activate the switch for turning circuits on off directly", + "Click on the metal-pronged black switch precisely", + "Operate the two-tone red black switch with the left arm", + "Command the left arm to engage the switch for turning circuits on off", + "Trigger the metal-pronged black switch with precision", + "Interact with the rectangular switch directly", + "Approach and tap the small switch with red lever via the left arm", + "Engage the metal-pronged black switch using the robotic arm", + "Use the left arm for switching the two-tone red black switch", + "Push the tiny rectangular switch via the left arm.", + "Engage the rectangular switch using the left arm", + "Set the left arm to press the small switch with red lever", + "Operate the left arm to engage the plastic switch with metal prongs", + "Direct the left arm to operate the black base switch", + "Deploy the left arm to press the smooth red switch with labels", + "Deploy the left arm to operate the switch with three metal pins", + "Press the smooth red switch with labels carefully with the left arm", + "Set the switch at the red and black electrical switch", + "Press the smooth red switch with labels using the left arm.", + "Switch the switch for turning circuits on off to its active state", + "Click the smooth red switch with labels to activate it", + "Press the two-tone red black switch using robotic control", + "Activate the plastic switch with metal prongs with the left arm.", + "Engage the red and black electrical switch with a press.", + "Engage with the switch for turning circuits on off manually", + "Use the left arm to interact with the metal-pronged black switch", + "Initiate the rectangular switch by clicking", + "Activate the small switch with red lever by pressing it", + "Interact with the switch for turning circuits on off.", + "Tap the rectangular switch to engage it", + "Press the black base switch to activate.", + "Use the left arm to engage the switch for turning circuits on off", + "Activate the rectangular switch via the left arm", + "Activate the the toggle switch with black housing using the left arm", + "Press the rectangular switch via automation", + "Move to the tiny rectangular switch and click it.", + "Engage the left arm to press the rectangular switch", + "Directly interact with the switch with three metal pins", + "Click the switch with three metal pins using automated tools", + "Click the toggle switch with black housing directly.", + "Activate the small switch with red lever with robotic precision", + "Press the toggle switch with black housing directly", + "Toggle the tiny rectangular switch with the left arm.", + "Trigger the switch for turning circuits on off without referencing the left arm", + "Locate and press the two-tone red black switch", + "Press the rectangular switch with the left arm", + "Trigger the metal-pronged black switch using the left arm", + "Locate and press the toggle switch with black housing", + "Click the black base switch with robotic precision", + "Engage the two-tone red black switch using the left arm.", + "Activate the plastic switch with metal prongs directly", + "Click on the metal-pronged black switch precisely", + "Operate the tiny rectangular switch with the left arm", + "Command the left arm to engage the smooth red switch with labels", + "Trigger the plastic switch with metal prongs with precision", + "Interact with the tiny rectangular switch directly", + "Approach and tap the smooth red switch with labels via the left arm", + "Engage the red and black electrical switch using the robotic arm", + "Use the left arm for switching the rectangular switch", + "Push the plastic switch with metal prongs via the left arm.", + "Engage the small switch with red lever using the left arm", + "Set the left arm to press the toggle switch with black housing", + "Operate the left arm to engage the two-tone red black switch", + "Direct the left arm to operate the metal-pronged black switch", + "Deploy the left arm to press the small switch with red lever", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the black base switch carefully with the left arm", + "Set the switch at the red and black electrical switch", + "Press the tiny rectangular switch using the left arm.", + "Switch the small switch with red lever to its active state", + "Click the small switch with red lever to activate it", + "Press the red and black electrical switch using robotic control", + "Activate the metal-pronged black switch with the left arm.", + "Engage the two-tone red black switch with a press.", + "Engage with the plastic switch with metal prongs manually", + "Use the left arm to interact with the red and black electrical switch", + "Initiate the metal-pronged black switch by clicking", + "Activate the toggle switch with black housing by pressing it", + "Interact with the smooth red switch with labels.", + "Tap the red and black electrical switch to engage it", + "Press the rectangular switch to activate.", + "Use the left arm to engage the toggle switch with black housing", + "Activate the small switch with red lever via the left arm", + "Activate the the switch for turning circuits on off using the left arm" + ], + "unseen": [ + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red toggle switch", + "Activate the switch at the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..63bfdbfb5860c9b1c8e882c3d48c96f4b4497894 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage with the plastic switch with matte buttons manually", + "Activate the gray plastic switch with the right arm.", + "Press the trapezoidal base switch using the right arm.", + "Toggle the gray switch with black buttons with the right arm.", + "Click the handheld switch to activate it", + "Click on the smooth gray switch precisely", + "Engage the plastic switch with matte buttons using the robotic arm", + "Activate the electric toggle switch directly", + "Click the handheld switch with robotic precision", + "Press the gray plastic switch to activate.", + "Deploy the right arm to press the handheld switch", + "Activate the the electric toggle switch using the right arm", + "Click the handheld switch directly.", + "Click the switch with trapezoidal base using automated tools", + "Engage the medium switch with trapezoidal base using the right arm.", + "Locate and press the two-button gray switch", + "Use the right arm to engage the gray plastic switch", + "Use the right arm for switching the gray switch with black buttons", + "Press the electric toggle switch with the right arm", + "Engage the gray smooth surface switch using the right arm", + "Operate the right arm to engage the gray smooth surface switch", + "Interact with the gray smooth surface switch.", + "Set the right arm to press the gray smooth surface switch", + "Use the right arm to interact with the gray smooth surface switch", + "Approach and tap the gray base with black buttons via the right arm", + "Activate the medium switch with trapezoidal base via the right arm", + "Trigger the gray plastic switch using the right arm", + "Push the medium switch with trapezoidal base via the right arm.", + "Operate the two-button gray switch with the right arm", + "Direct the right arm to operate the gray base with black buttons", + "Move to the two-button gray switch and click it.", + "Locate and press the handheld switch", + "Directly interact with the two-button gray switch", + "Press the switch with trapezoidal base carefully with the right arm", + "Command the right arm to engage the medium switch with trapezoidal base", + "Trigger the medium switch with trapezoidal base without referencing the right arm", + "Switch the plastic switch with matte buttons to its active state", + "Press the electric toggle switch using robotic control", + "Deploy the right arm to operate the gray plastic switch", + "Activate the gray smooth surface switch with robotic precision", + "Trigger the medium switch with trapezoidal base with precision", + "Engage the gray base with black buttons with a press.", + "Set the switch at the smooth gray switch", + "Engage the right arm to press the electric toggle switch", + "Activate the smooth gray switch by pressing it", + "Press the gray smooth surface switch directly", + "Tap the gray plastic switch to engage it", + "Press the gray switch with black buttons via automation", + "Interact with the gray base with black buttons directly", + "Initiate the gray plastic switch by clicking", + "Engage with the gray smooth surface switch manually", + "Activate the trapezoidal base switch with the right arm.", + "Press the gray base with black buttons using the right arm.", + "Toggle the medium switch with trapezoidal base with the right arm.", + "Click the switch with trapezoidal base to activate it", + "Click on the two-button gray switch precisely", + "Engage the two-button gray switch using the robotic arm", + "Activate the gray plastic switch directly", + "Click the two-button gray switch with robotic precision", + "Press the gray base with black buttons to activate.", + "Deploy the right arm to press the electric toggle switch", + "Activate the the two-button gray switch using the right arm", + "Click the handheld switch directly.", + "Click the electric toggle switch using automated tools", + "Engage the switch with trapezoidal base using the right arm.", + "Locate and press the smooth gray switch", + "Use the right arm to engage the plastic switch with matte buttons", + "Use the right arm for switching the gray base with black buttons", + "Press the medium switch with trapezoidal base with the right arm", + "Engage the trapezoidal base switch using the right arm", + "Operate the right arm to engage the gray plastic switch", + "Interact with the gray smooth surface switch.", + "Set the right arm to press the smooth gray switch", + "Use the right arm to interact with the gray switch with black buttons", + "Approach and tap the smooth gray switch via the right arm", + "Activate the electric toggle switch via the right arm", + "Trigger the medium switch with trapezoidal base using the right arm", + "Push the trapezoidal base switch via the right arm.", + "Operate the smooth gray switch with the right arm", + "Direct the right arm to operate the gray switch with black buttons", + "Move to the gray smooth surface switch and click it.", + "Locate and press the handheld switch", + "Directly interact with the two-button gray switch", + "Press the electric toggle switch carefully with the right arm", + "Command the right arm to engage the plastic switch with matte buttons", + "Trigger the trapezoidal base switch without referencing the right arm", + "Switch the switch with trapezoidal base to its active state", + "Press the gray smooth surface switch using robotic control", + "Deploy the right arm to operate the gray switch with black buttons", + "Activate the gray plastic switch with robotic precision", + "Trigger the plastic switch with matte buttons with precision", + "Engage the gray switch with black buttons with a press.", + "Set the switch at the two-button gray switch", + "Engage the right arm to press the smooth gray switch", + "Activate the two-button gray switch by pressing it", + "Press the electric toggle switch directly", + "Tap the electric toggle switch to engage it", + "Press the gray base with black buttons via automation", + "Interact with the handheld switch directly", + "Initiate the gray smooth surface switch by clicking" + ], + "unseen": [ + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the gray switch medium size", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Use the right arm to press the gray switch", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch medium size with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch using the right arm", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the switch with circular black buttons", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch.", + "Use the right arm to press the gray switch medium size", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Press the gray switch medium size using the right arm", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch.", + "Use the right arm to press the gray switch", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch with the right arm.", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch.", + "Use the right arm to press the gray switch", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch using the right arm", + "Use the right arm to press the gray switch.", + "Use the right arm to press the switch with circular black buttons", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch medium size using the right arm", + "Click the gray switch using the right arm", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the switch with circular black buttons", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch medium size with the right arm.", + "Press the gray switch medium size using the right arm", + "Click the gray switch using the right arm", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the gray switch", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch medium size with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the switch with circular black buttons", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..3a6943589eb992e60d8d1a9884923451fe590d3b --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the left arm to press the small switch with red lever", + "Activate the black base switch with the left arm.", + "Press the smooth red switch with labels carefully with the left arm", + "Locate and press the switch with three metal pins", + "Click on the metal-pronged black switch precisely", + "Engage with the black base switch manually", + "Activate the metal-pronged black switch via the left arm", + "Use the left arm to interact with the metal-pronged black switch", + "Push the metal-pronged black switch via the left arm.", + "Deploy the left arm to operate the switch with three metal pins", + "Approach and tap the two-tone red black switch via the left arm", + "Activate the small switch with red lever with robotic precision", + "Interact with the black base switch.", + "Activate the switch with three metal pins by pressing it", + "Command the left arm to engage the metal-pronged black switch", + "Move to the black base switch and click it.", + "Use the left arm to engage the switch for turning circuits on off", + "Set the switch at the black base switch", + "Operate the left arm to engage the small switch with red lever", + "Click the smooth red switch with labels directly.", + "Engage the smooth red switch with labels with a press.", + "Tap the switch for turning circuits on off to engage it", + "Click the rectangular switch using automated tools", + "Engage the toggle switch with black housing using the left arm", + "Switch the two-tone red black switch to its active state", + "Interact with the plastic switch with metal prongs directly", + "Activate the two-tone red black switch directly", + "Press the red and black electrical switch using the left arm.", + "Engage the plastic switch with metal prongs using the left arm.", + "Toggle the small switch with red lever with the left arm.", + "Trigger the switch for turning circuits on off with precision", + "Engage the switch for turning circuits on off using the robotic arm", + "Click the two-tone red black switch to activate it", + "Press the red and black electrical switch to activate.", + "Direct the left arm to operate the switch with three metal pins", + "Directly interact with the metal-pronged black switch", + "Press the metal-pronged black switch with the left arm", + "Press the tiny rectangular switch directly", + "Click the two-tone red black switch with robotic precision", + "Engage the left arm to press the switch with three metal pins", + "Locate and press the small switch with red lever", + "Operate the plastic switch with metal prongs with the left arm", + "Initiate the red and black electrical switch by clicking", + "Press the plastic switch with metal prongs using robotic control", + "Set the left arm to press the toggle switch with black housing", + "Trigger the plastic switch with metal prongs using the left arm", + "Trigger the two-tone red black switch without referencing the left arm", + "Activate the the tiny rectangular switch using the left arm", + "Use the left arm for switching the plastic switch with metal prongs", + "Press the two-tone red black switch via automation", + "Deploy the left arm to press the tiny rectangular switch", + "Activate the black base switch with the left arm.", + "Press the switch with three metal pins carefully with the left arm", + "Locate and press the tiny rectangular switch", + "Click on the plastic switch with metal prongs precisely", + "Engage with the plastic switch with metal prongs manually", + "Activate the red and black electrical switch via the left arm", + "Use the left arm to interact with the rectangular switch", + "Push the rectangular switch via the left arm.", + "Deploy the left arm to operate the two-tone red black switch", + "Approach and tap the plastic switch with metal prongs via the left arm", + "Activate the smooth red switch with labels with robotic precision", + "Interact with the switch for turning circuits on off.", + "Activate the switch for turning circuits on off by pressing it", + "Command the left arm to engage the red and black electrical switch", + "Move to the red and black electrical switch and click it.", + "Use the left arm to engage the plastic switch with metal prongs", + "Set the switch at the rectangular switch", + "Operate the left arm to engage the switch with three metal pins", + "Click the toggle switch with black housing directly.", + "Engage the black base switch with a press.", + "Tap the rectangular switch to engage it", + "Click the small switch with red lever using automated tools", + "Engage the switch for turning circuits on off using the left arm", + "Switch the smooth red switch with labels to its active state", + "Interact with the switch for turning circuits on off directly", + "Activate the rectangular switch directly", + "Press the metal-pronged black switch using the left arm.", + "Engage the tiny rectangular switch using the left arm.", + "Toggle the tiny rectangular switch with the left arm.", + "Trigger the red and black electrical switch with precision", + "Engage the switch for turning circuits on off using the robotic arm", + "Click the switch with three metal pins to activate it", + "Press the two-tone red black switch to activate.", + "Direct the left arm to operate the toggle switch with black housing", + "Directly interact with the toggle switch with black housing", + "Press the toggle switch with black housing with the left arm", + "Press the switch for turning circuits on off directly", + "Click the plastic switch with metal prongs with robotic precision", + "Engage the left arm to press the switch with three metal pins", + "Locate and press the switch with three metal pins", + "Operate the plastic switch with metal prongs with the left arm", + "Initiate the toggle switch with black housing by clicking", + "Press the two-tone red black switch using robotic control", + "Set the left arm to press the rectangular switch", + "Trigger the smooth red switch with labels using the left arm", + "Trigger the small switch with red lever without referencing the left arm", + "Activate the the smooth red switch with labels using the left arm", + "Use the left arm for switching the red and black electrical switch", + "Press the red and black electrical switch via automation" + ], + "unseen": [ + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..e71bf0394c420a51bb000692b3f22ce3eb7af976 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the angled-edge gray square switch", + "Initiate the switch with smooth light gray finish by clicking", + "Click the switch for electrical control directly.", + "Press the angled-edge gray square switch using the right arm.", + "Move to the light gray plastic switch and click it.", + "Press the square gray switch panel with the right arm", + "Use the right arm for switching the square gray switch panel", + "Command the right arm to engage the switch with rectangular raised area", + "Activate the switch for electrical control with robotic precision", + "Operate the square gray switch panel with the right arm", + "Push the angled-edge gray square switch via the right arm.", + "Tap the square gray switch panel to engage it", + "Trigger the angled-edge gray square switch without referencing the right arm", + "Engage with the square gray switch panel manually", + "Click on the square gray switch panel precisely", + "Press the smooth gray switch via automation", + "Direct the right arm to operate the palm-sized light gray switch", + "Click the switch for electrical control with robotic precision", + "Set the switch at the square switch with smooth surface", + "Interact with the switch with rectangular raised area directly", + "Use the right arm to interact with the angled-edge gray square switch", + "Deploy the right arm to operate the switch with smooth light gray finish", + "Directly interact with the light gray plastic switch", + "Toggle the switch with smooth light gray finish with the right arm.", + "Press the square switch with smooth surface using robotic control", + "Engage the switch with rectangular raised area using the right arm", + "Switch the small square switch to its active state", + "Locate and press the square switch with smooth surface", + "Click the switch with rectangular raised area using automated tools", + "Press the switch with rectangular raised area directly", + "Activate the the square switch with smooth surface using the right arm", + "Interact with the light gray plastic switch.", + "Activate the flat square with raised center directly", + "Activate the palm-sized light gray switch with the right arm.", + "Engage the small square switch made of plastic using the robotic arm", + "Locate and press the switch with rectangular raised area", + "Engage the small square switch made of plastic using the right arm.", + "Activate the smooth gray switch by pressing it", + "Press the switch with smooth light gray finish carefully with the right arm", + "Trigger the switch with rectangular raised area using the right arm", + "Approach and tap the small square switch made of plastic via the right arm", + "Engage the light gray plastic switch with a press.", + "Deploy the right arm to press the small square switch made of plastic", + "Click the small square switch made of plastic to activate it", + "Activate the smooth gray switch via the right arm", + "Trigger the switch with rectangular raised area with precision", + "Operate the right arm to engage the square switch with smooth surface", + "Use the right arm to engage the angled-edge gray square switch", + "Set the right arm to press the angled-edge gray square switch", + "Press the square gray switch panel to activate.", + "Engage the right arm to press the palm-sized light gray switch", + "Initiate the switch with smooth light gray finish by clicking", + "Click the square switch with smooth surface directly.", + "Press the smooth gray switch using the right arm.", + "Move to the smooth gray switch and click it.", + "Press the switch for electrical control with the right arm", + "Use the right arm for switching the light gray plastic switch", + "Command the right arm to engage the flat square with raised center", + "Activate the switch with smooth light gray finish with robotic precision", + "Operate the angled-edge gray square switch with the right arm", + "Push the flat square with raised center via the right arm.", + "Tap the smooth gray switch to engage it", + "Trigger the square gray switch panel without referencing the right arm", + "Engage with the palm-sized light gray switch manually", + "Click on the angled-edge gray square switch precisely", + "Press the angled-edge gray square switch via automation", + "Direct the right arm to operate the small square switch made of plastic", + "Click the square gray switch panel with robotic precision", + "Set the switch at the switch for electrical control", + "Interact with the palm-sized light gray switch directly", + "Use the right arm to interact with the switch for electrical control", + "Deploy the right arm to operate the angled-edge gray square switch", + "Directly interact with the angled-edge gray square switch", + "Toggle the light gray plastic switch with the right arm.", + "Press the square gray switch panel using robotic control", + "Engage the palm-sized light gray switch using the right arm", + "Switch the small square switch made of plastic to its active state", + "Locate and press the light gray plastic switch", + "Click the small square switch using automated tools", + "Press the square switch with smooth surface directly", + "Activate the the small square switch made of plastic using the right arm", + "Interact with the angled-edge gray square switch.", + "Activate the switch with rectangular raised area directly", + "Activate the flat square with raised center with the right arm.", + "Engage the flat square with raised center using the robotic arm", + "Locate and press the small square switch made of plastic", + "Engage the switch with smooth light gray finish using the right arm.", + "Activate the palm-sized light gray switch by pressing it", + "Press the switch with smooth light gray finish carefully with the right arm", + "Trigger the palm-sized light gray switch using the right arm", + "Approach and tap the light gray plastic switch via the right arm", + "Engage the square switch with smooth surface with a press.", + "Deploy the right arm to press the square switch with smooth surface", + "Click the switch with smooth light gray finish to activate it", + "Activate the square switch with smooth surface via the right arm", + "Trigger the small square switch with precision", + "Operate the right arm to engage the smooth gray switch", + "Use the right arm to engage the light gray plastic switch", + "Set the right arm to press the angled-edge gray square switch", + "Press the small square switch to activate." + ], + "unseen": [ + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the switch with angled edges", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the switch with angled edges", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the switch with angled edges", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the switch with angled edges with the right arm.", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm", + "Click the flat gray switch with the right arm.", + "Press the switch with angled edges using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..521124f10ef7ff29548f3a13220e722668228fa5 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the red bar switch via the right arm", + "Approach and tap the electrical switch with protruding toggle via the right arm", + "Click the switch for electrical control with robotic precision", + "Command the right arm to engage the gray switch with red toggle", + "Trigger the compact switch with flat base using the right arm", + "Activate the red bar switch with the right arm.", + "Directly interact with the switch with thin red toggle", + "Click the plastic gray body switch directly.", + "Press the switch directly", + "Click on the switch with thin red toggle precisely", + "Set the switch at the square switch with red bar", + "Interact with the square switch with red bar.", + "Deploy the right arm to press the control switch with red lever", + "Engage the electrical switch with protruding toggle using the right arm", + "Press the compact switch with flat base via automation", + "Engage with the electrical switch with protruding toggle manually", + "Interact with the control switch with red lever directly", + "Engage the switch with thin red toggle with a press.", + "Move to the control switch with red lever and click it.", + "Press the light gray square switch to activate.", + "Push the switch via the right arm.", + "Engage the right arm to press the electrical switch with protruding toggle", + "Activate the electrical switch with protruding toggle directly", + "Press the control switch with red lever using robotic control", + "Activate the red bar switch by pressing it", + "Activate the the switch with thin red toggle using the right arm", + "Press the switch with the right arm", + "Initiate the switch with thin red toggle by clicking", + "Press the light gray square switch using the right arm.", + "Click the plastic gray body switch to activate it", + "Operate the right arm to engage the toggle switch light gray base", + "Use the right arm to interact with the electrical switch with protruding toggle", + "Click the light gray square switch using automated tools", + "Locate and press the toggle switch light gray base", + "Set the right arm to press the switch", + "Direct the right arm to operate the compact switch with flat base", + "Locate and press the toggle switch light gray base", + "Trigger the switch for electrical control with precision", + "Engage the square switch with red bar using the right arm.", + "Activate the plastic gray body switch with robotic precision", + "Engage the control switch with red lever using the robotic arm", + "Use the right arm for switching the switch for electrical control", + "Switch the switch with thin red toggle to its active state", + "Toggle the switch for electrical control with the right arm.", + "Operate the toggle switch light gray base with the right arm", + "Use the right arm to engage the toggle switch light gray base", + "Press the switch carefully with the right arm", + "Trigger the toggle switch light gray base without referencing the right arm", + "Tap the light gray square switch to engage it", + "Deploy the right arm to operate the gray switch with red toggle", + "Activate the electrical switch with protruding toggle via the right arm", + "Approach and tap the plastic gray body switch via the right arm", + "Click the light gray square switch with robotic precision", + "Command the right arm to engage the switch with thin red toggle", + "Trigger the gray switch with red toggle using the right arm", + "Activate the light gray square switch with the right arm.", + "Directly interact with the switch with thin red toggle", + "Click the plastic gray body switch directly.", + "Press the plastic gray body switch directly", + "Click on the switch with thin red toggle precisely", + "Set the switch at the gray switch with red toggle", + "Interact with the switch with thin red toggle.", + "Deploy the right arm to press the red bar switch", + "Engage the red bar switch using the right arm", + "Press the square switch with red bar via automation", + "Engage with the toggle switch light gray base manually", + "Interact with the square switch with red bar directly", + "Engage the control switch with red lever with a press.", + "Move to the compact switch with flat base and click it.", + "Press the switch for electrical control to activate.", + "Push the toggle switch light gray base via the right arm.", + "Engage the right arm to press the toggle switch light gray base", + "Activate the switch for electrical control directly", + "Press the square switch with red bar using robotic control", + "Activate the electrical switch with protruding toggle by pressing it", + "Activate the the gray switch with red toggle using the right arm", + "Press the switch with thin red toggle with the right arm", + "Initiate the red bar switch by clicking", + "Press the square switch with red bar using the right arm.", + "Click the gray switch with red toggle to activate it", + "Operate the right arm to engage the switch", + "Use the right arm to interact with the red bar switch", + "Click the red bar switch using automated tools", + "Locate and press the toggle switch light gray base", + "Set the right arm to press the switch for electrical control", + "Direct the right arm to operate the plastic gray body switch", + "Locate and press the electrical switch with protruding toggle", + "Trigger the gray switch with red toggle with precision", + "Engage the switch using the right arm.", + "Activate the red bar switch with robotic precision", + "Engage the electrical switch with protruding toggle using the robotic arm", + "Use the right arm for switching the electrical switch with protruding toggle", + "Switch the plastic gray body switch to its active state", + "Toggle the switch with the right arm.", + "Operate the red bar switch with the right arm", + "Use the right arm to engage the electrical switch with protruding toggle", + "Press the light gray square switch carefully with the right arm", + "Trigger the red bar switch without referencing the right arm", + "Tap the switch for electrical control to engage it", + "Deploy the right arm to operate the plastic gray body switch" + ], + "unseen": [ + "Click the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Direct the right arm to click the flat square gray switch", + "Click the flat square gray switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the flat square gray switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the smooth gray base switch", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the smooth gray base switch", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the flat square gray switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the flat square gray switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the flat square gray switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Move and click the the flat square gray switch", + "Use the right arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the smooth gray base switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..c7271f7189934ac631d51f7f14dc96b616f623c3 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Directly interact with the rectangular black plastic switch", + "Locate and press the switch with curved red toggle", + "Press the red-top black switch using the right arm.", + "Press the rectangular switch with curved lever via automation", + "Push the rectangular black plastic switch via the right arm.", + "Interact with the small switch directly", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Press the compact switch with toggle on top using robotic control", + "Activate the small switch directly", + "Use the right arm to engage the black switch", + "Operate the black switch with the right arm", + "Engage the rectangular switch with curved lever using the robotic arm", + "Move to the hand-sized switch with connector prongs and click it.", + "Approach and tap the rectangular switch with curved lever via the right arm", + "Activate the black switch with robotic precision", + "Click the black base switch with red toggle with robotic precision", + "Click the hand-sized switch with connector prongs to activate it", + "Press the red-top black switch directly", + "Press the black base switch with red toggle to activate.", + "Use the right arm to interact with the hand-sized switch with connector prongs", + "Trigger the small switch using the right arm", + "Engage the small switch with a press.", + "Engage with the red and black switch manually", + "Set the switch at the rectangular switch with curved lever", + "Interact with the black base switch with red toggle.", + "Direct the right arm to operate the rectangular switch with curved lever", + "Command the right arm to engage the rectangular switch with curved lever", + "Initiate the plastic switch with metal terminals by clicking", + "Activate the the hand-sized switch with connector prongs using the right arm", + "Trigger the plastic switch with metal terminals with precision", + "Tap the plastic switch with metal terminals to engage it", + "Click on the red and black switch precisely", + "Engage the red and black switch using the right arm", + "Toggle the red and black switch with the right arm.", + "Engage the red-top black switch using the right arm.", + "Locate and press the rectangular switch with curved lever", + "Trigger the compact switch with toggle on top without referencing the right arm", + "Activate the black switch with metallic connectors via the right arm", + "Click the black switch with metallic connectors directly.", + "Operate the right arm to engage the rectangular switch with curved lever", + "Press the red-top black switch with the right arm", + "Press the compact switch with toggle on top carefully with the right arm", + "Use the right arm for switching the red and black switch", + "Engage the right arm to press the plastic switch with metal terminals", + "Activate the black switch with metallic connectors with the right arm.", + "Click the compact switch with toggle on top using automated tools", + "Deploy the right arm to press the black base switch with red toggle", + "Activate the rectangular black plastic switch by pressing it", + "Switch the rectangular black plastic switch to its active state", + "Set the right arm to press the rectangular black plastic switch", + "Directly interact with the rectangular switch with curved lever", + "Locate and press the rectangular black plastic switch", + "Press the red-top black switch using the right arm.", + "Press the black base switch with red toggle via automation", + "Push the hand-sized switch with connector prongs via the right arm.", + "Interact with the compact switch with toggle on top directly", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Press the red-top black switch using robotic control", + "Activate the black base switch with red toggle directly", + "Use the right arm to engage the rectangular black plastic switch", + "Operate the small switch with the right arm", + "Engage the small switch using the robotic arm", + "Move to the rectangular switch with curved lever and click it.", + "Approach and tap the black base switch with red toggle via the right arm", + "Activate the black switch with robotic precision", + "Click the switch with curved red toggle with robotic precision", + "Click the rectangular switch with curved lever to activate it", + "Press the rectangular black plastic switch directly", + "Press the black base switch with red toggle to activate.", + "Use the right arm to interact with the plastic switch with metal terminals", + "Trigger the black switch using the right arm", + "Engage the black switch with metallic connectors with a press.", + "Engage with the black switch manually", + "Set the switch at the hand-sized switch with connector prongs", + "Interact with the black switch.", + "Direct the right arm to operate the black switch", + "Command the right arm to engage the rectangular switch with curved lever", + "Initiate the hand-sized switch with connector prongs by clicking", + "Activate the the small switch using the right arm", + "Trigger the black switch with metallic connectors with precision", + "Tap the black base switch with red toggle to engage it", + "Click on the hand-sized switch with connector prongs precisely", + "Engage the black switch with metallic connectors using the right arm", + "Toggle the rectangular switch with curved lever with the right arm.", + "Engage the black base switch with red toggle using the right arm.", + "Locate and press the red and black switch", + "Trigger the black switch without referencing the right arm", + "Activate the hand-sized switch with connector prongs via the right arm", + "Click the rectangular switch with curved lever directly.", + "Operate the right arm to engage the small switch", + "Press the black switch with metallic connectors with the right arm", + "Press the compact switch with toggle on top carefully with the right arm", + "Use the right arm for switching the plastic switch with metal terminals", + "Engage the right arm to press the switch with curved red toggle", + "Activate the black switch with the right arm.", + "Click the red-top black switch using automated tools", + "Deploy the right arm to press the hand-sized switch with connector prongs", + "Activate the black base switch with red toggle by pressing it", + "Switch the compact switch with toggle on top to its active state", + "Set the right arm to press the red-top black switch" + ], + "unseen": [ + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..78599b0390461f1fcffa6d5c291c000faa1f4c21 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the light gray plastic switch using the left arm.", + "Trigger the angled-edge gray square switch with precision", + "Press the switch with smooth light gray finish carefully with the left arm", + "Click the smooth gray switch to activate it", + "Use the left arm to interact with the light gray plastic switch", + "Initiate the switch with rectangular raised area by clicking", + "Deploy the left arm to press the small square switch", + "Activate the small square switch made of plastic directly", + "Press the palm-sized light gray switch with the left arm", + "Trigger the switch for electrical control using the left arm", + "Set the left arm to press the light gray plastic switch", + "Operate the left arm to engage the small square switch", + "Operate the flat square with raised center with the left arm", + "Command the left arm to engage the small square switch made of plastic", + "Activate the switch for electrical control with robotic precision", + "Activate the smooth gray switch via the left arm", + "Press the switch with rectangular raised area directly", + "Engage with the square switch with smooth surface manually", + "Toggle the square switch with smooth surface with the left arm.", + "Interact with the switch with smooth light gray finish.", + "Locate and press the light gray plastic switch", + "Move to the square switch with smooth surface and click it.", + "Interact with the switch with smooth light gray finish directly", + "Deploy the left arm to operate the small square switch made of plastic", + "Press the switch with rectangular raised area to activate.", + "Press the square switch with smooth surface via automation", + "Locate and press the smooth gray switch", + "Click the square gray switch panel directly.", + "Engage the left arm to press the switch with smooth light gray finish", + "Direct the left arm to operate the smooth gray switch", + "Press the angled-edge gray square switch using robotic control", + "Tap the switch for electrical control to engage it", + "Directly interact with the angled-edge gray square switch", + "Set the switch at the small square switch made of plastic", + "Activate the switch with smooth light gray finish by pressing it", + "Click the flat square with raised center using automated tools", + "Approach and tap the square switch with smooth surface via the left arm", + "Trigger the flat square with raised center without referencing the left arm", + "Engage the switch with smooth light gray finish with a press.", + "Engage the switch with smooth light gray finish using the robotic arm", + "Activate the palm-sized light gray switch with the left arm.", + "Click on the smooth gray switch precisely", + "Click the square gray switch panel with robotic precision", + "Use the left arm for switching the small square switch made of plastic", + "Switch the flat square with raised center to its active state", + "Use the left arm to engage the palm-sized light gray switch", + "Activate the the angled-edge gray square switch using the left arm", + "Engage the switch with rectangular raised area using the left arm", + "Press the square switch with smooth surface using the left arm.", + "Push the flat square with raised center via the left arm.", + "Engage the light gray plastic switch using the left arm.", + "Trigger the switch with smooth light gray finish with precision", + "Press the smooth gray switch carefully with the left arm", + "Click the switch with rectangular raised area to activate it", + "Use the left arm to interact with the switch with rectangular raised area", + "Initiate the small square switch by clicking", + "Deploy the left arm to press the square switch with smooth surface", + "Activate the small square switch directly", + "Press the square gray switch panel with the left arm", + "Trigger the switch with rectangular raised area using the left arm", + "Set the left arm to press the smooth gray switch", + "Operate the left arm to engage the flat square with raised center", + "Operate the small square switch with the left arm", + "Command the left arm to engage the switch with rectangular raised area", + "Activate the smooth gray switch with robotic precision", + "Activate the smooth gray switch via the left arm", + "Press the angled-edge gray square switch directly", + "Engage with the switch with smooth light gray finish manually", + "Toggle the light gray plastic switch with the left arm.", + "Interact with the small square switch.", + "Locate and press the palm-sized light gray switch", + "Move to the smooth gray switch and click it.", + "Interact with the switch with smooth light gray finish directly", + "Deploy the left arm to operate the light gray plastic switch", + "Press the light gray plastic switch to activate.", + "Press the small square switch made of plastic via automation", + "Locate and press the light gray plastic switch", + "Click the smooth gray switch directly.", + "Engage the left arm to press the switch with rectangular raised area", + "Direct the left arm to operate the small square switch made of plastic", + "Press the smooth gray switch using robotic control", + "Tap the smooth gray switch to engage it", + "Directly interact with the switch with rectangular raised area", + "Set the switch at the small square switch made of plastic", + "Activate the light gray plastic switch by pressing it", + "Click the smooth gray switch using automated tools", + "Approach and tap the square switch with smooth surface via the left arm", + "Trigger the light gray plastic switch without referencing the left arm", + "Engage the flat square with raised center with a press.", + "Engage the angled-edge gray square switch using the robotic arm", + "Activate the square switch with smooth surface with the left arm.", + "Click on the smooth gray switch precisely", + "Click the small square switch with robotic precision", + "Use the left arm for switching the switch with rectangular raised area", + "Switch the small square switch made of plastic to its active state", + "Use the left arm to engage the switch for electrical control", + "Activate the the light gray plastic switch using the left arm", + "Engage the switch with rectangular raised area using the left arm", + "Press the switch with rectangular raised area using the left arm.", + "Push the smooth gray switch via the left arm." + ], + "unseen": [ + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the switch with angled edges", + "Click the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the flat gray switch with the left arm", + "Move and click the the switch with angled edges", + "Activate the switch at the switch with angled edges", + "Use the left arm to press the flat gray switch.", + "Press the gray switch with slanted sides using the left arm", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the flat gray switch", + "Click the flat gray switch using the left arm", + "Click the flat gray switch with the left arm", + "Click the switch with angled edges with the left arm", + "Move and click the the switch with angled edges", + "Activate the switch at the flat gray switch", + "Use the left arm to press the flat gray switch.", + "Press the gray switch with slanted sides using the left arm", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the flat gray switch", + "Click the switch with angled edges using the left arm", + "Click the switch with angled edges with the left arm", + "Click the flat gray switch with the left arm", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Use the left arm to press the switch with angled edges.", + "Press the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the gray switch with slanted sides", + "Click the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the switch with angled edges with the left arm", + "Move and click the the flat gray switch", + "Activate the switch at the flat gray switch", + "Use the left arm to press the flat gray switch.", + "Press the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Click the gray switch with slanted sides with the left arm", + "Move and click the the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides.", + "Press the switch with angled edges using the left arm", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the left arm", + "Click the flat gray switch with the left arm", + "Click the switch with angled edges with the left arm", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Use the left arm to press the flat gray switch.", + "Press the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the switch with angled edges", + "Click the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm", + "Click the gray switch with slanted sides with the left arm", + "Move and click the the switch with angled edges", + "Activate the switch at the switch with angled edges", + "Use the left arm to press the flat gray switch.", + "Press the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the flat gray switch", + "Click the flat gray switch using the left arm", + "Click the flat gray switch with the left arm", + "Click the flat gray switch with the left arm", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Use the left arm to press the gray switch with slanted sides.", + "Press the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Click the switch with angled edges with the left arm", + "Click the flat gray switch with the left arm", + "Move and click the the flat gray switch", + "Activate the switch at the flat gray switch", + "Use the left arm to press the switch with angled edges.", + "Press the flat gray switch using the left arm", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the left arm", + "Click the switch with angled edges with the left arm", + "Click the gray switch with slanted sides with the left arm", + "Move and click the the flat gray switch", + "Activate the switch at the flat gray switch", + "Use the left arm to press the gray switch with slanted sides.", + "Press the switch with angled edges using the left arm", + "Click the switch with angled edges with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a571fb006f70db64e378bb49d08a4666144b58 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the rectangular black plastic switch precisely", + "Interact with the hand-sized switch with connector prongs directly", + "Approach and tap the black base switch with red toggle via the left arm", + "Tap the black switch with metallic connectors to engage it", + "Use the left arm to engage the hand-sized switch with connector prongs", + "Switch the red and black switch to its active state", + "Trigger the black base switch with red toggle using the left arm", + "Activate the black switch with metallic connectors directly", + "Press the plastic switch with metal terminals with the left arm", + "Click the switch with curved red toggle directly.", + "Toggle the plastic switch with metal terminals with the left arm.", + "Activate the the rectangular switch with curved lever using the left arm", + "Direct the left arm to operate the black base switch with red toggle", + "Click the rectangular switch with curved lever to activate it", + "Interact with the red-top black switch.", + "Operate the left arm to engage the black switch", + "Click the rectangular black plastic switch with robotic precision", + "Activate the black switch by pressing it", + "Engage the black base switch with red toggle using the left arm.", + "Engage the switch with curved red toggle using the left arm", + "Use the left arm to interact with the small switch", + "Click the red and black switch using automated tools", + "Operate the red-top black switch with the left arm", + "Set the left arm to press the hand-sized switch with connector prongs", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Engage with the black base switch with red toggle manually", + "Press the small switch carefully with the left arm", + "Trigger the rectangular black plastic switch with precision", + "Deploy the left arm to operate the red-top black switch", + "Locate and press the switch with curved red toggle", + "Press the rectangular black plastic switch via automation", + "Deploy the left arm to press the black switch", + "Use the left arm for switching the small switch", + "Initiate the small switch by clicking", + "Move to the black switch with metallic connectors and click it.", + "Activate the black switch with metallic connectors with the left arm.", + "Engage the left arm to press the red and black switch", + "Push the black base switch with red toggle via the left arm.", + "Activate the plastic switch with metal terminals via the left arm", + "Press the compact switch with toggle on top to activate.", + "Locate and press the small switch", + "Trigger the switch with curved red toggle without referencing the left arm", + "Press the rectangular black plastic switch directly", + "Press the red and black switch using robotic control", + "Command the left arm to engage the red-top black switch", + "Press the rectangular switch with curved lever using the left arm.", + "Set the switch at the rectangular switch with curved lever", + "Directly interact with the switch with curved red toggle", + "Engage the small switch with a press.", + "Activate the rectangular black plastic switch with robotic precision", + "Click on the plastic switch with metal terminals precisely", + "Interact with the red and black switch directly", + "Approach and tap the rectangular black plastic switch via the left arm", + "Tap the black switch to engage it", + "Use the left arm to engage the plastic switch with metal terminals", + "Switch the small switch to its active state", + "Trigger the plastic switch with metal terminals using the left arm", + "Activate the red-top black switch directly", + "Press the red-top black switch with the left arm", + "Click the rectangular black plastic switch directly.", + "Toggle the plastic switch with metal terminals with the left arm.", + "Activate the the small switch using the left arm", + "Direct the left arm to operate the plastic switch with metal terminals", + "Click the plastic switch with metal terminals to activate it", + "Interact with the black base switch with red toggle.", + "Operate the left arm to engage the rectangular switch with curved lever", + "Click the black base switch with red toggle with robotic precision", + "Activate the red and black switch by pressing it", + "Engage the switch with curved red toggle using the left arm.", + "Engage the black switch using the left arm", + "Use the left arm to interact with the rectangular switch with curved lever", + "Click the rectangular black plastic switch using automated tools", + "Operate the rectangular switch with curved lever with the left arm", + "Set the left arm to press the small switch", + "Engage the rectangular black plastic switch using the robotic arm", + "Engage with the red and black switch manually", + "Press the compact switch with toggle on top carefully with the left arm", + "Trigger the rectangular black plastic switch with precision", + "Deploy the left arm to operate the red-top black switch", + "Locate and press the rectangular black plastic switch", + "Press the rectangular switch with curved lever via automation", + "Deploy the left arm to press the plastic switch with metal terminals", + "Use the left arm for switching the hand-sized switch with connector prongs", + "Initiate the red-top black switch by clicking", + "Move to the black base switch with red toggle and click it.", + "Activate the hand-sized switch with connector prongs with the left arm.", + "Engage the left arm to press the small switch", + "Push the small switch via the left arm.", + "Activate the red-top black switch via the left arm", + "Press the red-top black switch to activate.", + "Locate and press the black switch", + "Trigger the switch with curved red toggle without referencing the left arm", + "Press the compact switch with toggle on top directly", + "Press the switch with curved red toggle using robotic control", + "Command the left arm to engage the hand-sized switch with connector prongs", + "Press the small switch using the left arm.", + "Set the switch at the red-top black switch", + "Directly interact with the black switch", + "Engage the rectangular switch with curved lever with a press.", + "Activate the rectangular switch with curved lever with robotic precision" + ], + "unseen": [ + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch using the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch using the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs using the left arm", + "Direct the left arm to click the switch with two metal prongs" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..6a012a6c37318d443a23d9a812e20401b97d8ad9 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Approach and tap the beige switch via the right arm", + "Activate the small trapezoid switch directly", + "Press the hand-sized light beige switch carefully with the right arm", + "Press the light-colored trapezoid-shaped plastic switch directly", + "Trigger the hand-sized light beige switch using the right arm", + "Deploy the right arm to press the hand-sized light beige switch", + "Click the light plastic switch to activate it", + "Deploy the right arm to operate the toggle switch with brown rectangle button", + "Interact with the switch with a smooth top.", + "Trigger the switch with a smooth top with precision", + "Use the right arm to engage the small trapezoid switch", + "Interact with the tiny matte beige toggle switch directly", + "Press the matte beige switch with flat top using robotic control", + "Activate the matte beige switch with flat top with robotic precision", + "Trigger the toggle switch with brown rectangle button without referencing the right arm", + "Directly interact with the switch with brown button", + "Use the right arm for switching the toggle switch with brown rectangle button", + "Operate the right arm to engage the beige switch with smooth finish", + "Tap the switch with rectangular dark button to engage it", + "Use the right arm to interact with the switch with rectangular dark button", + "Engage with the switch with a smooth top manually", + "Click the beige switch with robotic precision", + "Set the right arm to press the switch with a smooth top", + "Locate and press the beige switch", + "Engage the toggle switch with brown rectangle button with a press.", + "Push the matte beige switch with flat top via the right arm.", + "Activate the matte beige switch with flat top by pressing it", + "Toggle the toggle switch with brown rectangle button with the right arm.", + "Click the switch with rectangular dark button directly.", + "Engage the small trapezoid switch using the robotic arm", + "Engage the hand-sized light beige switch using the right arm", + "Activate the the beige switch with smooth finish using the right arm", + "Click on the switch with rectangular dark button precisely", + "Engage the switch with a smooth top using the right arm.", + "Press the toggle switch with brown rectangle button with the right arm", + "Initiate the beige switch by clicking", + "Activate the light-colored trapezoid-shaped plastic switch via the right arm", + "Engage the right arm to press the light-colored trapezoid-shaped plastic switch", + "Set the switch at the beige switch with smooth finish", + "Move to the switch with a smooth top and click it.", + "Command the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Locate and press the beige switch", + "Operate the beige switch with the right arm", + "Activate the toggle switch with brown rectangle button with the right arm.", + "Switch the beige switch to its active state", + "Press the switch with brown button to activate.", + "Direct the right arm to operate the beige switch", + "Press the small trapezoid switch via automation", + "Press the beige switch using the right arm.", + "Click the light plastic switch using automated tools", + "Approach and tap the light plastic switch via the right arm", + "Activate the matte beige switch with flat top directly", + "Press the beige switch carefully with the right arm", + "Press the switch with rectangular dark button directly", + "Trigger the light plastic switch using the right arm", + "Deploy the right arm to press the hand-sized light beige switch", + "Click the tiny matte beige toggle switch to activate it", + "Deploy the right arm to operate the tiny matte beige toggle switch", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Trigger the switch with brown button with precision", + "Use the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Interact with the toggle switch with brown rectangle button directly", + "Press the light-colored trapezoid-shaped plastic switch using robotic control", + "Activate the switch with rectangular dark button with robotic precision", + "Trigger the switch with a smooth top without referencing the right arm", + "Directly interact with the switch with brown button", + "Use the right arm for switching the small trapezoid switch", + "Operate the right arm to engage the matte beige switch with flat top", + "Tap the light-colored trapezoid-shaped plastic switch to engage it", + "Use the right arm to interact with the small trapezoid switch", + "Engage with the matte beige switch with flat top manually", + "Click the beige switch with robotic precision", + "Set the right arm to press the small trapezoid switch", + "Locate and press the toggle switch with brown rectangle button", + "Engage the tiny matte beige toggle switch with a press.", + "Push the beige switch via the right arm.", + "Activate the light-colored trapezoid-shaped plastic switch by pressing it", + "Toggle the light plastic switch with the right arm.", + "Click the light plastic switch directly.", + "Engage the matte beige switch with flat top using the robotic arm", + "Engage the switch with a smooth top using the right arm", + "Activate the the switch with rectangular dark button using the right arm", + "Click on the toggle switch with brown rectangle button precisely", + "Engage the tiny matte beige toggle switch using the right arm.", + "Press the switch with a smooth top with the right arm", + "Initiate the matte beige switch with flat top by clicking", + "Activate the switch with a smooth top via the right arm", + "Engage the right arm to press the tiny matte beige toggle switch", + "Set the switch at the beige switch", + "Move to the light-colored trapezoid-shaped plastic switch and click it.", + "Command the right arm to engage the small trapezoid switch", + "Locate and press the switch with rectangular dark button", + "Operate the light-colored trapezoid-shaped plastic switch with the right arm", + "Activate the switch with a smooth top with the right arm.", + "Switch the toggle switch with brown rectangle button to its active state", + "Press the hand-sized light beige switch to activate.", + "Direct the right arm to operate the small trapezoid switch", + "Press the light plastic switch via automation", + "Press the switch with brown button using the right arm.", + "Click the small trapezoid switch using automated tools" + ], + "unseen": [ + "Direct the right arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Press the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top.", + "Press the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Direct the right arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the small beige switch with angular sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..a35df2f4a84a9c9222adef682b4c475279062586 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the beige switch with the left arm", + "Initiate the hand-sized light beige switch by clicking", + "Tap the beige switch with smooth finish to engage it", + "Activate the switch with brown button by pressing it", + "Press the beige switch carefully with the left arm", + "Directly interact with the toggle switch with brown rectangle button", + "Activate the tiny matte beige toggle switch with the left arm.", + "Press the tiny matte beige toggle switch using robotic control", + "Press the tiny matte beige toggle switch directly", + "Operate the matte beige switch with flat top with the left arm", + "Push the small trapezoid switch via the left arm.", + "Locate and press the small trapezoid switch", + "Click on the switch with rectangular dark button precisely", + "Trigger the light plastic switch with precision", + "Use the left arm to engage the beige switch", + "Interact with the hand-sized light beige switch directly", + "Engage the tiny matte beige toggle switch using the left arm.", + "Set the switch at the matte beige switch with flat top", + "Engage the beige switch with smooth finish using the left arm", + "Press the switch with rectangular dark button to activate.", + "Switch the light plastic switch to its active state", + "Press the switch with rectangular dark button using the left arm.", + "Engage the left arm to press the switch with a smooth top", + "Interact with the beige switch.", + "Click the tiny matte beige toggle switch with robotic precision", + "Locate and press the tiny matte beige toggle switch", + "Use the left arm for switching the small trapezoid switch", + "Click the small trapezoid switch using automated tools", + "Approach and tap the switch with a smooth top via the left arm", + "Move to the switch with rectangular dark button and click it.", + "Engage the switch with rectangular dark button using the robotic arm", + "Click the small trapezoid switch directly.", + "Direct the left arm to operate the small trapezoid switch", + "Use the left arm to interact with the switch with brown button", + "Set the left arm to press the switch with rectangular dark button", + "Deploy the left arm to press the small trapezoid switch", + "Trigger the toggle switch with brown rectangle button using the left arm", + "Operate the left arm to engage the switch with a smooth top", + "Engage the toggle switch with brown rectangle button with a press.", + "Command the left arm to engage the switch with a smooth top", + "Activate the matte beige switch with flat top via the left arm", + "Click the light-colored trapezoid-shaped plastic switch to activate it", + "Deploy the left arm to operate the hand-sized light beige switch", + "Toggle the switch with brown button with the left arm.", + "Trigger the light-colored trapezoid-shaped plastic switch without referencing the left arm", + "Press the hand-sized light beige switch via automation", + "Activate the beige switch with smooth finish with robotic precision", + "Activate the beige switch directly", + "Engage with the light-colored trapezoid-shaped plastic switch manually", + "Activate the the small trapezoid switch using the left arm", + "Press the beige switch with the left arm", + "Initiate the hand-sized light beige switch by clicking", + "Tap the matte beige switch with flat top to engage it", + "Activate the hand-sized light beige switch by pressing it", + "Press the switch with rectangular dark button carefully with the left arm", + "Directly interact with the beige switch", + "Activate the small trapezoid switch with the left arm.", + "Press the light plastic switch using robotic control", + "Press the light plastic switch directly", + "Operate the switch with rectangular dark button with the left arm", + "Push the switch with rectangular dark button via the left arm.", + "Locate and press the tiny matte beige toggle switch", + "Click on the beige switch with smooth finish precisely", + "Trigger the light-colored trapezoid-shaped plastic switch with precision", + "Use the left arm to engage the toggle switch with brown rectangle button", + "Interact with the switch with a smooth top directly", + "Engage the light plastic switch using the left arm.", + "Set the switch at the switch with brown button", + "Engage the hand-sized light beige switch using the left arm", + "Press the small trapezoid switch to activate.", + "Switch the beige switch to its active state", + "Press the matte beige switch with flat top using the left arm.", + "Engage the left arm to press the tiny matte beige toggle switch", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Click the matte beige switch with flat top with robotic precision", + "Locate and press the hand-sized light beige switch", + "Use the left arm for switching the switch with a smooth top", + "Click the beige switch with smooth finish using automated tools", + "Approach and tap the switch with rectangular dark button via the left arm", + "Move to the switch with a smooth top and click it.", + "Engage the small trapezoid switch using the robotic arm", + "Click the small trapezoid switch directly.", + "Direct the left arm to operate the switch with brown button", + "Use the left arm to interact with the beige switch with smooth finish", + "Set the left arm to press the switch with a smooth top", + "Deploy the left arm to press the tiny matte beige toggle switch", + "Trigger the tiny matte beige toggle switch using the left arm", + "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch", + "Engage the light-colored trapezoid-shaped plastic switch with a press.", + "Command the left arm to engage the light plastic switch", + "Activate the tiny matte beige toggle switch via the left arm", + "Click the beige switch to activate it", + "Deploy the left arm to operate the tiny matte beige toggle switch", + "Toggle the switch with brown button with the left arm.", + "Trigger the switch with rectangular dark button without referencing the left arm", + "Press the hand-sized light beige switch via automation", + "Activate the tiny matte beige toggle switch with robotic precision", + "Activate the switch with brown button directly", + "Engage with the matte beige switch with flat top manually", + "Activate the the tiny matte beige toggle switch using the left arm" + ], + "unseen": [ + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the small beige switch with angular sides", + "Direct the left arm to click the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Move and click the the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Activate the switch at the small beige switch with angular sides", + "Use the left arm to press the small beige switch with angular sides.", + "Use the left arm to press the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Activate the switch at the small beige switch with angular sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5a2c064cf571a65f42ad58a8f72db4db320de0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the rectangular switch with curved lever using the robotic arm", + "Click the black switch with robotic precision", + "Engage the hand-sized switch with connector prongs with a press.", + "Press the black switch using robotic control", + "Trigger the red-top black switch with precision", + "Click the red-top black switch to activate it", + "Use the left arm to engage the compact switch with toggle on top", + "Direct the left arm to operate the black switch with metallic connectors", + "Trigger the red-top black switch without referencing the left arm", + "Set the switch at the red and black switch", + "Locate and press the red-top black switch", + "Move to the rectangular switch with curved lever and click it.", + "Set the left arm to press the black switch", + "Command the left arm to engage the rectangular black plastic switch", + "Activate the black base switch with red toggle via the left arm", + "Engage the black switch with metallic connectors using the left arm", + "Use the left arm for switching the switch with curved red toggle", + "Switch the red and black switch to its active state", + "Approach and tap the rectangular black plastic switch via the left arm", + "Click on the plastic switch with metal terminals precisely", + "Deploy the left arm to press the black switch", + "Trigger the plastic switch with metal terminals using the left arm", + "Activate the the black base switch with red toggle using the left arm", + "Interact with the black switch with metallic connectors.", + "Press the black switch to activate.", + "Initiate the small switch by clicking", + "Activate the black switch with metallic connectors with robotic precision", + "Click the small switch directly.", + "Activate the black switch with metallic connectors by pressing it", + "Tap the black switch to engage it", + "Press the plastic switch with metal terminals using the left arm.", + "Deploy the left arm to operate the rectangular switch with curved lever", + "Activate the plastic switch with metal terminals directly", + "Activate the red and black switch with the left arm.", + "Engage the red-top black switch using the left arm.", + "Toggle the small switch with the left arm.", + "Press the red and black switch via automation", + "Use the left arm to interact with the rectangular black plastic switch", + "Engage with the rectangular black plastic switch manually", + "Click the black base switch with red toggle using automated tools", + "Interact with the red-top black switch directly", + "Engage the left arm to press the rectangular black plastic switch", + "Operate the left arm to engage the rectangular black plastic switch", + "Press the plastic switch with metal terminals carefully with the left arm", + "Press the red-top black switch directly", + "Push the switch with curved red toggle via the left arm.", + "Press the compact switch with toggle on top with the left arm", + "Directly interact with the rectangular switch with curved lever", + "Locate and press the plastic switch with metal terminals", + "Operate the switch with curved red toggle with the left arm", + "Engage the rectangular switch with curved lever using the robotic arm", + "Click the hand-sized switch with connector prongs with robotic precision", + "Engage the plastic switch with metal terminals with a press.", + "Press the switch with curved red toggle using robotic control", + "Trigger the black switch with precision", + "Click the black switch to activate it", + "Use the left arm to engage the red-top black switch", + "Direct the left arm to operate the small switch", + "Trigger the black switch without referencing the left arm", + "Set the switch at the small switch", + "Locate and press the plastic switch with metal terminals", + "Move to the small switch and click it.", + "Set the left arm to press the black switch", + "Command the left arm to engage the hand-sized switch with connector prongs", + "Activate the switch with curved red toggle via the left arm", + "Engage the black switch using the left arm", + "Use the left arm for switching the switch with curved red toggle", + "Switch the rectangular black plastic switch to its active state", + "Approach and tap the red-top black switch via the left arm", + "Click on the black base switch with red toggle precisely", + "Deploy the left arm to press the red-top black switch", + "Trigger the small switch using the left arm", + "Activate the the red-top black switch using the left arm", + "Interact with the black switch with metallic connectors.", + "Press the black base switch with red toggle to activate.", + "Initiate the red and black switch by clicking", + "Activate the hand-sized switch with connector prongs with robotic precision", + "Click the compact switch with toggle on top directly.", + "Activate the black switch by pressing it", + "Tap the red and black switch to engage it", + "Press the rectangular switch with curved lever using the left arm.", + "Deploy the left arm to operate the red-top black switch", + "Activate the switch with curved red toggle directly", + "Activate the black switch with the left arm.", + "Engage the black switch with metallic connectors using the left arm.", + "Toggle the black switch with metallic connectors with the left arm.", + "Press the compact switch with toggle on top via automation", + "Use the left arm to interact with the rectangular switch with curved lever", + "Engage with the black base switch with red toggle manually", + "Click the plastic switch with metal terminals using automated tools", + "Interact with the plastic switch with metal terminals directly", + "Engage the left arm to press the small switch", + "Operate the left arm to engage the black switch with metallic connectors", + "Press the black switch with metallic connectors carefully with the left arm", + "Press the black switch with metallic connectors directly", + "Push the hand-sized switch with connector prongs via the left arm.", + "Press the switch with curved red toggle with the left arm", + "Directly interact with the red-top black switch", + "Locate and press the plastic switch with metal terminals", + "Operate the black switch with metallic connectors with the left arm" + ], + "unseen": [ + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm.", + "Move and click the the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm.", + "Move and click the the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Press the simple toggle switch using the left arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm.", + "Move and click the the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a1204444fa095d6aa29efc9eec731cbdd78f7e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the black switch with slim profile", + "Activate the the black rectangular control switch using the left arm", + "Engage the control switch with a press.", + "Activate the black switch directly", + "Operate the left arm to engage the rectangular switch with smooth surface", + "Engage the left arm to press the medium-sized black rectangular switch", + "Trigger the switch with slanted sides without referencing the left arm", + "Use the left arm for switching the medium-sized black rectangular switch", + "Click the sleek black rectangular switch using automated tools", + "Use the left arm to interact with the control switch", + "Engage the rectangular switch with smooth surface using the robotic arm", + "Engage the control switch using the left arm", + "Move to the palm-sized black switch and click it.", + "Trigger the compact rectangular black switch using the left arm", + "Set the left arm to press the control switch", + "Use the left arm to engage the compact rectangular black switch", + "Press the rectangular switch with smooth surface using the left arm.", + "Locate and press the black switch with matte coating", + "Press the black switch with slim profile using robotic control", + "Activate the black switch with slim profile with robotic precision", + "Press the medium-sized black rectangular switch with the left arm", + "Direct the left arm to operate the black switch with matte coating", + "Activate the control switch with the left arm.", + "Deploy the left arm to press the black rectangular control switch", + "Directly interact with the rectangular switch with smooth surface", + "Set the switch at the rectangular switch with smooth surface", + "Press the black rectangular control switch directly", + "Click the control switch directly.", + "Push the compact rectangular black switch via the left arm.", + "Trigger the sleek black rectangular switch with precision", + "Click on the medium-sized black rectangular switch precisely", + "Deploy the left arm to operate the switch with slanted sides", + "Command the left arm to engage the slanted-edge plastic black switch", + "Click the black switch with slim profile to activate it", + "Engage with the control switch manually", + "Switch the compact rectangular black switch to its active state", + "Interact with the black switch with matte coating directly", + "Press the rectangular switch with smooth surface to activate.", + "Engage the sleek black rectangular switch using the left arm.", + "Interact with the palm-sized black switch.", + "Press the black switch with slim profile via automation", + "Toggle the black switch with matte coating with the left arm.", + "Tap the black rectangular control switch to engage it", + "Activate the medium-sized black rectangular switch via the left arm", + "Approach and tap the black rectangular control switch via the left arm", + "Initiate the compact rectangular black switch by clicking", + "Click the medium-sized black rectangular switch with robotic precision", + "Press the control switch carefully with the left arm", + "Activate the black switch with matte coating by pressing it", + "Operate the slanted-edge plastic black switch with the left arm", + "Locate and press the black switch with matte coating", + "Activate the the switch with slanted sides using the left arm", + "Engage the black switch with slim profile with a press.", + "Activate the medium-sized black rectangular switch directly", + "Operate the left arm to engage the control switch", + "Engage the left arm to press the black switch with slim profile", + "Trigger the black switch with matte coating without referencing the left arm", + "Use the left arm for switching the medium-sized black rectangular switch", + "Click the black switch with slim profile using automated tools", + "Use the left arm to interact with the rectangular switch with smooth surface", + "Engage the rectangular switch with smooth surface using the robotic arm", + "Engage the palm-sized black switch using the left arm", + "Move to the black switch and click it.", + "Trigger the black switch with slim profile using the left arm", + "Set the left arm to press the control switch", + "Use the left arm to engage the black switch with slim profile", + "Press the black rectangular control switch using the left arm.", + "Locate and press the black switch with matte coating", + "Press the control switch using robotic control", + "Activate the medium-sized black rectangular switch with robotic precision", + "Press the black switch with the left arm", + "Direct the left arm to operate the black switch with matte coating", + "Activate the switch with slanted sides with the left arm.", + "Deploy the left arm to press the sleek black rectangular switch", + "Directly interact with the sleek black rectangular switch", + "Set the switch at the black switch with slim profile", + "Press the sleek black rectangular switch directly", + "Click the switch with slanted sides directly.", + "Push the palm-sized black switch via the left arm.", + "Trigger the black switch with precision", + "Click on the switch with slanted sides precisely", + "Deploy the left arm to operate the control switch", + "Command the left arm to engage the black switch with matte coating", + "Click the black switch to activate it", + "Engage with the palm-sized black switch manually", + "Switch the black switch with matte coating to its active state", + "Interact with the black switch with slim profile directly", + "Press the sleek black rectangular switch to activate.", + "Engage the compact rectangular black switch using the left arm.", + "Interact with the black switch with matte coating.", + "Press the black switch with slim profile via automation", + "Toggle the sleek black rectangular switch with the left arm.", + "Tap the compact rectangular black switch to engage it", + "Activate the slanted-edge plastic black switch via the left arm", + "Approach and tap the rectangular switch with smooth surface via the left arm", + "Initiate the black switch by clicking", + "Click the slanted-edge plastic black switch with robotic precision", + "Press the black switch carefully with the left arm", + "Activate the switch with slanted sides by pressing it", + "Operate the palm-sized black switch with the left arm" + ], + "unseen": [ + "Move and click the the smooth black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Move and click the the smooth black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the smooth black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Click the smooth black switch with the left arm.", + "Click the rectangular black switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the smooth black switch", + "Use the left arm to press the smooth black switch.", + "Click the matte black plastic switch with the left arm.", + "Click the smooth black switch using the left arm", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Move and click the the rectangular black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the left arm.", + "Click the matte black plastic switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Click the matte black plastic switch with the left arm.", + "Click the matte black plastic switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Move and click the the rectangular black switch", + "Use the left arm to press the smooth black switch.", + "Click the smooth black switch with the left arm.", + "Click the rectangular black switch using the left arm", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the rectangular black switch.", + "Click the matte black plastic switch with the left arm.", + "Click the rectangular black switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Activate the switch at the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch using the left arm", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Click the smooth black switch with the left arm.", + "Click the smooth black switch using the left arm", + "Press the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..0556b434da304684dff379625d1b5aa1204c990b --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the right arm to press the electrical switch with protruding toggle", + "Click the light gray square switch with robotic precision", + "Engage the right arm to press the switch with thin red toggle", + "Interact with the switch.", + "Push the plastic gray body switch via the right arm.", + "Use the right arm for switching the compact switch with flat base", + "Press the control switch with red lever to activate.", + "Activate the the switch using the right arm", + "Tap the gray switch with red toggle to engage it", + "Activate the switch by pressing it", + "Initiate the compact switch with flat base by clicking", + "Trigger the switch for electrical control without referencing the right arm", + "Activate the electrical switch with protruding toggle with the right arm.", + "Press the plastic gray body switch using the right arm.", + "Locate and press the square switch with red bar", + "Click the switch to activate it", + "Deploy the right arm to operate the red bar switch", + "Activate the plastic gray body switch via the right arm", + "Activate the gray switch with red toggle directly", + "Engage the compact switch with flat base using the robotic arm", + "Set the switch at the compact switch with flat base", + "Press the plastic gray body switch via automation", + "Press the plastic gray body switch directly", + "Engage the square switch with red bar using the right arm.", + "Trigger the switch with thin red toggle using the right arm", + "Interact with the switch with thin red toggle directly", + "Command the right arm to engage the electrical switch with protruding toggle", + "Directly interact with the switch for electrical control", + "Press the switch for electrical control using robotic control", + "Click on the plastic gray body switch precisely", + "Toggle the gray switch with red toggle with the right arm.", + "Engage the toggle switch light gray base with a press.", + "Trigger the gray switch with red toggle with precision", + "Click the switch for electrical control directly.", + "Operate the gray switch with red toggle with the right arm", + "Set the right arm to press the light gray square switch", + "Activate the plastic gray body switch with robotic precision", + "Direct the right arm to operate the gray switch with red toggle", + "Engage with the switch manually", + "Use the right arm to interact with the gray switch with red toggle", + "Press the compact switch with flat base carefully with the right arm", + "Approach and tap the toggle switch light gray base via the right arm", + "Use the right arm to engage the gray switch with red toggle", + "Operate the right arm to engage the electrical switch with protruding toggle", + "Locate and press the compact switch with flat base", + "Move to the control switch with red lever and click it.", + "Click the gray switch with red toggle using automated tools", + "Engage the light gray square switch using the right arm", + "Switch the toggle switch light gray base to its active state", + "Press the red bar switch with the right arm", + "Deploy the right arm to press the red bar switch", + "Click the plastic gray body switch with robotic precision", + "Engage the right arm to press the red bar switch", + "Interact with the plastic gray body switch.", + "Push the switch with thin red toggle via the right arm.", + "Use the right arm for switching the switch with thin red toggle", + "Press the gray switch with red toggle to activate.", + "Activate the the square switch with red bar using the right arm", + "Tap the plastic gray body switch to engage it", + "Activate the control switch with red lever by pressing it", + "Initiate the compact switch with flat base by clicking", + "Trigger the switch without referencing the right arm", + "Activate the compact switch with flat base with the right arm.", + "Press the toggle switch light gray base using the right arm.", + "Locate and press the square switch with red bar", + "Click the switch with thin red toggle to activate it", + "Deploy the right arm to operate the red bar switch", + "Activate the control switch with red lever via the right arm", + "Activate the electrical switch with protruding toggle directly", + "Engage the light gray square switch using the robotic arm", + "Set the switch at the compact switch with flat base", + "Press the toggle switch light gray base via automation", + "Press the switch with thin red toggle directly", + "Engage the switch using the right arm.", + "Trigger the control switch with red lever using the right arm", + "Interact with the switch with thin red toggle directly", + "Command the right arm to engage the square switch with red bar", + "Directly interact with the switch", + "Press the square switch with red bar using robotic control", + "Click on the switch with thin red toggle precisely", + "Toggle the plastic gray body switch with the right arm.", + "Engage the toggle switch light gray base with a press.", + "Trigger the switch with thin red toggle with precision", + "Click the red bar switch directly.", + "Operate the square switch with red bar with the right arm", + "Set the right arm to press the square switch with red bar", + "Activate the plastic gray body switch with robotic precision", + "Direct the right arm to operate the control switch with red lever", + "Engage with the plastic gray body switch manually", + "Use the right arm to interact with the electrical switch with protruding toggle", + "Press the toggle switch light gray base carefully with the right arm", + "Approach and tap the switch via the right arm", + "Use the right arm to engage the red bar switch", + "Operate the right arm to engage the switch for electrical control", + "Locate and press the toggle switch light gray base", + "Move to the toggle switch light gray base and click it.", + "Click the electrical switch with protruding toggle using automated tools", + "Engage the switch with thin red toggle using the right arm", + "Switch the light gray square switch to its active state", + "Press the switch with the right arm" + ], + "unseen": [ + "Use the right arm to press the flat square gray switch.", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Move and click the the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the flat square gray switch.", + "Activate the switch at the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the flat square gray switch using the right arm", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the flat square gray switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Move and click the the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch.", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the hand-sized square electrical switch using the right arm", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the smooth gray base switch.", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch.", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the smooth gray base switch.", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the flat square gray switch using the right arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the hand-sized square electrical switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..86ac928d59a21ec28a64bf2981a6a3cd8e8c2088 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the plastic switch with metal prongs", + "Activate the toggle switch with black housing by pressing it", + "Tap the smooth red switch with labels to engage it", + "Press the black base switch with the right arm", + "Push the black base switch via the right arm.", + "Engage with the red and black electrical switch manually", + "Click on the two-tone red black switch precisely", + "Use the right arm to interact with the switch with three metal pins", + "Switch the switch with three metal pins to its active state", + "Trigger the metal-pronged black switch using the right arm", + "Engage the rectangular switch using the right arm", + "Press the black base switch using robotic control", + "Interact with the metal-pronged black switch.", + "Deploy the right arm to press the red and black electrical switch", + "Operate the right arm to engage the rectangular switch", + "Activate the switch for turning circuits on off via the right arm", + "Trigger the switch for turning circuits on off with precision", + "Press the two-tone red black switch using the right arm.", + "Click the red and black electrical switch to activate it", + "Trigger the plastic switch with metal prongs without referencing the right arm", + "Activate the the switch for turning circuits on off using the right arm", + "Set the right arm to press the toggle switch with black housing", + "Press the switch with three metal pins carefully with the right arm", + "Engage the toggle switch with black housing using the right arm.", + "Toggle the black base switch with the right arm.", + "Command the right arm to engage the tiny rectangular switch", + "Locate and press the plastic switch with metal prongs", + "Set the switch at the small switch with red lever", + "Click the two-tone red black switch with robotic precision", + "Move to the switch for turning circuits on off and click it.", + "Interact with the rectangular switch directly", + "Click the two-tone red black switch directly.", + "Operate the black base switch with the right arm", + "Directly interact with the switch for turning circuits on off", + "Use the right arm to engage the small switch with red lever", + "Activate the red and black electrical switch directly", + "Click the red and black electrical switch using automated tools", + "Initiate the plastic switch with metal prongs by clicking", + "Use the right arm for switching the red and black electrical switch", + "Approach and tap the plastic switch with metal prongs via the right arm", + "Press the plastic switch with metal prongs directly", + "Deploy the right arm to operate the switch for turning circuits on off", + "Press the toggle switch with black housing via automation", + "Direct the right arm to operate the two-tone red black switch", + "Press the small switch with red lever to activate.", + "Engage the switch with three metal pins using the robotic arm", + "Activate the plastic switch with metal prongs with the right arm.", + "Engage the small switch with red lever with a press.", + "Engage the right arm to press the rectangular switch", + "Activate the switch for turning circuits on off with robotic precision", + "Locate and press the switch with three metal pins", + "Activate the black base switch by pressing it", + "Tap the rectangular switch to engage it", + "Press the switch for turning circuits on off with the right arm", + "Push the rectangular switch via the right arm.", + "Engage with the two-tone red black switch manually", + "Click on the black base switch precisely", + "Use the right arm to interact with the two-tone red black switch", + "Switch the metal-pronged black switch to its active state", + "Trigger the two-tone red black switch using the right arm", + "Engage the red and black electrical switch using the right arm", + "Press the plastic switch with metal prongs using robotic control", + "Interact with the metal-pronged black switch.", + "Deploy the right arm to press the rectangular switch", + "Operate the right arm to engage the rectangular switch", + "Activate the tiny rectangular switch via the right arm", + "Trigger the small switch with red lever with precision", + "Press the red and black electrical switch using the right arm.", + "Click the tiny rectangular switch to activate it", + "Trigger the switch with three metal pins without referencing the right arm", + "Activate the the toggle switch with black housing using the right arm", + "Set the right arm to press the switch for turning circuits on off", + "Press the smooth red switch with labels carefully with the right arm", + "Engage the smooth red switch with labels using the right arm.", + "Toggle the smooth red switch with labels with the right arm.", + "Command the right arm to engage the rectangular switch", + "Locate and press the rectangular switch", + "Set the switch at the smooth red switch with labels", + "Click the tiny rectangular switch with robotic precision", + "Move to the metal-pronged black switch and click it.", + "Interact with the rectangular switch directly", + "Click the plastic switch with metal prongs directly.", + "Operate the switch for turning circuits on off with the right arm", + "Directly interact with the black base switch", + "Use the right arm to engage the small switch with red lever", + "Activate the switch with three metal pins directly", + "Click the smooth red switch with labels using automated tools", + "Initiate the switch for turning circuits on off by clicking", + "Use the right arm for switching the small switch with red lever", + "Approach and tap the red and black electrical switch via the right arm", + "Press the smooth red switch with labels directly", + "Deploy the right arm to operate the toggle switch with black housing", + "Press the two-tone red black switch via automation", + "Direct the right arm to operate the metal-pronged black switch", + "Press the toggle switch with black housing to activate.", + "Engage the metal-pronged black switch using the robotic arm", + "Activate the two-tone red black switch with the right arm.", + "Engage the red and black electrical switch with a press.", + "Engage the right arm to press the toggle switch with black housing", + "Activate the switch with three metal pins with robotic precision" + ], + "unseen": [ + "Press the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Press the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Press the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch using the right arm", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Press the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch using the right arm", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..086f620b7fb4b4ecc4221ae7d81e31a5a4c3133f --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the right arm to operate the rectangular black plastic switch", + "Press the compact switch with toggle on top directly", + "Use the right arm to interact with the black base switch with red toggle", + "Operate the right arm to engage the black switch", + "Approach and tap the red-top black switch via the right arm", + "Activate the switch with curved red toggle with the right arm.", + "Tap the small switch to engage it", + "Interact with the switch with curved red toggle directly", + "Press the black switch with the right arm", + "Engage the red and black switch using the robotic arm", + "Engage with the switch with curved red toggle manually", + "Activate the red-top black switch directly", + "Set the switch at the hand-sized switch with connector prongs", + "Engage the small switch using the right arm.", + "Click on the small switch precisely", + "Use the right arm to engage the switch with curved red toggle", + "Press the rectangular black plastic switch carefully with the right arm", + "Activate the red and black switch by pressing it", + "Press the rectangular black plastic switch using robotic control", + "Press the black switch to activate.", + "Initiate the red-top black switch by clicking", + "Command the right arm to engage the rectangular black plastic switch", + "Use the right arm for switching the small switch", + "Trigger the plastic switch with metal terminals using the right arm", + "Direct the right arm to operate the compact switch with toggle on top", + "Switch the black switch to its active state", + "Engage the switch with curved red toggle using the right arm", + "Engage the plastic switch with metal terminals with a press.", + "Move to the black switch and click it.", + "Operate the switch with curved red toggle with the right arm", + "Click the black switch with metallic connectors directly.", + "Engage the right arm to press the black base switch with red toggle", + "Deploy the right arm to press the hand-sized switch with connector prongs", + "Press the red and black switch via automation", + "Trigger the rectangular black plastic switch without referencing the right arm", + "Activate the red-top black switch via the right arm", + "Toggle the rectangular switch with curved lever with the right arm.", + "Interact with the red-top black switch.", + "Trigger the small switch with precision", + "Click the rectangular switch with curved lever to activate it", + "Click the rectangular black plastic switch using automated tools", + "Push the hand-sized switch with connector prongs via the right arm.", + "Activate the plastic switch with metal terminals with robotic precision", + "Activate the the red-top black switch using the right arm", + "Directly interact with the black switch", + "Locate and press the switch with curved red toggle", + "Locate and press the black base switch with red toggle", + "Press the red-top black switch using the right arm.", + "Click the red-top black switch with robotic precision", + "Set the right arm to press the small switch", + "Deploy the right arm to operate the small switch", + "Press the black switch with metallic connectors directly", + "Use the right arm to interact with the red and black switch", + "Operate the right arm to engage the black base switch with red toggle", + "Approach and tap the rectangular black plastic switch via the right arm", + "Activate the red-top black switch with the right arm.", + "Tap the rectangular black plastic switch to engage it", + "Interact with the black switch directly", + "Press the compact switch with toggle on top with the right arm", + "Engage the compact switch with toggle on top using the robotic arm", + "Engage with the black switch manually", + "Activate the black base switch with red toggle directly", + "Set the switch at the rectangular black plastic switch", + "Engage the compact switch with toggle on top using the right arm.", + "Click on the red and black switch precisely", + "Use the right arm to engage the black switch", + "Press the red-top black switch carefully with the right arm", + "Activate the black switch by pressing it", + "Press the small switch using robotic control", + "Press the red and black switch to activate.", + "Initiate the switch with curved red toggle by clicking", + "Command the right arm to engage the small switch", + "Use the right arm for switching the plastic switch with metal terminals", + "Trigger the rectangular black plastic switch using the right arm", + "Direct the right arm to operate the plastic switch with metal terminals", + "Switch the rectangular black plastic switch to its active state", + "Engage the compact switch with toggle on top using the right arm", + "Engage the hand-sized switch with connector prongs with a press.", + "Move to the red-top black switch and click it.", + "Operate the red-top black switch with the right arm", + "Click the red and black switch directly.", + "Engage the right arm to press the red and black switch", + "Deploy the right arm to press the rectangular black plastic switch", + "Press the rectangular black plastic switch via automation", + "Trigger the compact switch with toggle on top without referencing the right arm", + "Activate the rectangular switch with curved lever via the right arm", + "Toggle the black base switch with red toggle with the right arm.", + "Interact with the small switch.", + "Trigger the red-top black switch with precision", + "Click the small switch to activate it", + "Click the black base switch with red toggle using automated tools", + "Push the rectangular switch with curved lever via the right arm.", + "Activate the small switch with robotic precision", + "Activate the the small switch using the right arm", + "Directly interact with the rectangular black plastic switch", + "Locate and press the black base switch with red toggle", + "Locate and press the black switch", + "Press the red and black switch using the right arm.", + "Click the red-top black switch with robotic precision", + "Set the right arm to press the plastic switch with metal terminals" + ], + "unseen": [ + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..e89e2f32438c08206db081fd0604201006c3f4ae --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the toggle switch with black housing with the left arm.", + "Press the red and black electrical switch with the left arm", + "Engage with the toggle switch with black housing manually", + "Deploy the left arm to operate the switch for turning circuits on off", + "Click the switch with three metal pins directly.", + "Direct the left arm to operate the plastic switch with metal prongs", + "Trigger the black base switch using the left arm", + "Locate and press the small switch with red lever", + "Engage the left arm to press the switch with three metal pins", + "Directly interact with the red and black electrical switch", + "Push the two-tone red black switch via the left arm.", + "Operate the left arm to engage the small switch with red lever", + "Click the black base switch to activate it", + "Interact with the toggle switch with black housing.", + "Engage the rectangular switch using the left arm", + "Operate the two-tone red black switch with the left arm", + "Set the switch at the red and black electrical switch", + "Switch the rectangular switch to its active state", + "Activate the the metal-pronged black switch using the left arm", + "Engage the tiny rectangular switch using the left arm.", + "Click on the red and black electrical switch precisely", + "Move to the switch for turning circuits on off and click it.", + "Activate the toggle switch with black housing by pressing it", + "Tap the smooth red switch with labels to engage it", + "Locate and press the switch for turning circuits on off", + "Activate the switch with three metal pins with robotic precision", + "Use the left arm to engage the smooth red switch with labels", + "Press the black base switch using robotic control", + "Activate the small switch with red lever via the left arm", + "Use the left arm to interact with the small switch with red lever", + "Activate the plastic switch with metal prongs directly", + "Command the left arm to engage the two-tone red black switch", + "Trigger the switch with three metal pins with precision", + "Press the switch for turning circuits on off using the left arm.", + "Deploy the left arm to press the two-tone red black switch", + "Press the switch with three metal pins carefully with the left arm", + "Approach and tap the small switch with red lever via the left arm", + "Click the black base switch using automated tools", + "Engage the plastic switch with metal prongs using the robotic arm", + "Use the left arm for switching the tiny rectangular switch", + "Toggle the switch for turning circuits on off with the left arm.", + "Press the two-tone red black switch directly", + "Press the rectangular switch via automation", + "Press the toggle switch with black housing to activate.", + "Click the two-tone red black switch with robotic precision", + "Initiate the black base switch by clicking", + "Trigger the red and black electrical switch without referencing the left arm", + "Engage the plastic switch with metal prongs with a press.", + "Interact with the tiny rectangular switch directly", + "Set the left arm to press the rectangular switch", + "Activate the metal-pronged black switch with the left arm.", + "Press the tiny rectangular switch with the left arm", + "Engage with the red and black electrical switch manually", + "Deploy the left arm to operate the black base switch", + "Click the black base switch directly.", + "Direct the left arm to operate the plastic switch with metal prongs", + "Trigger the plastic switch with metal prongs using the left arm", + "Locate and press the tiny rectangular switch", + "Engage the left arm to press the two-tone red black switch", + "Directly interact with the two-tone red black switch", + "Push the small switch with red lever via the left arm.", + "Operate the left arm to engage the red and black electrical switch", + "Click the metal-pronged black switch to activate it", + "Interact with the smooth red switch with labels.", + "Engage the metal-pronged black switch using the left arm", + "Operate the two-tone red black switch with the left arm", + "Set the switch at the rectangular switch", + "Switch the plastic switch with metal prongs to its active state", + "Activate the the plastic switch with metal prongs using the left arm", + "Engage the two-tone red black switch using the left arm.", + "Click on the switch for turning circuits on off precisely", + "Move to the two-tone red black switch and click it.", + "Activate the plastic switch with metal prongs by pressing it", + "Tap the two-tone red black switch to engage it", + "Locate and press the switch for turning circuits on off", + "Activate the toggle switch with black housing with robotic precision", + "Use the left arm to engage the rectangular switch", + "Press the switch for turning circuits on off using robotic control", + "Activate the metal-pronged black switch via the left arm", + "Use the left arm to interact with the tiny rectangular switch", + "Activate the smooth red switch with labels directly", + "Command the left arm to engage the smooth red switch with labels", + "Trigger the plastic switch with metal prongs with precision", + "Press the toggle switch with black housing using the left arm.", + "Deploy the left arm to press the switch for turning circuits on off", + "Press the red and black electrical switch carefully with the left arm", + "Approach and tap the rectangular switch via the left arm", + "Click the plastic switch with metal prongs using automated tools", + "Engage the toggle switch with black housing using the robotic arm", + "Use the left arm for switching the switch for turning circuits on off", + "Toggle the switch with three metal pins with the left arm.", + "Press the plastic switch with metal prongs directly", + "Press the switch for turning circuits on off via automation", + "Press the switch for turning circuits on off to activate.", + "Click the toggle switch with black housing with robotic precision", + "Initiate the switch with three metal pins by clicking", + "Trigger the rectangular switch without referencing the left arm", + "Engage the toggle switch with black housing with a press.", + "Interact with the rectangular switch directly", + "Set the left arm to press the switch with three metal pins" + ], + "unseen": [ + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Move and click the the red toggle switch", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the curved toggle switch.", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..82d58b77bbb33326281b72057c9f232587afe7a9 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Push the rectangular switch with smooth surface via the left arm.", + "Interact with the black rectangular control switch directly", + "Command the left arm to engage the palm-sized black switch", + "Click the slanted-edge plastic black switch with robotic precision", + "Activate the black switch with slim profile with robotic precision", + "Activate the black rectangular control switch with the left arm.", + "Switch the black rectangular control switch to its active state", + "Engage with the slanted-edge plastic black switch manually", + "Deploy the left arm to press the control switch", + "Operate the medium-sized black rectangular switch with the left arm", + "Set the switch at the black switch with slim profile", + "Activate the the rectangular switch with smooth surface using the left arm", + "Activate the black switch with slim profile by pressing it", + "Engage the left arm to press the sleek black rectangular switch", + "Click the palm-sized black switch directly.", + "Toggle the black switch with the left arm.", + "Trigger the black rectangular control switch with precision", + "Set the left arm to press the black switch with slim profile", + "Approach and tap the control switch via the left arm", + "Press the black switch with matte coating directly", + "Press the compact rectangular black switch using the left arm.", + "Interact with the switch with slanted sides.", + "Initiate the slanted-edge plastic black switch by clicking", + "Engage the palm-sized black switch using the robotic arm", + "Trigger the compact rectangular black switch without referencing the left arm", + "Use the left arm to engage the medium-sized black rectangular switch", + "Press the compact rectangular black switch carefully with the left arm", + "Locate and press the compact rectangular black switch", + "Engage the rectangular switch with smooth surface with a press.", + "Trigger the sleek black rectangular switch using the left arm", + "Direct the left arm to operate the compact rectangular black switch", + "Tap the rectangular switch with smooth surface to engage it", + "Press the palm-sized black switch via automation", + "Operate the left arm to engage the switch with slanted sides", + "Use the left arm to interact with the medium-sized black rectangular switch", + "Click the black rectangular control switch using automated tools", + "Press the rectangular switch with smooth surface to activate.", + "Click the black switch with matte coating to activate it", + "Move to the rectangular switch with smooth surface and click it.", + "Activate the black switch directly", + "Locate and press the slanted-edge plastic black switch", + "Engage the switch with slanted sides using the left arm.", + "Press the black switch using robotic control", + "Click on the rectangular switch with smooth surface precisely", + "Engage the black switch with slim profile using the left arm", + "Press the medium-sized black rectangular switch with the left arm", + "Activate the compact rectangular black switch via the left arm", + "Deploy the left arm to operate the black switch", + "Use the left arm for switching the black rectangular control switch", + "Directly interact with the palm-sized black switch", + "Push the control switch via the left arm.", + "Interact with the rectangular switch with smooth surface directly", + "Command the left arm to engage the sleek black rectangular switch", + "Click the sleek black rectangular switch with robotic precision", + "Activate the switch with slanted sides with robotic precision", + "Activate the switch with slanted sides with the left arm.", + "Switch the medium-sized black rectangular switch to its active state", + "Engage with the black switch with slim profile manually", + "Deploy the left arm to press the compact rectangular black switch", + "Operate the palm-sized black switch with the left arm", + "Set the switch at the slanted-edge plastic black switch", + "Activate the the control switch using the left arm", + "Activate the switch with slanted sides by pressing it", + "Engage the left arm to press the compact rectangular black switch", + "Click the sleek black rectangular switch directly.", + "Toggle the black switch with slim profile with the left arm.", + "Trigger the switch with slanted sides with precision", + "Set the left arm to press the black switch", + "Approach and tap the switch with slanted sides via the left arm", + "Press the control switch directly", + "Press the medium-sized black rectangular switch using the left arm.", + "Interact with the slanted-edge plastic black switch.", + "Initiate the slanted-edge plastic black switch by clicking", + "Engage the switch with slanted sides using the robotic arm", + "Trigger the compact rectangular black switch without referencing the left arm", + "Use the left arm to engage the palm-sized black switch", + "Press the medium-sized black rectangular switch carefully with the left arm", + "Locate and press the control switch", + "Engage the rectangular switch with smooth surface with a press.", + "Trigger the black switch with matte coating using the left arm", + "Direct the left arm to operate the palm-sized black switch", + "Tap the sleek black rectangular switch to engage it", + "Press the slanted-edge plastic black switch via automation", + "Operate the left arm to engage the black switch with slim profile", + "Use the left arm to interact with the black switch", + "Click the sleek black rectangular switch using automated tools", + "Press the rectangular switch with smooth surface to activate.", + "Click the switch with slanted sides to activate it", + "Move to the black switch with slim profile and click it.", + "Activate the switch with slanted sides directly", + "Locate and press the black switch with slim profile", + "Engage the black switch using the left arm.", + "Press the medium-sized black rectangular switch using robotic control", + "Click on the slanted-edge plastic black switch precisely", + "Engage the slanted-edge plastic black switch using the left arm", + "Press the compact rectangular black switch with the left arm", + "Activate the black switch via the left arm", + "Deploy the left arm to operate the palm-sized black switch", + "Use the left arm for switching the rectangular switch with smooth surface", + "Directly interact with the rectangular switch with smooth surface" + ], + "unseen": [ + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Press the smooth black switch using the left arm", + "Click the smooth black switch using the left arm", + "Activate the switch at the smooth black switch", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the matte black plastic switch with the left arm.", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Activate the switch at the smooth black switch", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch using the left arm", + "Activate the switch at the rectangular black switch", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Activate the switch at the rectangular black switch", + "Use the left arm to press the smooth black switch.", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Activate the switch at the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Move and click the the rectangular black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch using the left arm", + "Activate the switch at the smooth black switch", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Press the rectangular black switch using the left arm", + "Click the smooth black switch using the left arm", + "Activate the switch at the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Press the smooth black switch using the left arm", + "Click the smooth black switch using the left arm", + "Activate the switch at the smooth black switch", + "Use the left arm to press the rectangular black switch.", + "Move and click the the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Click the rectangular black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch using the left arm", + "Activate the switch at the rectangular black switch", + "Use the left arm to press the smooth black switch.", + "Move and click the the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the matte black plastic switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch using the left arm", + "Activate the switch at the matte black plastic switch", + "Use the left arm to press the rectangular black switch.", + "Move and click the the matte black plastic switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..65d26d2df8c0ed1665ec271e7b3a4b6bd3267757 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Interact with the hand-sized switch tan smooth finish directly", + "Activate the small light tan switch with robotic precision", + "Operate the right arm to engage the rectangular switch with slanted sides", + "Press the light tan rectangular switch smooth finish directly", + "Activate the angled switch light tan color via the right arm", + "Press the light tan rectangular switch smooth finish carefully with the right arm", + "Operate the switch trapezoid shape brown marking with the right arm", + "Tap the switch trapezoid shape brown marking to engage it", + "Press the smooth tan switch with textured sides using robotic control", + "Trigger the rectangular switch with slanted sides with precision", + "Press the small light tan switch using the right arm.", + "Press the switch with darker rectangle to activate.", + "Press the rectangular switch with slanted sides with the right arm", + "Click the small light tan switch with robotic precision", + "Command the right arm to engage the rectangular switch with slanted sides", + "Click the angled switch light tan color using automated tools", + "Press the angled switch light tan color via automation", + "Use the right arm to interact with the plastic switch with angled edges", + "Switch the hand-sized switch tan smooth finish to its active state", + "Activate the rectangular switch with slanted sides by pressing it", + "Engage with the switch with darker rectangle manually", + "Directly interact with the small light tan switch", + "Activate the trapezoid-shaped switch smooth surface with the right arm.", + "Engage the smooth tan switch with textured sides with a press.", + "Interact with the smooth tan switch with textured sides.", + "Toggle the plastic switch with angled edges with the right arm.", + "Locate and press the smooth tan switch with textured sides", + "Approach and tap the rectangular switch with slanted sides via the right arm", + "Click the light tan rectangular switch smooth finish directly.", + "Push the angled switch light tan color via the right arm.", + "Activate the switch trapezoid shape brown marking directly", + "Deploy the right arm to operate the angled switch light tan color", + "Use the right arm to engage the small light tan switch", + "Click the angled switch light tan color to activate it", + "Set the switch at the switch trapezoid shape brown marking", + "Set the right arm to press the smooth tan switch with textured sides", + "Trigger the rectangular switch with slanted sides without referencing the right arm", + "Activate the the switch trapezoid shape brown marking using the right arm", + "Move to the angled switch light tan color and click it.", + "Locate and press the tan switch", + "Use the right arm for switching the rectangular switch with slanted sides", + "Engage the tan switch using the right arm.", + "Deploy the right arm to press the switch trapezoid shape brown marking", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Engage the tan switch using the robotic arm", + "Engage the switch with darker rectangle using the right arm", + "Direct the right arm to operate the smooth tan switch with textured sides", + "Click on the flat switch precisely", + "Engage the right arm to press the rectangular switch with slanted sides", + "Trigger the switch trapezoid shape brown marking using the right arm", + "Interact with the light tan rectangular switch smooth finish directly", + "Activate the plastic switch with angled edges with robotic precision", + "Operate the right arm to engage the rectangular switch with slanted sides", + "Press the rectangular switch with slanted sides directly", + "Activate the small light tan switch via the right arm", + "Press the tan switch carefully with the right arm", + "Operate the light tan rectangular switch smooth finish with the right arm", + "Tap the hand-sized switch tan smooth finish to engage it", + "Press the switch trapezoid shape brown marking using robotic control", + "Trigger the hand-sized switch tan smooth finish with precision", + "Press the plastic switch with angled edges using the right arm.", + "Press the trapezoid-shaped switch smooth surface to activate.", + "Press the switch with darker rectangle with the right arm", + "Click the angled switch light tan color with robotic precision", + "Command the right arm to engage the tan switch", + "Click the trapezoid-shaped switch smooth surface using automated tools", + "Press the smooth tan switch with textured sides via automation", + "Use the right arm to interact with the hand-sized switch tan smooth finish", + "Switch the small light tan switch to its active state", + "Activate the light tan rectangular switch smooth finish by pressing it", + "Engage with the angled switch light tan color manually", + "Directly interact with the tan switch", + "Activate the hand-sized switch tan smooth finish with the right arm.", + "Engage the light tan rectangular switch smooth finish with a press.", + "Interact with the rectangular switch with slanted sides.", + "Toggle the plastic switch with angled edges with the right arm.", + "Locate and press the rectangular switch with slanted sides", + "Approach and tap the trapezoid-shaped switch smooth surface via the right arm", + "Click the hand-sized switch tan smooth finish directly.", + "Push the light tan rectangular switch smooth finish via the right arm.", + "Activate the switch trapezoid shape brown marking directly", + "Deploy the right arm to operate the small light tan switch", + "Use the right arm to engage the trapezoid-shaped switch smooth surface", + "Click the plastic switch with angled edges to activate it", + "Set the switch at the rectangular switch with slanted sides", + "Set the right arm to press the flat switch", + "Trigger the rectangular switch with slanted sides without referencing the right arm", + "Activate the the hand-sized switch tan smooth finish using the right arm", + "Move to the switch with darker rectangle and click it.", + "Locate and press the trapezoid-shaped switch smooth surface", + "Use the right arm for switching the rectangular switch with slanted sides", + "Engage the small light tan switch using the right arm.", + "Deploy the right arm to press the switch trapezoid shape brown marking", + "Initiate the switch with darker rectangle by clicking", + "Engage the angled switch light tan color using the robotic arm", + "Engage the plastic switch with angled edges using the right arm", + "Direct the right arm to operate the small light tan switch", + "Click on the switch trapezoid shape brown marking precisely", + "Engage the right arm to press the switch with darker rectangle", + "Trigger the flat switch using the right arm" + ], + "unseen": [ + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..682a6469475bb1aff580db6bdf18c14d8e901eef --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Interact with the gray switch with red toggle directly", + "Activate the gray switch with red toggle by pressing it", + "Click the switch to activate it", + "Push the square switch with red bar via the left arm.", + "Initiate the plastic gray body switch by clicking", + "Trigger the switch for electrical control without referencing the left arm", + "Operate the switch with the left arm", + "Tap the switch with thin red toggle to engage it", + "Press the compact switch with flat base using the left arm.", + "Activate the gray switch with red toggle via the left arm", + "Set the left arm to press the control switch with red lever", + "Command the left arm to engage the red bar switch", + "Click the switch for electrical control using automated tools", + "Activate the the switch with thin red toggle using the left arm", + "Press the light gray square switch to activate.", + "Press the gray switch with red toggle with the left arm", + "Click on the switch for electrical control precisely", + "Activate the red bar switch with the left arm.", + "Click the switch with thin red toggle with robotic precision", + "Locate and press the switch for electrical control", + "Engage the toggle switch light gray base using the left arm", + "Locate and press the gray switch with red toggle", + "Press the compact switch with flat base carefully with the left arm", + "Move to the switch for electrical control and click it.", + "Set the switch at the toggle switch light gray base", + "Use the left arm to engage the switch with thin red toggle", + "Press the compact switch with flat base using robotic control", + "Interact with the light gray square switch.", + "Activate the switch for electrical control directly", + "Operate the left arm to engage the compact switch with flat base", + "Toggle the compact switch with flat base with the left arm.", + "Engage with the square switch with red bar manually", + "Deploy the left arm to operate the toggle switch light gray base", + "Trigger the square switch with red bar with precision", + "Click the square switch with red bar directly.", + "Deploy the left arm to press the switch for electrical control", + "Approach and tap the light gray square switch via the left arm", + "Engage the left arm to press the electrical switch with protruding toggle", + "Engage the square switch with red bar using the robotic arm", + "Trigger the red bar switch using the left arm", + "Use the left arm for switching the compact switch with flat base", + "Engage the plastic gray body switch with a press.", + "Activate the plastic gray body switch with robotic precision", + "Press the square switch with red bar directly", + "Switch the switch with thin red toggle to its active state", + "Use the left arm to interact with the toggle switch light gray base", + "Press the electrical switch with protruding toggle via automation", + "Direct the left arm to operate the red bar switch", + "Engage the compact switch with flat base using the left arm.", + "Directly interact with the red bar switch", + "Interact with the control switch with red lever directly", + "Activate the switch with thin red toggle by pressing it", + "Click the plastic gray body switch to activate it", + "Push the electrical switch with protruding toggle via the left arm.", + "Initiate the switch for electrical control by clicking", + "Trigger the red bar switch without referencing the left arm", + "Operate the switch with thin red toggle with the left arm", + "Tap the control switch with red lever to engage it", + "Press the compact switch with flat base using the left arm.", + "Activate the switch via the left arm", + "Set the left arm to press the toggle switch light gray base", + "Command the left arm to engage the red bar switch", + "Click the control switch with red lever using automated tools", + "Activate the the control switch with red lever using the left arm", + "Press the electrical switch with protruding toggle to activate.", + "Press the electrical switch with protruding toggle with the left arm", + "Click on the square switch with red bar precisely", + "Activate the control switch with red lever with the left arm.", + "Click the compact switch with flat base with robotic precision", + "Locate and press the gray switch with red toggle", + "Engage the gray switch with red toggle using the left arm", + "Locate and press the plastic gray body switch", + "Press the control switch with red lever carefully with the left arm", + "Move to the switch for electrical control and click it.", + "Set the switch at the square switch with red bar", + "Use the left arm to engage the toggle switch light gray base", + "Press the switch with thin red toggle using robotic control", + "Interact with the square switch with red bar.", + "Activate the switch with thin red toggle directly", + "Operate the left arm to engage the switch with thin red toggle", + "Toggle the electrical switch with protruding toggle with the left arm.", + "Engage with the red bar switch manually", + "Deploy the left arm to operate the red bar switch", + "Trigger the toggle switch light gray base with precision", + "Click the switch for electrical control directly.", + "Deploy the left arm to press the switch", + "Approach and tap the electrical switch with protruding toggle via the left arm", + "Engage the left arm to press the square switch with red bar", + "Engage the gray switch with red toggle using the robotic arm", + "Trigger the light gray square switch using the left arm", + "Use the left arm for switching the square switch with red bar", + "Engage the electrical switch with protruding toggle with a press.", + "Activate the electrical switch with protruding toggle with robotic precision", + "Press the light gray square switch directly", + "Switch the square switch with red bar to its active state", + "Use the left arm to interact with the switch", + "Press the red bar switch via automation", + "Direct the left arm to operate the compact switch with flat base", + "Engage the compact switch with flat base using the left arm.", + "Directly interact with the compact switch with flat base" + ], + "unseen": [ + "Activate the switch at the smooth gray base switch", + "Direct the left arm to click the hand-sized square electrical switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the left arm to click the flat square gray switch", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the left arm to click the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch.", + "Click the flat square gray switch using the left arm", + "Click the flat square gray switch with the left arm", + "Activate the switch at the smooth gray base switch", + "Direct the left arm to click the hand-sized square electrical switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the left arm to click the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the flat square gray switch", + "Use the left arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Activate the switch at the flat square gray switch", + "Direct the left arm to click the smooth gray base switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the flat square gray switch", + "Use the left arm to press the smooth gray base switch.", + "Click the smooth gray base switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Activate the switch at the flat square gray switch", + "Direct the left arm to click the flat square gray switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the left arm to click the smooth gray base switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the flat square gray switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Activate the switch at the smooth gray base switch", + "Direct the left arm to click the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch using the left arm", + "Click the smooth gray base switch with the left arm", + "Activate the switch at the smooth gray base switch", + "Direct the left arm to click the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch using the left arm", + "Click the hand-sized square electrical switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..33740b5e2dee26a2fb4dc7118cdb53641b300d62 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move to the smooth gray switch and click it.", + "Tap the trapezoidal base switch to engage it", + "Operate the trapezoidal base switch with the left arm", + "Use the left arm to engage the two-button gray switch", + "Click the plastic switch with matte buttons to activate it", + "Engage the smooth gray switch using the robotic arm", + "Trigger the gray switch with black buttons without referencing the left arm", + "Set the left arm to press the gray switch with black buttons", + "Trigger the gray base with black buttons using the left arm", + "Click the gray base with black buttons using automated tools", + "Interact with the handheld switch.", + "Engage the gray smooth surface switch using the left arm.", + "Use the left arm to interact with the smooth gray switch", + "Press the smooth gray switch using robotic control", + "Use the left arm for switching the two-button gray switch", + "Locate and press the plastic switch with matte buttons", + "Press the smooth gray switch using the left arm.", + "Locate and press the two-button gray switch", + "Press the two-button gray switch to activate.", + "Deploy the left arm to press the smooth gray switch", + "Switch the electric toggle switch to its active state", + "Activate the the two-button gray switch using the left arm", + "Initiate the gray smooth surface switch by clicking", + "Activate the trapezoidal base switch directly", + "Push the gray base with black buttons via the left arm.", + "Approach and tap the switch with trapezoidal base via the left arm", + "Activate the trapezoidal base switch with robotic precision", + "Interact with the two-button gray switch directly", + "Activate the two-button gray switch via the left arm", + "Engage the left arm to press the smooth gray switch", + "Trigger the two-button gray switch with precision", + "Set the switch at the gray switch with black buttons", + "Toggle the switch with trapezoidal base with the left arm.", + "Activate the electric toggle switch by pressing it", + "Click the trapezoidal base switch with robotic precision", + "Press the trapezoidal base switch via automation", + "Deploy the left arm to operate the gray smooth surface switch", + "Engage with the handheld switch manually", + "Command the left arm to engage the handheld switch", + "Click on the gray smooth surface switch precisely", + "Engage the gray base with black buttons using the left arm", + "Activate the two-button gray switch with the left arm.", + "Directly interact with the gray smooth surface switch", + "Press the plastic switch with matte buttons carefully with the left arm", + "Press the medium switch with trapezoidal base with the left arm", + "Operate the left arm to engage the medium switch with trapezoidal base", + "Click the smooth gray switch directly.", + "Direct the left arm to operate the gray switch with black buttons", + "Engage the trapezoidal base switch with a press.", + "Press the plastic switch with matte buttons directly", + "Move to the handheld switch and click it.", + "Tap the smooth gray switch to engage it", + "Operate the two-button gray switch with the left arm", + "Use the left arm to engage the two-button gray switch", + "Click the gray plastic switch to activate it", + "Engage the trapezoidal base switch using the robotic arm", + "Trigger the gray base with black buttons without referencing the left arm", + "Set the left arm to press the two-button gray switch", + "Trigger the medium switch with trapezoidal base using the left arm", + "Click the gray base with black buttons using automated tools", + "Interact with the two-button gray switch.", + "Engage the electric toggle switch using the left arm.", + "Use the left arm to interact with the plastic switch with matte buttons", + "Press the gray plastic switch using robotic control", + "Use the left arm for switching the electric toggle switch", + "Locate and press the trapezoidal base switch", + "Press the gray smooth surface switch using the left arm.", + "Locate and press the handheld switch", + "Press the gray smooth surface switch to activate.", + "Deploy the left arm to press the gray plastic switch", + "Switch the medium switch with trapezoidal base to its active state", + "Activate the the medium switch with trapezoidal base using the left arm", + "Initiate the gray plastic switch by clicking", + "Activate the smooth gray switch directly", + "Push the handheld switch via the left arm.", + "Approach and tap the gray smooth surface switch via the left arm", + "Activate the gray smooth surface switch with robotic precision", + "Interact with the smooth gray switch directly", + "Activate the trapezoidal base switch via the left arm", + "Engage the left arm to press the trapezoidal base switch", + "Trigger the handheld switch with precision", + "Set the switch at the handheld switch", + "Toggle the smooth gray switch with the left arm.", + "Activate the trapezoidal base switch by pressing it", + "Click the handheld switch with robotic precision", + "Press the switch with trapezoidal base via automation", + "Deploy the left arm to operate the gray plastic switch", + "Engage with the medium switch with trapezoidal base manually", + "Command the left arm to engage the handheld switch", + "Click on the electric toggle switch precisely", + "Engage the handheld switch using the left arm", + "Activate the medium switch with trapezoidal base with the left arm.", + "Directly interact with the trapezoidal base switch", + "Press the gray plastic switch carefully with the left arm", + "Press the gray smooth surface switch with the left arm", + "Operate the left arm to engage the smooth gray switch", + "Click the two-button gray switch directly.", + "Direct the left arm to operate the smooth gray switch", + "Engage the gray base with black buttons with a press.", + "Press the gray smooth surface switch directly" + ], + "unseen": [ + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch", + "Direct the left arm to click the gray switch", + "Use the left arm to press the switch with circular black buttons.", + "Click the gray switch using the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch", + "Click the gray switch with the left arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Direct the left arm to click the gray switch", + "Use the left arm to press the switch with circular black buttons.", + "Click the gray switch using the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch", + "Click the switch with circular black buttons with the left arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Direct the left arm to click the gray switch medium size", + "Use the left arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the left arm", + "Press the gray switch using the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch with the left arm", + "Move and click the the gray switch", + "Click the gray switch with the left arm", + "Activate the switch at the gray switch", + "Direct the left arm to click the gray switch medium size", + "Use the left arm to press the gray switch medium size.", + "Click the gray switch medium size using the left arm", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Direct the left arm to click the gray switch", + "Use the left arm to press the switch with circular black buttons.", + "Click the gray switch medium size using the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Move and click the the gray switch", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Direct the left arm to click the switch with circular black buttons", + "Use the left arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the left arm", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch medium size", + "Direct the left arm to click the gray switch", + "Use the left arm to press the switch with circular black buttons.", + "Click the gray switch using the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch", + "Click the switch with circular black buttons with the left arm", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Direct the left arm to click the switch with circular black buttons", + "Use the left arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons using the left arm", + "Press the gray switch medium size using the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Direct the left arm to click the gray switch", + "Use the left arm to press the gray switch medium size.", + "Click the gray switch using the left arm", + "Press the gray switch medium size using the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch medium size", + "Click the gray switch with the left arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch", + "Direct the left arm to click the gray switch", + "Use the left arm to press the gray switch medium size.", + "Click the gray switch using the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..1c7757b8a8e205c1779991e45eb9bbffc146d281 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Trigger the red and black switch with precision", + "Use the right arm to interact with the black base switch with red toggle", + "Activate the plastic switch with metal terminals with the right arm.", + "Click the black switch to activate it", + "Press the compact switch with toggle on top to activate.", + "Approach and tap the small switch via the right arm", + "Press the rectangular black plastic switch carefully with the right arm", + "Set the switch at the black switch", + "Direct the right arm to operate the rectangular switch with curved lever", + "Engage the right arm to press the rectangular black plastic switch", + "Click the rectangular switch with curved lever using automated tools", + "Activate the the black switch with metallic connectors using the right arm", + "Use the right arm to engage the small switch", + "Press the compact switch with toggle on top using robotic control", + "Move to the switch with curved red toggle and click it.", + "Switch the switch with curved red toggle to its active state", + "Activate the small switch by pressing it", + "Use the right arm for switching the compact switch with toggle on top", + "Tap the small switch to engage it", + "Operate the red-top black switch with the right arm", + "Click the small switch directly.", + "Press the red-top black switch via automation", + "Activate the compact switch with toggle on top with robotic precision", + "Press the plastic switch with metal terminals with the right arm", + "Locate and press the small switch", + "Locate and press the red and black switch", + "Initiate the red-top black switch by clicking", + "Click on the rectangular switch with curved lever precisely", + "Toggle the red and black switch with the right arm.", + "Interact with the hand-sized switch with connector prongs.", + "Engage the small switch using the robotic arm", + "Press the plastic switch with metal terminals directly", + "Activate the small switch directly", + "Engage the black switch with metallic connectors using the right arm", + "Deploy the right arm to operate the compact switch with toggle on top", + "Engage with the small switch manually", + "Press the hand-sized switch with connector prongs using the right arm.", + "Trigger the plastic switch with metal terminals using the right arm", + "Push the compact switch with toggle on top via the right arm.", + "Engage the compact switch with toggle on top using the right arm.", + "Interact with the rectangular black plastic switch directly", + "Operate the right arm to engage the black switch", + "Activate the rectangular switch with curved lever via the right arm", + "Trigger the black switch with metallic connectors without referencing the right arm", + "Deploy the right arm to press the black switch", + "Directly interact with the red-top black switch", + "Engage the switch with curved red toggle with a press.", + "Set the right arm to press the small switch", + "Click the red and black switch with robotic precision", + "Command the right arm to engage the red and black switch", + "Trigger the black switch with metallic connectors with precision", + "Use the right arm to interact with the small switch", + "Activate the hand-sized switch with connector prongs with the right arm.", + "Click the black base switch with red toggle to activate it", + "Press the black switch to activate.", + "Approach and tap the rectangular black plastic switch via the right arm", + "Press the rectangular black plastic switch carefully with the right arm", + "Set the switch at the rectangular switch with curved lever", + "Direct the right arm to operate the black base switch with red toggle", + "Engage the right arm to press the switch with curved red toggle", + "Click the rectangular switch with curved lever using automated tools", + "Activate the the red-top black switch using the right arm", + "Use the right arm to engage the black switch", + "Press the rectangular black plastic switch using robotic control", + "Move to the red-top black switch and click it.", + "Switch the black switch with metallic connectors to its active state", + "Activate the plastic switch with metal terminals by pressing it", + "Use the right arm for switching the compact switch with toggle on top", + "Tap the red-top black switch to engage it", + "Operate the black base switch with red toggle with the right arm", + "Click the rectangular black plastic switch directly.", + "Press the red and black switch via automation", + "Activate the switch with curved red toggle with robotic precision", + "Press the hand-sized switch with connector prongs with the right arm", + "Locate and press the red-top black switch", + "Locate and press the switch with curved red toggle", + "Initiate the small switch by clicking", + "Click on the black switch with metallic connectors precisely", + "Toggle the red-top black switch with the right arm.", + "Interact with the rectangular switch with curved lever.", + "Engage the black switch using the robotic arm", + "Press the switch with curved red toggle directly", + "Activate the red and black switch directly", + "Engage the black switch with metallic connectors using the right arm", + "Deploy the right arm to operate the red and black switch", + "Engage with the rectangular switch with curved lever manually", + "Press the hand-sized switch with connector prongs using the right arm.", + "Trigger the switch with curved red toggle using the right arm", + "Push the hand-sized switch with connector prongs via the right arm.", + "Engage the black switch with metallic connectors using the right arm.", + "Interact with the compact switch with toggle on top directly", + "Operate the right arm to engage the black switch", + "Activate the plastic switch with metal terminals via the right arm", + "Trigger the red-top black switch without referencing the right arm", + "Deploy the right arm to press the compact switch with toggle on top", + "Directly interact with the red and black switch", + "Engage the rectangular switch with curved lever with a press.", + "Set the right arm to press the black switch with metallic connectors", + "Click the rectangular black plastic switch with robotic precision", + "Command the right arm to engage the plastic switch with metal terminals" + ], + "unseen": [ + "Click the smooth black switch with red lever using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Move and click the the simple toggle switch", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Move and click the the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever using the right arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Move and click the the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Move and click the the simple toggle switch", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..cffe6bdaa682f4b0867f5a70c289cdbb5473d959 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the red bar switch", + "Use the right arm to engage the control switch with red lever", + "Press the compact switch with flat base using robotic control", + "Deploy the right arm to press the square switch with red bar", + "Approach and tap the control switch with red lever via the right arm", + "Operate the plastic gray body switch with the right arm", + "Engage the toggle switch light gray base using the robotic arm", + "Interact with the plastic gray body switch directly", + "Trigger the electrical switch with protruding toggle without referencing the right arm", + "Engage the switch for electrical control using the right arm.", + "Press the light gray square switch directly", + "Push the switch with thin red toggle via the right arm.", + "Set the right arm to press the switch", + "Directly interact with the switch for electrical control", + "Press the switch via automation", + "Use the right arm to interact with the electrical switch with protruding toggle", + "Trigger the light gray square switch using the right arm", + "Press the light gray square switch to activate.", + "Set the switch at the square switch with red bar", + "Click on the control switch with red lever precisely", + "Press the light gray square switch using the right arm.", + "Engage with the plastic gray body switch manually", + "Use the right arm for switching the switch for electrical control", + "Command the right arm to engage the toggle switch light gray base", + "Click the gray switch with red toggle directly.", + "Press the toggle switch light gray base with the right arm", + "Click the switch for electrical control using automated tools", + "Click the control switch with red lever with robotic precision", + "Activate the gray switch with red toggle directly", + "Move to the electrical switch with protruding toggle and click it.", + "Switch the toggle switch light gray base to its active state", + "Activate the electrical switch with protruding toggle with robotic precision", + "Activate the the light gray square switch using the right arm", + "Initiate the light gray square switch by clicking", + "Trigger the switch with thin red toggle with precision", + "Engage the right arm to press the switch with thin red toggle", + "Activate the switch for electrical control by pressing it", + "Operate the right arm to engage the compact switch with flat base", + "Deploy the right arm to operate the red bar switch", + "Activate the plastic gray body switch via the right arm", + "Press the switch carefully with the right arm", + "Tap the toggle switch light gray base to engage it", + "Engage the control switch with red lever using the right arm", + "Engage the plastic gray body switch with a press.", + "Activate the switch with thin red toggle with the right arm.", + "Locate and press the square switch with red bar", + "Interact with the compact switch with flat base.", + "Click the switch with thin red toggle to activate it", + "Toggle the toggle switch light gray base with the right arm.", + "Direct the right arm to operate the toggle switch light gray base", + "Locate and press the switch with thin red toggle", + "Use the right arm to engage the square switch with red bar", + "Press the toggle switch light gray base using robotic control", + "Deploy the right arm to press the switch", + "Approach and tap the red bar switch via the right arm", + "Operate the electrical switch with protruding toggle with the right arm", + "Engage the switch with thin red toggle using the robotic arm", + "Interact with the plastic gray body switch directly", + "Trigger the compact switch with flat base without referencing the right arm", + "Engage the light gray square switch using the right arm.", + "Press the red bar switch directly", + "Push the gray switch with red toggle via the right arm.", + "Set the right arm to press the control switch with red lever", + "Directly interact with the compact switch with flat base", + "Press the toggle switch light gray base via automation", + "Use the right arm to interact with the square switch with red bar", + "Trigger the red bar switch using the right arm", + "Press the light gray square switch to activate.", + "Set the switch at the square switch with red bar", + "Click on the plastic gray body switch precisely", + "Press the switch for electrical control using the right arm.", + "Engage with the gray switch with red toggle manually", + "Use the right arm for switching the electrical switch with protruding toggle", + "Command the right arm to engage the electrical switch with protruding toggle", + "Click the compact switch with flat base directly.", + "Press the square switch with red bar with the right arm", + "Click the light gray square switch using automated tools", + "Click the switch with thin red toggle with robotic precision", + "Activate the switch directly", + "Move to the light gray square switch and click it.", + "Switch the compact switch with flat base to its active state", + "Activate the toggle switch light gray base with robotic precision", + "Activate the the red bar switch using the right arm", + "Initiate the light gray square switch by clicking", + "Trigger the switch for electrical control with precision", + "Engage the right arm to press the red bar switch", + "Activate the compact switch with flat base by pressing it", + "Operate the right arm to engage the light gray square switch", + "Deploy the right arm to operate the plastic gray body switch", + "Activate the square switch with red bar via the right arm", + "Press the gray switch with red toggle carefully with the right arm", + "Tap the square switch with red bar to engage it", + "Engage the control switch with red lever using the right arm", + "Engage the switch with thin red toggle with a press.", + "Activate the light gray square switch with the right arm.", + "Locate and press the switch with thin red toggle", + "Interact with the square switch with red bar.", + "Click the gray switch with red toggle to activate it", + "Toggle the gray switch with red toggle with the right arm.", + "Direct the right arm to operate the toggle switch light gray base" + ], + "unseen": [ + "Direct the right arm to click the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Press the flat square gray switch using the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the flat square gray switch with the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Press the flat square gray switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the flat square gray switch with the right arm", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the smooth gray base switch", + "Press the flat square gray switch using the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the flat square gray switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the flat square gray switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the flat square gray switch", + "Use the right arm to press the flat square gray switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Activate the switch at the flat square gray switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the flat square gray switch with the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the flat square gray switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the hand-sized square electrical switch with the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch using the right arm", + "Click the smooth gray base switch with the right arm.", + "Click the smooth gray base switch with the right arm", + "Activate the switch at the hand-sized square electrical switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee7da16513f22165d94c7b8a73f1a9dd9166e14 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the two-tone red black switch using automated tools", + "Command the right arm to engage the black base switch", + "Engage the tiny rectangular switch using the robotic arm", + "Click on the metal-pronged black switch precisely", + "Trigger the plastic switch with metal prongs without referencing the right arm", + "Operate the small switch with red lever with the right arm", + "Trigger the small switch with red lever using the right arm", + "Use the right arm for switching the switch for turning circuits on off", + "Press the metal-pronged black switch using the right arm.", + "Press the red and black electrical switch using robotic control", + "Set the right arm to press the switch with three metal pins", + "Toggle the small switch with red lever with the right arm.", + "Activate the smooth red switch with labels via the right arm", + "Tap the toggle switch with black housing to engage it", + "Press the toggle switch with black housing directly", + "Engage with the two-tone red black switch manually", + "Activate the black base switch with robotic precision", + "Activate the the plastic switch with metal prongs using the right arm", + "Deploy the right arm to press the black base switch", + "Activate the tiny rectangular switch by pressing it", + "Trigger the rectangular switch with precision", + "Initiate the two-tone red black switch by clicking", + "Engage the toggle switch with black housing with a press.", + "Engage the right arm to press the red and black electrical switch", + "Move to the two-tone red black switch and click it.", + "Press the red and black electrical switch with the right arm", + "Use the right arm to interact with the tiny rectangular switch", + "Operate the right arm to engage the toggle switch with black housing", + "Interact with the two-tone red black switch.", + "Set the switch at the metal-pronged black switch", + "Activate the toggle switch with black housing with the right arm.", + "Push the smooth red switch with labels via the right arm.", + "Press the switch for turning circuits on off via automation", + "Switch the toggle switch with black housing to its active state", + "Click the two-tone red black switch to activate it", + "Approach and tap the red and black electrical switch via the right arm", + "Press the small switch with red lever to activate.", + "Locate and press the red and black electrical switch", + "Use the right arm to engage the tiny rectangular switch", + "Deploy the right arm to operate the switch for turning circuits on off", + "Interact with the smooth red switch with labels directly", + "Engage the plastic switch with metal prongs using the right arm", + "Engage the black base switch using the right arm.", + "Click the smooth red switch with labels directly.", + "Direct the right arm to operate the two-tone red black switch", + "Locate and press the small switch with red lever", + "Directly interact with the switch for turning circuits on off", + "Activate the switch for turning circuits on off directly", + "Click the red and black electrical switch with robotic precision", + "Press the smooth red switch with labels carefully with the right arm", + "Click the metal-pronged black switch using automated tools", + "Command the right arm to engage the black base switch", + "Engage the switch with three metal pins using the robotic arm", + "Click on the smooth red switch with labels precisely", + "Trigger the plastic switch with metal prongs without referencing the right arm", + "Operate the small switch with red lever with the right arm", + "Trigger the switch for turning circuits on off using the right arm", + "Use the right arm for switching the tiny rectangular switch", + "Press the small switch with red lever using the right arm.", + "Press the two-tone red black switch using robotic control", + "Set the right arm to press the small switch with red lever", + "Toggle the switch for turning circuits on off with the right arm.", + "Activate the red and black electrical switch via the right arm", + "Tap the metal-pronged black switch to engage it", + "Press the small switch with red lever directly", + "Engage with the rectangular switch manually", + "Activate the metal-pronged black switch with robotic precision", + "Activate the the plastic switch with metal prongs using the right arm", + "Deploy the right arm to press the black base switch", + "Activate the small switch with red lever by pressing it", + "Trigger the two-tone red black switch with precision", + "Initiate the red and black electrical switch by clicking", + "Engage the rectangular switch with a press.", + "Engage the right arm to press the metal-pronged black switch", + "Move to the black base switch and click it.", + "Press the switch with three metal pins with the right arm", + "Use the right arm to interact with the metal-pronged black switch", + "Operate the right arm to engage the rectangular switch", + "Interact with the switch with three metal pins.", + "Set the switch at the toggle switch with black housing", + "Activate the red and black electrical switch with the right arm.", + "Push the plastic switch with metal prongs via the right arm.", + "Press the switch with three metal pins via automation", + "Switch the small switch with red lever to its active state", + "Click the switch for turning circuits on off to activate it", + "Approach and tap the smooth red switch with labels via the right arm", + "Press the metal-pronged black switch to activate.", + "Locate and press the red and black electrical switch", + "Use the right arm to engage the switch with three metal pins", + "Deploy the right arm to operate the toggle switch with black housing", + "Interact with the tiny rectangular switch directly", + "Engage the smooth red switch with labels using the right arm", + "Engage the plastic switch with metal prongs using the right arm.", + "Click the two-tone red black switch directly.", + "Direct the right arm to operate the toggle switch with black housing", + "Locate and press the smooth red switch with labels", + "Directly interact with the red and black electrical switch", + "Activate the rectangular switch directly", + "Click the plastic switch with metal prongs with robotic precision", + "Press the toggle switch with black housing carefully with the right arm" + ], + "unseen": [ + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..82f4510ef5da10b5028cbf8faaf1487feb8094ef --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the compact switch with flat base", + "Toggle the square switch with red bar with the right arm.", + "Directly interact with the switch for electrical control", + "Click on the toggle switch light gray base precisely", + "Trigger the switch with thin red toggle with precision", + "Click the plastic gray body switch with robotic precision", + "Click the square switch with red bar using automated tools", + "Set the right arm to press the gray switch with red toggle", + "Press the toggle switch light gray base directly", + "Set the switch at the toggle switch light gray base", + "Trigger the switch with thin red toggle without referencing the right arm", + "Use the right arm to engage the control switch with red lever", + "Press the control switch with red lever with the right arm", + "Engage the control switch with red lever using the right arm.", + "Deploy the right arm to operate the control switch with red lever", + "Press the electrical switch with protruding toggle carefully with the right arm", + "Operate the right arm to engage the switch for electrical control", + "Activate the red bar switch with the right arm.", + "Activate the plastic gray body switch by pressing it", + "Activate the plastic gray body switch via the right arm", + "Engage the red bar switch with a press.", + "Interact with the square switch with red bar directly", + "Press the toggle switch light gray base using robotic control", + "Press the switch for electrical control via automation", + "Engage the plastic gray body switch using the right arm", + "Push the switch via the right arm.", + "Click the gray switch with red toggle directly.", + "Press the red bar switch to activate.", + "Locate and press the plastic gray body switch", + "Approach and tap the switch via the right arm", + "Activate the plastic gray body switch with robotic precision", + "Deploy the right arm to press the light gray square switch", + "Engage with the gray switch with red toggle manually", + "Click the light gray square switch to activate it", + "Tap the gray switch with red toggle to engage it", + "Activate the the control switch with red lever using the right arm", + "Command the right arm to engage the gray switch with red toggle", + "Switch the electrical switch with protruding toggle to its active state", + "Operate the switch with the right arm", + "Activate the switch with thin red toggle directly", + "Interact with the light gray square switch.", + "Press the switch for electrical control using the right arm.", + "Trigger the gray switch with red toggle using the right arm", + "Use the right arm for switching the plastic gray body switch", + "Use the right arm to interact with the compact switch with flat base", + "Move to the red bar switch and click it.", + "Engage the control switch with red lever using the robotic arm", + "Locate and press the switch", + "Direct the right arm to operate the plastic gray body switch", + "Initiate the red bar switch by clicking", + "Engage the right arm to press the toggle switch light gray base", + "Toggle the switch with the right arm.", + "Directly interact with the square switch with red bar", + "Click on the compact switch with flat base precisely", + "Trigger the switch with precision", + "Click the square switch with red bar with robotic precision", + "Click the control switch with red lever using automated tools", + "Set the right arm to press the toggle switch light gray base", + "Press the control switch with red lever directly", + "Set the switch at the square switch with red bar", + "Trigger the control switch with red lever without referencing the right arm", + "Use the right arm to engage the switch for electrical control", + "Press the control switch with red lever with the right arm", + "Engage the electrical switch with protruding toggle using the right arm.", + "Deploy the right arm to operate the switch with thin red toggle", + "Press the red bar switch carefully with the right arm", + "Operate the right arm to engage the switch for electrical control", + "Activate the plastic gray body switch with the right arm.", + "Activate the red bar switch by pressing it", + "Activate the switch via the right arm", + "Engage the toggle switch light gray base with a press.", + "Interact with the plastic gray body switch directly", + "Press the plastic gray body switch using robotic control", + "Press the square switch with red bar via automation", + "Engage the compact switch with flat base using the right arm", + "Push the switch with thin red toggle via the right arm.", + "Click the electrical switch with protruding toggle directly.", + "Press the switch with thin red toggle to activate.", + "Locate and press the light gray square switch", + "Approach and tap the gray switch with red toggle via the right arm", + "Activate the light gray square switch with robotic precision", + "Deploy the right arm to press the switch with thin red toggle", + "Engage with the electrical switch with protruding toggle manually", + "Click the square switch with red bar to activate it", + "Tap the electrical switch with protruding toggle to engage it", + "Activate the the toggle switch light gray base using the right arm", + "Command the right arm to engage the gray switch with red toggle", + "Switch the gray switch with red toggle to its active state", + "Operate the plastic gray body switch with the right arm", + "Activate the gray switch with red toggle directly", + "Interact with the compact switch with flat base.", + "Press the switch using the right arm.", + "Trigger the switch using the right arm", + "Use the right arm for switching the switch", + "Use the right arm to interact with the red bar switch", + "Move to the control switch with red lever and click it.", + "Engage the square switch with red bar using the robotic arm", + "Locate and press the switch with thin red toggle", + "Direct the right arm to operate the light gray square switch", + "Initiate the compact switch with flat base by clicking" + ], + "unseen": [ + "Click the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Direct the right arm to click the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch using the right arm", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the smooth gray base switch.", + "Click the flat square gray switch using the right arm", + "Click the flat square gray switch with the right arm", + "Direct the right arm to click the hand-sized square electrical switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch using the right arm", + "Click the smooth gray base switch with the right arm", + "Direct the right arm to click the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm.", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm", + "Use the right arm to press the smooth gray base switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..75a45a86834fb267430f437d9faf3b7f1389463a --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the trapezoid-shaped switch smooth surface with robotic precision", + "Engage the angled switch light tan color with a press.", + "Directly interact with the hand-sized switch tan smooth finish", + "Press the angled switch light tan color using robotic control", + "Click on the switch with darker rectangle precisely", + "Interact with the tan switch.", + "Switch the light tan rectangular switch smooth finish to its active state", + "Press the plastic switch with angled edges to activate.", + "Click the smooth tan switch with textured sides to activate it", + "Use the left arm for switching the hand-sized switch tan smooth finish", + "Use the left arm to engage the switch with darker rectangle", + "Interact with the tan switch directly", + "Use the left arm to interact with the smooth tan switch with textured sides", + "Engage the angled switch light tan color using the robotic arm", + "Activate the switch with darker rectangle with the left arm.", + "Press the hand-sized switch tan smooth finish carefully with the left arm", + "Command the left arm to engage the rectangular switch with slanted sides", + "Deploy the left arm to press the angled switch light tan color", + "Approach and tap the smooth tan switch with textured sides via the left arm", + "Engage the light tan rectangular switch smooth finish using the left arm", + "Initiate the plastic switch with angled edges by clicking", + "Engage the left arm to press the angled switch light tan color", + "Locate and press the small light tan switch", + "Activate the switch with darker rectangle by pressing it", + "Press the hand-sized switch tan smooth finish with the left arm", + "Engage with the hand-sized switch tan smooth finish manually", + "Tap the switch with darker rectangle to engage it", + "Operate the angled switch light tan color with the left arm", + "Press the trapezoid-shaped switch smooth surface via automation", + "Push the rectangular switch with slanted sides via the left arm.", + "Activate the hand-sized switch tan smooth finish via the left arm", + "Engage the plastic switch with angled edges using the left arm.", + "Set the left arm to press the trapezoid-shaped switch smooth surface", + "Trigger the trapezoid-shaped switch smooth surface with precision", + "Operate the left arm to engage the switch with darker rectangle", + "Trigger the trapezoid-shaped switch smooth surface using the left arm", + "Activate the the flat switch using the left arm", + "Toggle the smooth tan switch with textured sides with the left arm.", + "Move to the switch with darker rectangle and click it.", + "Locate and press the switch trapezoid shape brown marking", + "Click the light tan rectangular switch smooth finish directly.", + "Press the small light tan switch using the left arm.", + "Set the switch at the flat switch", + "Trigger the flat switch without referencing the left arm", + "Deploy the left arm to operate the tan switch", + "Press the tan switch directly", + "Click the trapezoid-shaped switch smooth surface using automated tools", + "Direct the left arm to operate the trapezoid-shaped switch smooth surface", + "Click the hand-sized switch tan smooth finish with robotic precision", + "Activate the trapezoid-shaped switch smooth surface directly", + "Activate the tan switch with robotic precision", + "Engage the trapezoid-shaped switch smooth surface with a press.", + "Directly interact with the switch trapezoid shape brown marking", + "Press the switch with darker rectangle using robotic control", + "Click on the light tan rectangular switch smooth finish precisely", + "Interact with the hand-sized switch tan smooth finish.", + "Switch the switch with darker rectangle to its active state", + "Press the smooth tan switch with textured sides to activate.", + "Click the rectangular switch with slanted sides to activate it", + "Use the left arm for switching the small light tan switch", + "Use the left arm to engage the switch trapezoid shape brown marking", + "Interact with the angled switch light tan color directly", + "Use the left arm to interact with the plastic switch with angled edges", + "Engage the small light tan switch using the robotic arm", + "Activate the plastic switch with angled edges with the left arm.", + "Press the switch trapezoid shape brown marking carefully with the left arm", + "Command the left arm to engage the angled switch light tan color", + "Deploy the left arm to press the tan switch", + "Approach and tap the switch with darker rectangle via the left arm", + "Engage the rectangular switch with slanted sides using the left arm", + "Initiate the hand-sized switch tan smooth finish by clicking", + "Engage the left arm to press the light tan rectangular switch smooth finish", + "Locate and press the switch trapezoid shape brown marking", + "Activate the plastic switch with angled edges by pressing it", + "Press the tan switch with the left arm", + "Engage with the switch trapezoid shape brown marking manually", + "Tap the small light tan switch to engage it", + "Operate the small light tan switch with the left arm", + "Press the small light tan switch via automation", + "Push the smooth tan switch with textured sides via the left arm.", + "Activate the rectangular switch with slanted sides via the left arm", + "Engage the plastic switch with angled edges using the left arm.", + "Set the left arm to press the light tan rectangular switch smooth finish", + "Trigger the flat switch with precision", + "Operate the left arm to engage the switch trapezoid shape brown marking", + "Trigger the hand-sized switch tan smooth finish using the left arm", + "Activate the the flat switch using the left arm", + "Toggle the light tan rectangular switch smooth finish with the left arm.", + "Move to the switch with darker rectangle and click it.", + "Locate and press the switch trapezoid shape brown marking", + "Click the tan switch directly.", + "Press the hand-sized switch tan smooth finish using the left arm.", + "Set the switch at the light tan rectangular switch smooth finish", + "Trigger the rectangular switch with slanted sides without referencing the left arm", + "Deploy the left arm to operate the small light tan switch", + "Press the light tan rectangular switch smooth finish directly", + "Click the plastic switch with angled edges using automated tools", + "Direct the left arm to operate the plastic switch with angled edges", + "Click the trapezoid-shaped switch smooth surface with robotic precision", + "Activate the plastic switch with angled edges directly" + ], + "unseen": [ + "Click the small flat switch tan top using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the small flat switch tan top using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the small flat switch tan top", + "Press the small flat switch tan top using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..28a7c893f866edc9536570de60671daf9129049c --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the switch at the light gray plastic switch", + "Use the right arm to interact with the switch with smooth light gray finish", + "Click the palm-sized light gray switch to activate it", + "Press the flat square with raised center to activate.", + "Engage the right arm to press the small square switch", + "Toggle the palm-sized light gray switch with the right arm.", + "Engage the square gray switch panel using the robotic arm", + "Use the right arm to engage the flat square with raised center", + "Activate the small square switch made of plastic via the right arm", + "Click the smooth gray switch with robotic precision", + "Trigger the square switch with smooth surface without referencing the right arm", + "Activate the switch for electrical control with robotic precision", + "Deploy the right arm to press the small square switch made of plastic", + "Use the right arm for switching the small square switch made of plastic", + "Press the smooth gray switch directly", + "Command the right arm to engage the switch with rectangular raised area", + "Locate and press the small square switch", + "Tap the small square switch to engage it", + "Press the switch with smooth light gray finish using the right arm.", + "Press the angled-edge gray square switch via automation", + "Engage the light gray plastic switch using the right arm.", + "Set the right arm to press the square gray switch panel", + "Activate the switch with smooth light gray finish with the right arm.", + "Activate the angled-edge gray square switch by pressing it", + "Engage the small square switch with a press.", + "Directly interact with the flat square with raised center", + "Press the angled-edge gray square switch using robotic control", + "Activate the the angled-edge gray square switch using the right arm", + "Activate the square gray switch panel directly", + "Push the light gray plastic switch via the right arm.", + "Engage with the light gray plastic switch manually", + "Click on the switch with smooth light gray finish precisely", + "Trigger the smooth gray switch using the right arm", + "Click the small square switch made of plastic directly.", + "Operate the right arm to engage the square switch with smooth surface", + "Press the small square switch made of plastic carefully with the right arm", + "Interact with the switch for electrical control directly", + "Engage the light gray plastic switch using the right arm", + "Operate the small square switch made of plastic with the right arm", + "Initiate the small square switch made of plastic by clicking", + "Move to the flat square with raised center and click it.", + "Switch the square gray switch panel to its active state", + "Direct the right arm to operate the square switch with smooth surface", + "Locate and press the light gray plastic switch", + "Press the light gray plastic switch with the right arm", + "Interact with the square switch with smooth surface.", + "Approach and tap the switch for electrical control via the right arm", + "Click the switch for electrical control using automated tools", + "Trigger the light gray plastic switch with precision", + "Deploy the right arm to operate the switch for electrical control", + "Set the switch at the switch for electrical control", + "Use the right arm to interact with the square gray switch panel", + "Click the smooth gray switch to activate it", + "Press the flat square with raised center to activate.", + "Engage the right arm to press the switch for electrical control", + "Toggle the small square switch made of plastic with the right arm.", + "Engage the smooth gray switch using the robotic arm", + "Use the right arm to engage the square switch with smooth surface", + "Activate the switch with rectangular raised area via the right arm", + "Click the flat square with raised center with robotic precision", + "Trigger the smooth gray switch without referencing the right arm", + "Activate the flat square with raised center with robotic precision", + "Deploy the right arm to press the small square switch", + "Use the right arm for switching the switch with smooth light gray finish", + "Press the switch for electrical control directly", + "Command the right arm to engage the switch with smooth light gray finish", + "Locate and press the switch with rectangular raised area", + "Tap the switch with smooth light gray finish to engage it", + "Press the small square switch made of plastic using the right arm.", + "Press the square switch with smooth surface via automation", + "Engage the switch with rectangular raised area using the right arm.", + "Set the right arm to press the switch for electrical control", + "Activate the switch for electrical control with the right arm.", + "Activate the angled-edge gray square switch by pressing it", + "Engage the flat square with raised center with a press.", + "Directly interact with the square gray switch panel", + "Press the angled-edge gray square switch using robotic control", + "Activate the the switch for electrical control using the right arm", + "Activate the light gray plastic switch directly", + "Push the flat square with raised center via the right arm.", + "Engage with the angled-edge gray square switch manually", + "Click on the smooth gray switch precisely", + "Trigger the square switch with smooth surface using the right arm", + "Click the small square switch directly.", + "Operate the right arm to engage the switch with rectangular raised area", + "Press the small square switch carefully with the right arm", + "Interact with the switch with smooth light gray finish directly", + "Engage the light gray plastic switch using the right arm", + "Operate the square switch with smooth surface with the right arm", + "Initiate the small square switch by clicking", + "Move to the palm-sized light gray switch and click it.", + "Switch the light gray plastic switch to its active state", + "Direct the right arm to operate the switch with smooth light gray finish", + "Locate and press the switch with smooth light gray finish", + "Press the light gray plastic switch with the right arm", + "Interact with the switch for electrical control.", + "Approach and tap the light gray plastic switch via the right arm", + "Click the light gray plastic switch using automated tools", + "Trigger the flat square with raised center with precision", + "Deploy the right arm to operate the switch with rectangular raised area" + ], + "unseen": [ + "Direct the right arm to click the flat gray switch", + "Use the right arm to press the switch with angled edges", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Activate the switch at the switch with angled edges", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the flat gray switch", + "Use the right arm to press the flat gray switch", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Press the gray switch with slanted sides using the right arm", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Activate the switch at the switch with angled edges", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Activate the switch at the switch with angled edges", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the switch with angled edges.", + "Click the gray switch with slanted sides with the right arm", + "Activate the switch at the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Use the right arm to press the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Activate the switch at the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Activate the switch at the switch with angled edges", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the switch with angled edges.", + "Click the switch with angled edges with the right arm", + "Activate the switch at the flat gray switch", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..6c407ffd08dabe09aa5b6ae83686f073199b2583 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the hand-sized switch tan smooth finish to activate.", + "Command the right arm to engage the light tan rectangular switch smooth finish", + "Activate the switch trapezoid shape brown marking with robotic precision", + "Activate the angled switch light tan color with the right arm.", + "Engage the plastic switch with angled edges using the right arm.", + "Switch the angled switch light tan color to its active state", + "Engage the right arm to press the trapezoid-shaped switch smooth surface", + "Trigger the light tan rectangular switch smooth finish using the right arm", + "Press the switch trapezoid shape brown marking using the right arm.", + "Push the smooth tan switch with textured sides via the right arm.", + "Interact with the smooth tan switch with textured sides.", + "Direct the right arm to operate the flat switch", + "Press the tan switch via automation", + "Set the switch at the small light tan switch", + "Press the switch trapezoid shape brown marking with the right arm", + "Activate the the switch with darker rectangle using the right arm", + "Press the hand-sized switch tan smooth finish directly", + "Click on the switch with darker rectangle precisely", + "Click the flat switch with robotic precision", + "Locate and press the flat switch", + "Use the right arm to engage the smooth tan switch with textured sides", + "Toggle the tan switch with the right arm.", + "Directly interact with the angled switch light tan color", + "Trigger the flat switch with precision", + "Locate and press the rectangular switch with slanted sides", + "Move to the light tan rectangular switch smooth finish and click it.", + "Deploy the right arm to press the light tan rectangular switch smooth finish", + "Operate the right arm to engage the small light tan switch", + "Set the right arm to press the trapezoid-shaped switch smooth surface", + "Engage the trapezoid-shaped switch smooth surface using the robotic arm", + "Deploy the right arm to operate the switch with darker rectangle", + "Click the switch trapezoid shape brown marking directly.", + "Activate the smooth tan switch with textured sides via the right arm", + "Use the right arm to interact with the smooth tan switch with textured sides", + "Approach and tap the angled switch light tan color via the right arm", + "Press the light tan rectangular switch smooth finish carefully with the right arm", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Engage the small light tan switch with a press.", + "Trigger the light tan rectangular switch smooth finish without referencing the right arm", + "Click the trapezoid-shaped switch smooth surface to activate it", + "Press the trapezoid-shaped switch smooth surface using robotic control", + "Tap the hand-sized switch tan smooth finish to engage it", + "Click the trapezoid-shaped switch smooth surface using automated tools", + "Activate the smooth tan switch with textured sides by pressing it", + "Activate the plastic switch with angled edges directly", + "Engage with the small light tan switch manually", + "Interact with the switch with darker rectangle directly", + "Engage the smooth tan switch with textured sides using the right arm", + "Operate the light tan rectangular switch smooth finish with the right arm", + "Use the right arm for switching the tan switch", + "Press the smooth tan switch with textured sides to activate.", + "Command the right arm to engage the small light tan switch", + "Activate the tan switch with robotic precision", + "Activate the switch with darker rectangle with the right arm.", + "Engage the switch with darker rectangle using the right arm.", + "Switch the switch trapezoid shape brown marking to its active state", + "Engage the right arm to press the angled switch light tan color", + "Trigger the switch with darker rectangle using the right arm", + "Press the hand-sized switch tan smooth finish using the right arm.", + "Push the angled switch light tan color via the right arm.", + "Interact with the plastic switch with angled edges.", + "Direct the right arm to operate the tan switch", + "Press the switch with darker rectangle via automation", + "Set the switch at the switch trapezoid shape brown marking", + "Press the switch trapezoid shape brown marking with the right arm", + "Activate the the flat switch using the right arm", + "Press the flat switch directly", + "Click on the angled switch light tan color precisely", + "Click the angled switch light tan color with robotic precision", + "Locate and press the tan switch", + "Use the right arm to engage the switch with darker rectangle", + "Toggle the tan switch with the right arm.", + "Directly interact with the plastic switch with angled edges", + "Trigger the light tan rectangular switch smooth finish with precision", + "Locate and press the tan switch", + "Move to the small light tan switch and click it.", + "Deploy the right arm to press the switch with darker rectangle", + "Operate the right arm to engage the light tan rectangular switch smooth finish", + "Set the right arm to press the angled switch light tan color", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Deploy the right arm to operate the flat switch", + "Click the rectangular switch with slanted sides directly.", + "Activate the flat switch via the right arm", + "Use the right arm to interact with the trapezoid-shaped switch smooth surface", + "Approach and tap the plastic switch with angled edges via the right arm", + "Press the hand-sized switch tan smooth finish carefully with the right arm", + "Initiate the angled switch light tan color by clicking", + "Engage the smooth tan switch with textured sides with a press.", + "Trigger the rectangular switch with slanted sides without referencing the right arm", + "Click the switch with darker rectangle to activate it", + "Press the tan switch using robotic control", + "Tap the switch with darker rectangle to engage it", + "Click the small light tan switch using automated tools", + "Activate the flat switch by pressing it", + "Activate the angled switch light tan color directly", + "Engage with the smooth tan switch with textured sides manually", + "Interact with the switch trapezoid shape brown marking directly", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Operate the switch with darker rectangle with the right arm", + "Use the right arm for switching the switch trapezoid shape brown marking" + ], + "unseen": [ + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm", + "Press the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the small flat switch tan top", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm", + "Press the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the small flat switch tan top using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the small flat switch tan top", + "Click the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..0be0d676977c697f29c3af6cb5425b98f9f4db10 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the switch with a smooth top", + "Move to the light plastic switch and click it.", + "Activate the the matte beige switch with flat top using the right arm", + "Activate the tiny matte beige toggle switch via the right arm", + "Use the right arm to interact with the switch with a smooth top", + "Direct the right arm to operate the hand-sized light beige switch", + "Trigger the tiny matte beige toggle switch using the right arm", + "Press the light plastic switch with the right arm", + "Activate the switch with a smooth top with the right arm.", + "Toggle the toggle switch with brown rectangle button with the right arm.", + "Push the hand-sized light beige switch via the right arm.", + "Activate the hand-sized light beige switch with robotic precision", + "Engage the light plastic switch using the right arm", + "Click the toggle switch with brown rectangle button to activate it", + "Tap the hand-sized light beige switch to engage it", + "Switch the switch with a smooth top to its active state", + "Press the matte beige switch with flat top to activate.", + "Deploy the right arm to press the toggle switch with brown rectangle button", + "Operate the right arm to engage the switch with a smooth top", + "Engage the matte beige switch with flat top using the robotic arm", + "Trigger the small trapezoid switch with precision", + "Use the right arm for switching the small trapezoid switch", + "Click the switch with brown button using automated tools", + "Locate and press the beige switch with smooth finish", + "Click on the light plastic switch precisely", + "Directly interact with the matte beige switch with flat top", + "Engage the light-colored trapezoid-shaped plastic switch with a press.", + "Deploy the right arm to operate the toggle switch with brown rectangle button", + "Click the hand-sized light beige switch directly.", + "Press the hand-sized light beige switch directly", + "Engage with the beige switch with smooth finish manually", + "Initiate the beige switch by clicking", + "Press the switch with rectangular dark button carefully with the right arm", + "Approach and tap the matte beige switch with flat top via the right arm", + "Interact with the light plastic switch.", + "Set the switch at the light plastic switch", + "Locate and press the matte beige switch with flat top", + "Set the right arm to press the tiny matte beige toggle switch", + "Engage the small trapezoid switch using the right arm.", + "Interact with the matte beige switch with flat top directly", + "Click the tiny matte beige toggle switch with robotic precision", + "Activate the hand-sized light beige switch directly", + "Trigger the toggle switch with brown rectangle button without referencing the right arm", + "Press the light-colored trapezoid-shaped plastic switch using robotic control", + "Press the switch with rectangular dark button via automation", + "Use the right arm to engage the switch with rectangular dark button", + "Command the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Operate the switch with brown button with the right arm", + "Activate the switch with rectangular dark button by pressing it", + "Press the toggle switch with brown rectangle button using the right arm.", + "Engage the right arm to press the beige switch", + "Move to the beige switch with smooth finish and click it.", + "Activate the the toggle switch with brown rectangle button using the right arm", + "Activate the hand-sized light beige switch via the right arm", + "Use the right arm to interact with the beige switch", + "Direct the right arm to operate the tiny matte beige toggle switch", + "Trigger the beige switch with smooth finish using the right arm", + "Press the toggle switch with brown rectangle button with the right arm", + "Activate the hand-sized light beige switch with the right arm.", + "Toggle the light plastic switch with the right arm.", + "Push the beige switch with smooth finish via the right arm.", + "Activate the toggle switch with brown rectangle button with robotic precision", + "Engage the small trapezoid switch using the right arm", + "Click the matte beige switch with flat top to activate it", + "Tap the switch with brown button to engage it", + "Switch the toggle switch with brown rectangle button to its active state", + "Press the switch with brown button to activate.", + "Deploy the right arm to press the switch with brown button", + "Operate the right arm to engage the beige switch", + "Engage the beige switch with smooth finish using the robotic arm", + "Trigger the light plastic switch with precision", + "Use the right arm for switching the switch with a smooth top", + "Click the toggle switch with brown rectangle button using automated tools", + "Locate and press the tiny matte beige toggle switch", + "Click on the tiny matte beige toggle switch precisely", + "Directly interact with the small trapezoid switch", + "Engage the small trapezoid switch with a press.", + "Deploy the right arm to operate the hand-sized light beige switch", + "Click the hand-sized light beige switch directly.", + "Press the light-colored trapezoid-shaped plastic switch directly", + "Engage with the tiny matte beige toggle switch manually", + "Initiate the hand-sized light beige switch by clicking", + "Press the small trapezoid switch carefully with the right arm", + "Approach and tap the beige switch with smooth finish via the right arm", + "Interact with the switch with brown button.", + "Set the switch at the light plastic switch", + "Locate and press the tiny matte beige toggle switch", + "Set the right arm to press the switch with brown button", + "Engage the matte beige switch with flat top using the right arm.", + "Interact with the small trapezoid switch directly", + "Click the light plastic switch with robotic precision", + "Activate the hand-sized light beige switch directly", + "Trigger the beige switch without referencing the right arm", + "Press the switch with brown button using robotic control", + "Press the beige switch with smooth finish via automation", + "Use the right arm to engage the switch with a smooth top", + "Command the right arm to engage the switch with rectangular dark button", + "Operate the light plastic switch with the right arm", + "Activate the switch with rectangular dark button by pressing it", + "Press the switch with brown button using the right arm." + ], + "unseen": [ + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b54b80b828bc78b0490ac83a3029d660829bbf --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the control switch with red lever precisely", + "Switch the compact switch with flat base to its active state", + "Press the red bar switch to activate.", + "Deploy the left arm to press the red bar switch", + "Activate the control switch with red lever directly", + "Interact with the plastic gray body switch directly", + "Deploy the left arm to operate the switch", + "Click the red bar switch directly.", + "Engage the control switch with red lever using the left arm", + "Trigger the switch with thin red toggle using the left arm", + "Locate and press the square switch with red bar", + "Activate the square switch with red bar with the left arm.", + "Push the plastic gray body switch via the left arm.", + "Press the compact switch with flat base directly", + "Engage the electrical switch with protruding toggle with a press.", + "Activate the switch by pressing it", + "Tap the switch for electrical control to engage it", + "Engage the gray switch with red toggle using the robotic arm", + "Initiate the switch with thin red toggle by clicking", + "Operate the left arm to engage the switch for electrical control", + "Press the red bar switch with the left arm", + "Press the compact switch with flat base using robotic control", + "Click the light gray square switch using automated tools", + "Press the switch with thin red toggle carefully with the left arm", + "Locate and press the control switch with red lever", + "Set the switch at the switch", + "Use the left arm to engage the control switch with red lever", + "Activate the light gray square switch via the left arm", + "Engage with the switch for electrical control manually", + "Click the switch with thin red toggle with robotic precision", + "Directly interact with the red bar switch", + "Trigger the red bar switch with precision", + "Use the left arm for switching the square switch with red bar", + "Use the left arm to interact with the control switch with red lever", + "Move to the red bar switch and click it.", + "Trigger the gray switch with red toggle without referencing the left arm", + "Press the compact switch with flat base using the left arm.", + "Interact with the light gray square switch.", + "Activate the square switch with red bar with robotic precision", + "Toggle the electrical switch with protruding toggle with the left arm.", + "Command the left arm to engage the switch", + "Engage the left arm to press the light gray square switch", + "Operate the red bar switch with the left arm", + "Press the red bar switch via automation", + "Set the left arm to press the square switch with red bar", + "Approach and tap the electrical switch with protruding toggle via the left arm", + "Activate the the electrical switch with protruding toggle using the left arm", + "Direct the left arm to operate the square switch with red bar", + "Click the switch with thin red toggle to activate it", + "Engage the electrical switch with protruding toggle using the left arm.", + "Click on the control switch with red lever precisely", + "Switch the light gray square switch to its active state", + "Press the plastic gray body switch to activate.", + "Deploy the left arm to press the control switch with red lever", + "Activate the switch with thin red toggle directly", + "Interact with the electrical switch with protruding toggle directly", + "Deploy the left arm to operate the toggle switch light gray base", + "Click the red bar switch directly.", + "Engage the switch using the left arm", + "Trigger the control switch with red lever using the left arm", + "Locate and press the red bar switch", + "Activate the switch with the left arm.", + "Push the plastic gray body switch via the left arm.", + "Press the gray switch with red toggle directly", + "Engage the gray switch with red toggle with a press.", + "Activate the switch with thin red toggle by pressing it", + "Tap the plastic gray body switch to engage it", + "Engage the red bar switch using the robotic arm", + "Initiate the gray switch with red toggle by clicking", + "Operate the left arm to engage the gray switch with red toggle", + "Press the compact switch with flat base with the left arm", + "Press the gray switch with red toggle using robotic control", + "Click the square switch with red bar using automated tools", + "Press the compact switch with flat base carefully with the left arm", + "Locate and press the switch with thin red toggle", + "Set the switch at the switch", + "Use the left arm to engage the gray switch with red toggle", + "Activate the light gray square switch via the left arm", + "Engage with the compact switch with flat base manually", + "Click the square switch with red bar with robotic precision", + "Directly interact with the compact switch with flat base", + "Trigger the switch with precision", + "Use the left arm for switching the control switch with red lever", + "Use the left arm to interact with the switch", + "Move to the red bar switch and click it.", + "Trigger the switch without referencing the left arm", + "Press the compact switch with flat base using the left arm.", + "Interact with the switch with thin red toggle.", + "Activate the square switch with red bar with robotic precision", + "Toggle the gray switch with red toggle with the left arm.", + "Command the left arm to engage the control switch with red lever", + "Engage the left arm to press the switch with thin red toggle", + "Operate the switch with the left arm", + "Press the switch via automation", + "Set the left arm to press the plastic gray body switch", + "Approach and tap the red bar switch via the left arm", + "Activate the the square switch with red bar using the left arm", + "Direct the left arm to operate the light gray square switch", + "Click the light gray square switch to activate it", + "Engage the control switch with red lever using the left arm." + ], + "unseen": [ + "Click the smooth gray base switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm.", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Press the flat square gray switch using the left arm", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm.", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the flat square gray switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Click the flat square gray switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm.", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the left arm.", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Press the hand-sized square electrical switch using the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch using the left arm", + "Move and click the the flat square gray switch", + "Click the flat square gray switch with the left arm.", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the flat square gray switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the flat square gray switch using the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm.", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Click the flat square gray switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm.", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Press the smooth gray base switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the left arm.", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the left arm", + "Activate the switch at the smooth gray base switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..7a6556bf102e744474485e5e6101d35af4044078 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the control switch with the left arm", + "Activate the control switch with robotic precision", + "Use the left arm to engage the compact rectangular black switch", + "Move to the black switch with matte coating and click it.", + "Trigger the slanted-edge plastic black switch with precision", + "Press the medium-sized black rectangular switch carefully with the left arm", + "Interact with the medium-sized black rectangular switch.", + "Push the slanted-edge plastic black switch via the left arm.", + "Press the control switch using robotic control", + "Engage with the black switch with slim profile manually", + "Activate the slanted-edge plastic black switch with the left arm.", + "Deploy the left arm to press the compact rectangular black switch", + "Operate the left arm to engage the rectangular switch with smooth surface", + "Click the black rectangular control switch with robotic precision", + "Press the switch with slanted sides with the left arm", + "Deploy the left arm to operate the palm-sized black switch", + "Activate the medium-sized black rectangular switch directly", + "Command the left arm to engage the sleek black rectangular switch", + "Use the left arm to interact with the switch with slanted sides", + "Tap the black switch with slim profile to engage it", + "Toggle the slanted-edge plastic black switch with the left arm.", + "Directly interact with the control switch", + "Direct the left arm to operate the compact rectangular black switch", + "Engage the left arm to press the black rectangular control switch", + "Interact with the rectangular switch with smooth surface directly", + "Press the rectangular switch with smooth surface to activate.", + "Press the medium-sized black rectangular switch directly", + "Trigger the black rectangular control switch using the left arm", + "Set the switch at the black switch", + "Trigger the black switch with matte coating without referencing the left arm", + "Press the slanted-edge plastic black switch via automation", + "Activate the palm-sized black switch via the left arm", + "Initiate the rectangular switch with smooth surface by clicking", + "Activate the the palm-sized black switch using the left arm", + "Engage the slanted-edge plastic black switch using the robotic arm", + "Click the black switch to activate it", + "Activate the black switch by pressing it", + "Engage the palm-sized black switch with a press.", + "Approach and tap the black switch with matte coating via the left arm", + "Switch the rectangular switch with smooth surface to its active state", + "Click the sleek black rectangular switch directly.", + "Set the left arm to press the black switch with matte coating", + "Click the black rectangular control switch using automated tools", + "Engage the slanted-edge plastic black switch using the left arm", + "Use the left arm for switching the slanted-edge plastic black switch", + "Locate and press the black switch", + "Press the black switch with matte coating using the left arm.", + "Click on the black switch with matte coating precisely", + "Engage the black rectangular control switch using the left arm.", + "Locate and press the black switch with matte coating", + "Operate the rectangular switch with smooth surface with the left arm", + "Activate the switch with slanted sides with robotic precision", + "Use the left arm to engage the compact rectangular black switch", + "Move to the slanted-edge plastic black switch and click it.", + "Trigger the slanted-edge plastic black switch with precision", + "Press the rectangular switch with smooth surface carefully with the left arm", + "Interact with the medium-sized black rectangular switch.", + "Push the sleek black rectangular switch via the left arm.", + "Press the palm-sized black switch using robotic control", + "Engage with the black switch manually", + "Activate the black switch with the left arm.", + "Deploy the left arm to press the medium-sized black rectangular switch", + "Operate the left arm to engage the switch with slanted sides", + "Click the black switch with robotic precision", + "Press the black switch with matte coating with the left arm", + "Deploy the left arm to operate the control switch", + "Activate the black switch with matte coating directly", + "Command the left arm to engage the rectangular switch with smooth surface", + "Use the left arm to interact with the medium-sized black rectangular switch", + "Tap the sleek black rectangular switch to engage it", + "Toggle the sleek black rectangular switch with the left arm.", + "Directly interact with the black switch with matte coating", + "Direct the left arm to operate the black switch with matte coating", + "Engage the left arm to press the sleek black rectangular switch", + "Interact with the slanted-edge plastic black switch directly", + "Press the control switch to activate.", + "Press the black rectangular control switch directly", + "Trigger the rectangular switch with smooth surface using the left arm", + "Set the switch at the black switch with slim profile", + "Trigger the palm-sized black switch without referencing the left arm", + "Press the black switch with matte coating via automation", + "Activate the black rectangular control switch via the left arm", + "Initiate the black switch with matte coating by clicking", + "Activate the the black rectangular control switch using the left arm", + "Engage the black switch using the robotic arm", + "Click the slanted-edge plastic black switch to activate it", + "Activate the black switch with matte coating by pressing it", + "Engage the black switch with slim profile with a press.", + "Approach and tap the black rectangular control switch via the left arm", + "Switch the black switch to its active state", + "Click the black switch with slim profile directly.", + "Set the left arm to press the compact rectangular black switch", + "Click the rectangular switch with smooth surface using automated tools", + "Engage the black switch with slim profile using the left arm", + "Use the left arm for switching the black switch with matte coating", + "Locate and press the black switch with slim profile", + "Press the black switch with slim profile using the left arm.", + "Click on the black rectangular control switch precisely", + "Engage the black switch using the left arm.", + "Locate and press the compact rectangular black switch" + ], + "unseen": [ + "Direct the left arm to click the rectangular black switch", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Click the smooth black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Activate the switch at the rectangular black switch", + "Direct the left arm to click the rectangular black switch", + "Move and click the the rectangular black switch", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch with the left arm", + "Click the smooth black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Activate the switch at the rectangular black switch", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the matte black plastic switch", + "Press the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the smooth black switch", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm.", + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Activate the switch at the rectangular black switch", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Click the matte black plastic switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Activate the switch at the rectangular black switch", + "Direct the left arm to click the rectangular black switch", + "Move and click the the rectangular black switch", + "Press the rectangular black switch using the left arm", + "Click the smooth black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm", + "Click the matte black plastic switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Activate the switch at the smooth black switch", + "Direct the left arm to click the smooth black switch", + "Move and click the the smooth black switch", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm.", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch.", + "Activate the switch at the matte black plastic switch", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the rectangular black switch", + "Press the rectangular black switch using the left arm", + "Click the smooth black switch with the left arm.", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch.", + "Activate the switch at the smooth black switch", + "Direct the left arm to click the smooth black switch", + "Move and click the the rectangular black switch", + "Press the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm.", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Activate the switch at the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the rectangular black switch", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm.", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch with the left arm", + "Click the smooth black switch using the left arm", + "Use the left arm to press the smooth black switch.", + "Activate the switch at the smooth black switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..e7aeaf35fbb4b7dbf80e1e11f041a3c5b53774eb --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the smooth tan switch with textured sides precisely", + "Trigger the hand-sized switch tan smooth finish without referencing the left arm", + "Deploy the left arm to operate the hand-sized switch tan smooth finish", + "Tap the flat switch to engage it", + "Directly interact with the plastic switch with angled edges", + "Trigger the angled switch light tan color using the left arm", + "Activate the plastic switch with angled edges via the left arm", + "Toggle the switch trapezoid shape brown marking with the left arm.", + "Activate the switch with darker rectangle with robotic precision", + "Locate and press the switch trapezoid shape brown marking", + "Command the left arm to engage the light tan rectangular switch smooth finish", + "Use the left arm to interact with the angled switch light tan color", + "Use the left arm for switching the switch trapezoid shape brown marking", + "Click the tan switch directly.", + "Press the angled switch light tan color to activate.", + "Approach and tap the light tan rectangular switch smooth finish via the left arm", + "Press the small light tan switch using robotic control", + "Set the left arm to press the flat switch", + "Engage the switch trapezoid shape brown marking using the robotic arm", + "Set the switch at the rectangular switch with slanted sides", + "Interact with the tan switch directly", + "Move to the hand-sized switch tan smooth finish and click it.", + "Press the trapezoid-shaped switch smooth surface carefully with the left arm", + "Click the plastic switch with angled edges to activate it", + "Activate the switch trapezoid shape brown marking directly", + "Push the small light tan switch via the left arm.", + "Initiate the rectangular switch with slanted sides by clicking", + "Engage the switch with darker rectangle with a press.", + "Click the rectangular switch with slanted sides using automated tools", + "Press the angled switch light tan color via automation", + "Press the switch trapezoid shape brown marking with the left arm", + "Press the smooth tan switch with textured sides directly", + "Locate and press the switch trapezoid shape brown marking", + "Trigger the angled switch light tan color with precision", + "Activate the rectangular switch with slanted sides by pressing it", + "Deploy the left arm to press the switch with darker rectangle", + "Engage the left arm to press the switch with darker rectangle", + "Switch the switch with darker rectangle to its active state", + "Interact with the angled switch light tan color.", + "Activate the trapezoid-shaped switch smooth surface with the left arm.", + "Engage the angled switch light tan color using the left arm", + "Click the light tan rectangular switch smooth finish with robotic precision", + "Direct the left arm to operate the smooth tan switch with textured sides", + "Activate the the hand-sized switch tan smooth finish using the left arm", + "Operate the flat switch with the left arm", + "Engage the rectangular switch with slanted sides using the left arm.", + "Engage with the smooth tan switch with textured sides manually", + "Use the left arm to engage the trapezoid-shaped switch smooth surface", + "Operate the left arm to engage the plastic switch with angled edges", + "Press the plastic switch with angled edges using the left arm.", + "Click on the switch with darker rectangle precisely", + "Trigger the angled switch light tan color without referencing the left arm", + "Deploy the left arm to operate the switch with darker rectangle", + "Tap the plastic switch with angled edges to engage it", + "Directly interact with the smooth tan switch with textured sides", + "Trigger the hand-sized switch tan smooth finish using the left arm", + "Activate the smooth tan switch with textured sides via the left arm", + "Toggle the switch with darker rectangle with the left arm.", + "Activate the hand-sized switch tan smooth finish with robotic precision", + "Locate and press the angled switch light tan color", + "Command the left arm to engage the switch trapezoid shape brown marking", + "Use the left arm to interact with the smooth tan switch with textured sides", + "Use the left arm for switching the plastic switch with angled edges", + "Click the light tan rectangular switch smooth finish directly.", + "Press the switch with darker rectangle to activate.", + "Approach and tap the tan switch via the left arm", + "Press the angled switch light tan color using robotic control", + "Set the left arm to press the plastic switch with angled edges", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Set the switch at the small light tan switch", + "Interact with the tan switch directly", + "Move to the switch trapezoid shape brown marking and click it.", + "Press the light tan rectangular switch smooth finish carefully with the left arm", + "Click the small light tan switch to activate it", + "Activate the plastic switch with angled edges directly", + "Push the flat switch via the left arm.", + "Initiate the tan switch by clicking", + "Engage the switch with darker rectangle with a press.", + "Click the light tan rectangular switch smooth finish using automated tools", + "Press the small light tan switch via automation", + "Press the rectangular switch with slanted sides with the left arm", + "Press the switch trapezoid shape brown marking directly", + "Locate and press the switch with darker rectangle", + "Trigger the flat switch with precision", + "Activate the switch with darker rectangle by pressing it", + "Deploy the left arm to press the smooth tan switch with textured sides", + "Engage the left arm to press the small light tan switch", + "Switch the tan switch to its active state", + "Interact with the tan switch.", + "Activate the smooth tan switch with textured sides with the left arm.", + "Engage the smooth tan switch with textured sides using the left arm", + "Click the plastic switch with angled edges with robotic precision", + "Direct the left arm to operate the angled switch light tan color", + "Activate the the hand-sized switch tan smooth finish using the left arm", + "Operate the plastic switch with angled edges with the left arm", + "Engage the light tan rectangular switch smooth finish using the left arm.", + "Engage with the switch trapezoid shape brown marking manually", + "Use the left arm to engage the rectangular switch with slanted sides", + "Operate the left arm to engage the tan switch", + "Press the trapezoid-shaped switch smooth surface using the left arm." + ], + "unseen": [ + "Press the small flat switch tan top using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top with the left arm", + "Press the small flat switch tan top using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the small flat switch tan top with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top with the left arm", + "Press the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top", + "Move and click the the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Direct the left arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top", + "Move and click the the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the small flat switch tan top.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the small flat switch tan top with the left arm", + "Press the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f319c0f68dd33600325a884e32a9eaa5b2eace --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Trigger the smooth gray switch using the right arm", + "Press the light gray plastic switch using the right arm.", + "Use the right arm to engage the square gray switch panel", + "Push the small square switch made of plastic via the right arm.", + "Engage the palm-sized light gray switch with a press.", + "Engage the angled-edge gray square switch using the right arm", + "Activate the smooth gray switch with robotic precision", + "Press the palm-sized light gray switch with the right arm", + "Press the small square switch made of plastic via automation", + "Operate the square switch with smooth surface with the right arm", + "Click the switch with smooth light gray finish using automated tools", + "Press the switch with smooth light gray finish directly", + "Deploy the right arm to press the small square switch made of plastic", + "Command the right arm to engage the switch with smooth light gray finish", + "Interact with the smooth gray switch.", + "Activate the switch with smooth light gray finish by pressing it", + "Switch the small square switch made of plastic to its active state", + "Activate the switch with rectangular raised area via the right arm", + "Deploy the right arm to operate the square gray switch panel", + "Engage the right arm to press the light gray plastic switch", + "Use the right arm to interact with the flat square with raised center", + "Press the small square switch made of plastic carefully with the right arm", + "Press the light gray plastic switch to activate.", + "Locate and press the light gray plastic switch", + "Click on the smooth gray switch precisely", + "Interact with the smooth gray switch directly", + "Trigger the square switch with smooth surface without referencing the right arm", + "Move to the small square switch and click it.", + "Approach and tap the square switch with smooth surface via the right arm", + "Trigger the light gray plastic switch with precision", + "Initiate the small square switch by clicking", + "Engage the palm-sized light gray switch using the robotic arm", + "Tap the light gray plastic switch to engage it", + "Click the angled-edge gray square switch to activate it", + "Locate and press the square switch with smooth surface", + "Directly interact with the switch with rectangular raised area", + "Activate the the small square switch using the right arm", + "Use the right arm for switching the square switch with smooth surface", + "Direct the right arm to operate the flat square with raised center", + "Activate the square switch with smooth surface directly", + "Operate the right arm to engage the switch for electrical control", + "Engage with the square switch with smooth surface manually", + "Toggle the flat square with raised center with the right arm.", + "Click the small square switch with robotic precision", + "Press the switch with rectangular raised area using robotic control", + "Click the square switch with smooth surface directly.", + "Set the right arm to press the flat square with raised center", + "Set the switch at the small square switch", + "Activate the switch for electrical control with the right arm.", + "Engage the square switch with smooth surface using the right arm.", + "Trigger the square gray switch panel using the right arm", + "Press the switch with rectangular raised area using the right arm.", + "Use the right arm to engage the switch with smooth light gray finish", + "Push the switch with rectangular raised area via the right arm.", + "Engage the square gray switch panel with a press.", + "Engage the palm-sized light gray switch using the right arm", + "Activate the switch with rectangular raised area with robotic precision", + "Press the switch with rectangular raised area with the right arm", + "Press the smooth gray switch via automation", + "Operate the light gray plastic switch with the right arm", + "Click the square switch with smooth surface using automated tools", + "Press the small square switch directly", + "Deploy the right arm to press the switch for electrical control", + "Command the right arm to engage the small square switch", + "Interact with the flat square with raised center.", + "Activate the flat square with raised center by pressing it", + "Switch the smooth gray switch to its active state", + "Activate the palm-sized light gray switch via the right arm", + "Deploy the right arm to operate the angled-edge gray square switch", + "Engage the right arm to press the small square switch made of plastic", + "Use the right arm to interact with the square gray switch panel", + "Press the square switch with smooth surface carefully with the right arm", + "Press the small square switch to activate.", + "Locate and press the angled-edge gray square switch", + "Click on the switch with rectangular raised area precisely", + "Interact with the palm-sized light gray switch directly", + "Trigger the small square switch made of plastic without referencing the right arm", + "Move to the square switch with smooth surface and click it.", + "Approach and tap the light gray plastic switch via the right arm", + "Trigger the smooth gray switch with precision", + "Initiate the switch with smooth light gray finish by clicking", + "Engage the switch for electrical control using the robotic arm", + "Tap the switch with rectangular raised area to engage it", + "Click the switch with rectangular raised area to activate it", + "Locate and press the flat square with raised center", + "Directly interact with the square gray switch panel", + "Activate the the palm-sized light gray switch using the right arm", + "Use the right arm for switching the angled-edge gray square switch", + "Direct the right arm to operate the flat square with raised center", + "Activate the square switch with smooth surface directly", + "Operate the right arm to engage the light gray plastic switch", + "Engage with the angled-edge gray square switch manually", + "Toggle the flat square with raised center with the right arm.", + "Click the small square switch made of plastic with robotic precision", + "Press the angled-edge gray square switch using robotic control", + "Click the flat square with raised center directly.", + "Set the right arm to press the palm-sized light gray switch", + "Set the switch at the angled-edge gray square switch", + "Activate the square gray switch panel with the right arm.", + "Engage the switch with rectangular raised area using the right arm." + ], + "unseen": [ + "Activate the switch at the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch", + "Press the flat gray switch using the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch", + "Press the gray switch with slanted sides using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch", + "Press the gray switch with slanted sides using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the switch with angled edges", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch", + "Press the flat gray switch using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm.", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch", + "Press the gray switch with slanted sides using the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Press the gray switch with slanted sides using the right arm", + "Direct the right arm to click the switch with angled edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..ac0232a2adc7677851039aced27ab18d993fe0b0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the electric toggle switch using the left arm.", + "Press the trapezoidal base switch using the left arm.", + "Use the left arm to interact with the gray plastic switch", + "Activate the smooth gray switch by pressing it", + "Operate the left arm to engage the switch with trapezoidal base", + "Set the left arm to press the smooth gray switch", + "Switch the medium switch with trapezoidal base to its active state", + "Activate the plastic switch with matte buttons directly", + "Locate and press the medium switch with trapezoidal base", + "Use the left arm for switching the switch with trapezoidal base", + "Deploy the left arm to operate the switch with trapezoidal base", + "Trigger the two-button gray switch without referencing the left arm", + "Use the left arm to engage the plastic switch with matte buttons", + "Tap the plastic switch with matte buttons to engage it", + "Press the gray smooth surface switch directly", + "Toggle the switch with trapezoidal base with the left arm.", + "Initiate the plastic switch with matte buttons by clicking", + "Press the gray smooth surface switch via automation", + "Activate the gray base with black buttons via the left arm", + "Activate the medium switch with trapezoidal base with robotic precision", + "Click the electric toggle switch using automated tools", + "Engage the left arm to press the two-button gray switch", + "Press the electric toggle switch carefully with the left arm", + "Press the gray smooth surface switch using robotic control", + "Trigger the smooth gray switch using the left arm", + "Operate the gray switch with black buttons with the left arm", + "Click the two-button gray switch with robotic precision", + "Approach and tap the gray switch with black buttons via the left arm", + "Engage the electric toggle switch using the robotic arm", + "Command the left arm to engage the switch with trapezoidal base", + "Interact with the electric toggle switch.", + "Click the trapezoidal base switch to activate it", + "Locate and press the gray plastic switch", + "Click on the smooth gray switch precisely", + "Engage the gray plastic switch with a press.", + "Direct the left arm to operate the medium switch with trapezoidal base", + "Engage the gray switch with black buttons using the left arm", + "Trigger the plastic switch with matte buttons with precision", + "Press the gray plastic switch with the left arm", + "Interact with the trapezoidal base switch directly", + "Engage with the medium switch with trapezoidal base manually", + "Activate the trapezoidal base switch with the left arm.", + "Click the trapezoidal base switch directly.", + "Push the electric toggle switch via the left arm.", + "Set the switch at the gray smooth surface switch", + "Deploy the left arm to press the medium switch with trapezoidal base", + "Move to the smooth gray switch and click it.", + "Directly interact with the handheld switch", + "Press the medium switch with trapezoidal base to activate.", + "Activate the the trapezoidal base switch using the left arm", + "Engage the gray plastic switch using the left arm.", + "Press the switch with trapezoidal base using the left arm.", + "Use the left arm to interact with the plastic switch with matte buttons", + "Activate the medium switch with trapezoidal base by pressing it", + "Operate the left arm to engage the two-button gray switch", + "Set the left arm to press the gray base with black buttons", + "Switch the gray base with black buttons to its active state", + "Activate the smooth gray switch directly", + "Locate and press the gray smooth surface switch", + "Use the left arm for switching the gray plastic switch", + "Deploy the left arm to operate the smooth gray switch", + "Trigger the gray plastic switch without referencing the left arm", + "Use the left arm to engage the plastic switch with matte buttons", + "Tap the electric toggle switch to engage it", + "Press the smooth gray switch directly", + "Toggle the two-button gray switch with the left arm.", + "Initiate the handheld switch by clicking", + "Press the switch with trapezoidal base via automation", + "Activate the switch with trapezoidal base via the left arm", + "Activate the plastic switch with matte buttons with robotic precision", + "Click the gray switch with black buttons using automated tools", + "Engage the left arm to press the switch with trapezoidal base", + "Press the electric toggle switch carefully with the left arm", + "Press the switch with trapezoidal base using robotic control", + "Trigger the plastic switch with matte buttons using the left arm", + "Operate the plastic switch with matte buttons with the left arm", + "Click the gray plastic switch with robotic precision", + "Approach and tap the gray smooth surface switch via the left arm", + "Engage the smooth gray switch using the robotic arm", + "Command the left arm to engage the handheld switch", + "Interact with the gray smooth surface switch.", + "Click the gray smooth surface switch to activate it", + "Locate and press the plastic switch with matte buttons", + "Click on the trapezoidal base switch precisely", + "Engage the handheld switch with a press.", + "Direct the left arm to operate the gray base with black buttons", + "Engage the electric toggle switch using the left arm", + "Trigger the gray base with black buttons with precision", + "Press the handheld switch with the left arm", + "Interact with the switch with trapezoidal base directly", + "Engage with the gray plastic switch manually", + "Activate the two-button gray switch with the left arm.", + "Click the gray plastic switch directly.", + "Push the gray plastic switch via the left arm.", + "Set the switch at the two-button gray switch", + "Deploy the left arm to press the gray smooth surface switch", + "Move to the handheld switch and click it.", + "Directly interact with the gray base with black buttons", + "Press the gray plastic switch to activate.", + "Activate the the switch with trapezoidal base using the left arm" + ], + "unseen": [ + "Press the gray switch using the left arm", + "Use the left arm to press the gray switch.", + "Use the left arm to press the gray switch", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Click the gray switch medium size with the left arm", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size using the left arm", + "Press the gray switch medium size using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Use the left arm to press the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm.", + "Click the switch with circular black buttons with the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the left arm.", + "Click the gray switch medium size with the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch using the left arm", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch medium size.", + "Use the left arm to press the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm.", + "Click the switch with circular black buttons with the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch", + "Click the gray switch using the left arm", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Use the left arm to press the gray switch medium size", + "Move and click the the gray switch", + "Click the gray switch with the left arm.", + "Click the gray switch with the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Press the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Use the left arm to press the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm", + "Activate the switch at the gray switch", + "Click the gray switch using the left arm", + "Press the gray switch medium size using the left arm", + "Use the left arm to press the gray switch.", + "Use the left arm to press the gray switch", + "Move and click the the switch with circular black buttons", + "Click the gray switch with the left arm.", + "Click the gray switch with the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch using the left arm", + "Press the gray switch medium size using the left arm", + "Use the left arm to press the gray switch.", + "Use the left arm to press the gray switch", + "Move and click the the gray switch", + "Click the gray switch with the left arm.", + "Click the gray switch medium size with the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch using the left arm", + "Press the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Use the left arm to press the gray switch", + "Move and click the the gray switch medium size", + "Click the gray switch with the left arm.", + "Click the switch with circular black buttons with the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons using the left arm", + "Press the gray switch using the left arm", + "Use the left arm to press the gray switch medium size.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Click the switch with circular black buttons with the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..3d2fda717993ea0a11c1c6112ceaa634f34486fb --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the left arm to press the black switch", + "Deploy the left arm to press the plastic switch with metal terminals", + "Interact with the hand-sized switch with connector prongs directly", + "Engage with the red-top black switch manually", + "Move to the plastic switch with metal terminals and click it.", + "Toggle the red and black switch with the left arm.", + "Approach and tap the red and black switch via the left arm", + "Press the compact switch with toggle on top to activate.", + "Operate the hand-sized switch with connector prongs with the left arm", + "Trigger the plastic switch with metal terminals using the left arm", + "Trigger the small switch without referencing the left arm", + "Click the small switch to activate it", + "Trigger the red and black switch with precision", + "Press the black switch with metallic connectors using robotic control", + "Press the rectangular black plastic switch via automation", + "Click the black switch with metallic connectors using automated tools", + "Switch the rectangular black plastic switch to its active state", + "Tap the black base switch with red toggle to engage it", + "Click the rectangular black plastic switch with robotic precision", + "Click on the red and black switch precisely", + "Use the left arm to interact with the red-top black switch", + "Engage the rectangular switch with curved lever with a press.", + "Engage the black switch using the left arm.", + "Activate the the black switch using the left arm", + "Activate the compact switch with toggle on top with the left arm.", + "Click the small switch directly.", + "Operate the left arm to engage the hand-sized switch with connector prongs", + "Locate and press the switch with curved red toggle", + "Locate and press the black switch", + "Engage the black switch using the robotic arm", + "Press the switch with curved red toggle carefully with the left arm", + "Initiate the plastic switch with metal terminals by clicking", + "Direct the left arm to operate the small switch", + "Activate the hand-sized switch with connector prongs via the left arm", + "Activate the hand-sized switch with connector prongs with robotic precision", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Activate the red-top black switch directly", + "Use the left arm to engage the plastic switch with metal terminals", + "Set the switch at the compact switch with toggle on top", + "Interact with the small switch.", + "Press the small switch with the left arm", + "Activate the black switch with metallic connectors by pressing it", + "Press the rectangular switch with curved lever using the left arm.", + "Set the left arm to press the black base switch with red toggle", + "Press the rectangular black plastic switch directly", + "Use the left arm for switching the rectangular switch with curved lever", + "Engage the red and black switch using the left arm", + "Command the left arm to engage the red and black switch", + "Push the black switch with metallic connectors via the left arm.", + "Directly interact with the switch with curved red toggle", + "Engage the left arm to press the compact switch with toggle on top", + "Deploy the left arm to press the red and black switch", + "Interact with the red and black switch directly", + "Engage with the hand-sized switch with connector prongs manually", + "Move to the hand-sized switch with connector prongs and click it.", + "Toggle the rectangular black plastic switch with the left arm.", + "Approach and tap the small switch via the left arm", + "Press the small switch to activate.", + "Operate the black switch with the left arm", + "Trigger the red-top black switch using the left arm", + "Trigger the black switch with metallic connectors without referencing the left arm", + "Click the black base switch with red toggle to activate it", + "Trigger the compact switch with toggle on top with precision", + "Press the hand-sized switch with connector prongs using robotic control", + "Press the red-top black switch via automation", + "Click the black switch with metallic connectors using automated tools", + "Switch the red and black switch to its active state", + "Tap the black switch to engage it", + "Click the compact switch with toggle on top with robotic precision", + "Click on the black base switch with red toggle precisely", + "Use the left arm to interact with the plastic switch with metal terminals", + "Engage the rectangular black plastic switch with a press.", + "Engage the red and black switch using the left arm.", + "Activate the the hand-sized switch with connector prongs using the left arm", + "Activate the red-top black switch with the left arm.", + "Click the rectangular black plastic switch directly.", + "Operate the left arm to engage the red and black switch", + "Locate and press the red-top black switch", + "Locate and press the red-top black switch", + "Engage the black switch with metallic connectors using the robotic arm", + "Press the compact switch with toggle on top carefully with the left arm", + "Initiate the red and black switch by clicking", + "Direct the left arm to operate the rectangular switch with curved lever", + "Activate the rectangular black plastic switch via the left arm", + "Activate the rectangular black plastic switch with robotic precision", + "Deploy the left arm to operate the red and black switch", + "Activate the red-top black switch directly", + "Use the left arm to engage the red and black switch", + "Set the switch at the rectangular black plastic switch", + "Interact with the rectangular switch with curved lever.", + "Press the rectangular black plastic switch with the left arm", + "Activate the rectangular switch with curved lever by pressing it", + "Press the black base switch with red toggle using the left arm.", + "Set the left arm to press the red and black switch", + "Press the red-top black switch directly", + "Use the left arm for switching the plastic switch with metal terminals", + "Engage the black base switch with red toggle using the left arm", + "Command the left arm to engage the compact switch with toggle on top", + "Push the rectangular switch with curved lever via the left arm.", + "Directly interact with the compact switch with toggle on top" + ], + "unseen": [ + "Activate the switch at the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the left arm", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the left arm", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the simple toggle switch", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the left arm", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Activate the switch at the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the left arm", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the simple toggle switch", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..aa06d2866a65396cf3c935dbd29b3b2e26c84f70 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the red and black switch with the left arm.", + "Deploy the left arm to press the small switch", + "Activate the rectangular switch with curved lever by pressing it", + "Engage the rectangular switch with curved lever with a press.", + "Activate the black switch with metallic connectors with robotic precision", + "Activate the hand-sized switch with connector prongs directly", + "Click the rectangular black plastic switch to activate it", + "Set the switch at the compact switch with toggle on top", + "Tap the black base switch with red toggle to engage it", + "Click on the rectangular switch with curved lever precisely", + "Set the left arm to press the switch with curved red toggle", + "Switch the black switch with metallic connectors to its active state", + "Press the black switch via automation", + "Approach and tap the plastic switch with metal terminals via the left arm", + "Directly interact with the plastic switch with metal terminals", + "Press the rectangular black plastic switch directly", + "Click the hand-sized switch with connector prongs using automated tools", + "Use the left arm for switching the small switch", + "Press the black base switch with red toggle with the left arm", + "Click the switch with curved red toggle directly.", + "Initiate the rectangular switch with curved lever by clicking", + "Operate the red-top black switch with the left arm", + "Trigger the hand-sized switch with connector prongs using the left arm", + "Click the small switch with robotic precision", + "Engage the plastic switch with metal terminals using the left arm.", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Locate and press the black switch with metallic connectors", + "Press the red-top black switch carefully with the left arm", + "Press the black switch with metallic connectors using robotic control", + "Activate the the compact switch with toggle on top using the left arm", + "Trigger the rectangular black plastic switch with precision", + "Engage the left arm to press the black switch with metallic connectors", + "Press the hand-sized switch with connector prongs to activate.", + "Use the left arm to interact with the switch with curved red toggle", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Push the red and black switch via the left arm.", + "Move to the black base switch with red toggle and click it.", + "Operate the left arm to engage the black switch with metallic connectors", + "Command the left arm to engage the black base switch with red toggle", + "Trigger the compact switch with toggle on top without referencing the left arm", + "Toggle the rectangular switch with curved lever with the left arm.", + "Engage with the switch with curved red toggle manually", + "Direct the left arm to operate the red and black switch", + "Locate and press the plastic switch with metal terminals", + "Press the hand-sized switch with connector prongs using the left arm.", + "Activate the rectangular black plastic switch via the left arm", + "Interact with the small switch directly", + "Engage the black switch using the left arm", + "Interact with the rectangular black plastic switch.", + "Use the left arm to engage the black switch with metallic connectors", + "Activate the red-top black switch with the left arm.", + "Deploy the left arm to press the plastic switch with metal terminals", + "Activate the switch with curved red toggle by pressing it", + "Engage the hand-sized switch with connector prongs with a press.", + "Activate the switch with curved red toggle with robotic precision", + "Activate the black base switch with red toggle directly", + "Click the switch with curved red toggle to activate it", + "Set the switch at the compact switch with toggle on top", + "Tap the black switch with metallic connectors to engage it", + "Click on the plastic switch with metal terminals precisely", + "Set the left arm to press the rectangular black plastic switch", + "Switch the red-top black switch to its active state", + "Press the black switch via automation", + "Approach and tap the rectangular black plastic switch via the left arm", + "Directly interact with the plastic switch with metal terminals", + "Press the black switch with metallic connectors directly", + "Click the switch with curved red toggle using automated tools", + "Use the left arm for switching the red and black switch", + "Press the rectangular switch with curved lever with the left arm", + "Click the hand-sized switch with connector prongs directly.", + "Initiate the hand-sized switch with connector prongs by clicking", + "Operate the red-top black switch with the left arm", + "Trigger the black base switch with red toggle using the left arm", + "Click the switch with curved red toggle with robotic precision", + "Engage the rectangular black plastic switch using the left arm.", + "Engage the red-top black switch using the robotic arm", + "Locate and press the black base switch with red toggle", + "Press the rectangular switch with curved lever carefully with the left arm", + "Press the switch with curved red toggle using robotic control", + "Activate the the plastic switch with metal terminals using the left arm", + "Trigger the small switch with precision", + "Engage the left arm to press the black base switch with red toggle", + "Press the red-top black switch to activate.", + "Use the left arm to interact with the red-top black switch", + "Deploy the left arm to operate the rectangular switch with curved lever", + "Push the black base switch with red toggle via the left arm.", + "Move to the small switch and click it.", + "Operate the left arm to engage the small switch", + "Command the left arm to engage the small switch", + "Trigger the small switch without referencing the left arm", + "Toggle the red and black switch with the left arm.", + "Engage with the red-top black switch manually", + "Direct the left arm to operate the black switch", + "Locate and press the red-top black switch", + "Press the switch with curved red toggle using the left arm.", + "Activate the black base switch with red toggle via the left arm", + "Interact with the switch with curved red toggle directly", + "Engage the hand-sized switch with connector prongs using the left arm", + "Interact with the rectangular black plastic switch.", + "Use the left arm to engage the compact switch with toggle on top" + ], + "unseen": [ + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..5d1ee6da9bcddc4b41a6b754e85149a283a64954 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the left arm to press the switch for electrical control", + "Use the left arm for switching the switch with smooth light gray finish", + "Set the switch at the palm-sized light gray switch", + "Press the angled-edge gray square switch directly", + "Locate and press the flat square with raised center", + "Interact with the switch with rectangular raised area.", + "Direct the left arm to operate the switch with smooth light gray finish", + "Activate the smooth gray switch directly", + "Approach and tap the square gray switch panel via the left arm", + "Engage the small square switch with a press.", + "Initiate the smooth gray switch by clicking", + "Press the palm-sized light gray switch with the left arm", + "Deploy the left arm to operate the square gray switch panel", + "Interact with the switch for electrical control directly", + "Engage the square switch with smooth surface using the left arm.", + "Operate the small square switch with the left arm", + "Engage with the light gray plastic switch manually", + "Deploy the left arm to press the palm-sized light gray switch", + "Click on the square switch with smooth surface precisely", + "Click the small square switch directly.", + "Move to the light gray plastic switch and click it.", + "Use the left arm to interact with the small square switch made of plastic", + "Use the left arm to engage the flat square with raised center", + "Tap the square switch with smooth surface to engage it", + "Command the left arm to engage the small square switch", + "Engage the switch with smooth light gray finish using the robotic arm", + "Trigger the square switch with smooth surface without referencing the left arm", + "Engage the small square switch made of plastic using the left arm", + "Engage the left arm to press the angled-edge gray square switch", + "Activate the the square gray switch panel using the left arm", + "Trigger the flat square with raised center using the left arm", + "Directly interact with the smooth gray switch", + "Push the switch with rectangular raised area via the left arm.", + "Press the square gray switch panel to activate.", + "Trigger the smooth gray switch with precision", + "Activate the smooth gray switch with the left arm.", + "Press the switch with smooth light gray finish carefully with the left arm", + "Click the flat square with raised center with robotic precision", + "Click the small square switch made of plastic to activate it", + "Activate the light gray plastic switch with robotic precision", + "Click the smooth gray switch using automated tools", + "Locate and press the square switch with smooth surface", + "Press the switch for electrical control using robotic control", + "Operate the left arm to engage the small square switch", + "Press the square gray switch panel via automation", + "Activate the switch with smooth light gray finish by pressing it", + "Activate the switch for electrical control via the left arm", + "Toggle the small square switch made of plastic with the left arm.", + "Switch the switch with rectangular raised area to its active state", + "Press the smooth gray switch using the left arm.", + "Set the left arm to press the switch with rectangular raised area", + "Use the left arm for switching the switch with smooth light gray finish", + "Set the switch at the flat square with raised center", + "Press the switch with rectangular raised area directly", + "Locate and press the switch for electrical control", + "Interact with the palm-sized light gray switch.", + "Direct the left arm to operate the small square switch made of plastic", + "Activate the angled-edge gray square switch directly", + "Approach and tap the small square switch via the left arm", + "Engage the square gray switch panel with a press.", + "Initiate the square switch with smooth surface by clicking", + "Press the flat square with raised center with the left arm", + "Deploy the left arm to operate the small square switch made of plastic", + "Interact with the palm-sized light gray switch directly", + "Engage the smooth gray switch using the left arm.", + "Operate the angled-edge gray square switch with the left arm", + "Engage with the switch with smooth light gray finish manually", + "Deploy the left arm to press the light gray plastic switch", + "Click on the angled-edge gray square switch precisely", + "Click the switch with rectangular raised area directly.", + "Move to the square switch with smooth surface and click it.", + "Use the left arm to interact with the small square switch", + "Use the left arm to engage the small square switch", + "Tap the switch for electrical control to engage it", + "Command the left arm to engage the light gray plastic switch", + "Engage the switch for electrical control using the robotic arm", + "Trigger the switch for electrical control without referencing the left arm", + "Engage the switch with smooth light gray finish using the left arm", + "Engage the left arm to press the small square switch made of plastic", + "Activate the the small square switch made of plastic using the left arm", + "Trigger the square gray switch panel using the left arm", + "Directly interact with the light gray plastic switch", + "Push the switch with smooth light gray finish via the left arm.", + "Press the flat square with raised center to activate.", + "Trigger the small square switch made of plastic with precision", + "Activate the flat square with raised center with the left arm.", + "Press the square gray switch panel carefully with the left arm", + "Click the flat square with raised center with robotic precision", + "Click the switch for electrical control to activate it", + "Activate the switch for electrical control with robotic precision", + "Click the square switch with smooth surface using automated tools", + "Locate and press the square switch with smooth surface", + "Press the smooth gray switch using robotic control", + "Operate the left arm to engage the square switch with smooth surface", + "Press the palm-sized light gray switch via automation", + "Activate the flat square with raised center by pressing it", + "Activate the switch for electrical control via the left arm", + "Toggle the smooth gray switch with the left arm.", + "Switch the angled-edge gray square switch to its active state", + "Press the flat square with raised center using the left arm." + ], + "unseen": [ + "Move and click the the switch with angled edges", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Press the switch with angled edges using the left arm", + "Click the switch with angled edges with the left arm", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the left arm", + "Use the left arm to press the flat gray switch.", + "Move and click the the flat gray switch", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the flat gray switch", + "Click the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Press the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the left arm", + "Use the left arm to press the flat gray switch.", + "Move and click the the flat gray switch", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm.", + "Press the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides", + "Direct the left arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm.", + "Press the switch with angled edges using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the left arm", + "Use the left arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides", + "Direct the left arm to click the flat gray switch", + "Click the gray switch with slanted sides using the left arm", + "Click the switch with angled edges with the left arm.", + "Press the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the left arm", + "Use the left arm to press the switch with angled edges.", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the switch with angled edges", + "Direct the left arm to click the gray switch with slanted sides", + "Click the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm.", + "Press the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the left arm", + "Use the left arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides", + "Direct the left arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Press the switch with angled edges using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the gray switch with slanted sides.", + "Move and click the the flat gray switch", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Press the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch with the left arm", + "Use the left arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the gray switch with slanted sides", + "Direct the left arm to click the flat gray switch", + "Click the gray switch with slanted sides using the left arm", + "Click the gray switch with slanted sides with the left arm.", + "Press the switch with angled edges using the left arm", + "Click the switch with angled edges with the left arm", + "Activate the switch at the flat gray switch", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the switch with angled edges.", + "Move and click the the gray switch with slanted sides", + "Use the left arm to press the flat gray switch", + "Direct the left arm to click the flat gray switch", + "Click the switch with angled edges using the left arm", + "Click the flat gray switch with the left arm.", + "Press the flat gray switch using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the flat gray switch." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf41b520de547aeb0413c6e656f9ce94824c807 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the metal-pronged black switch to activate.", + "Locate and press the small switch with red lever", + "Activate the rectangular switch by pressing it", + "Use the right arm to interact with the two-tone red black switch", + "Command the right arm to engage the metal-pronged black switch", + "Use the right arm to engage the two-tone red black switch", + "Click the smooth red switch with labels to activate it", + "Operate the right arm to engage the smooth red switch with labels", + "Use the right arm for switching the rectangular switch", + "Activate the the switch with three metal pins using the right arm", + "Press the smooth red switch with labels with the right arm", + "Direct the right arm to operate the switch with three metal pins", + "Press the switch for turning circuits on off carefully with the right arm", + "Activate the toggle switch with black housing with the right arm.", + "Trigger the two-tone red black switch with precision", + "Approach and tap the switch for turning circuits on off via the right arm", + "Deploy the right arm to operate the metal-pronged black switch", + "Push the black base switch via the right arm.", + "Engage the black base switch using the right arm.", + "Activate the tiny rectangular switch via the right arm", + "Click the rectangular switch with robotic precision", + "Deploy the right arm to press the rectangular switch", + "Press the plastic switch with metal prongs directly", + "Engage the right arm to press the switch for turning circuits on off", + "Trigger the smooth red switch with labels using the right arm", + "Move to the toggle switch with black housing and click it.", + "Press the smooth red switch with labels using the right arm.", + "Initiate the switch for turning circuits on off by clicking", + "Set the right arm to press the tiny rectangular switch", + "Activate the switch with three metal pins directly", + "Press the rectangular switch via automation", + "Activate the plastic switch with metal prongs with robotic precision", + "Engage the smooth red switch with labels with a press.", + "Directly interact with the switch with three metal pins", + "Toggle the two-tone red black switch with the right arm.", + "Switch the metal-pronged black switch to its active state", + "Set the switch at the plastic switch with metal prongs", + "Engage the small switch with red lever using the robotic arm", + "Engage the switch for turning circuits on off using the right arm", + "Locate and press the metal-pronged black switch", + "Press the black base switch using robotic control", + "Trigger the rectangular switch without referencing the right arm", + "Click the tiny rectangular switch using automated tools", + "Interact with the switch with three metal pins.", + "Click the toggle switch with black housing directly.", + "Click on the black base switch precisely", + "Engage with the smooth red switch with labels manually", + "Tap the two-tone red black switch to engage it", + "Operate the black base switch with the right arm", + "Interact with the smooth red switch with labels directly", + "Press the toggle switch with black housing to activate.", + "Locate and press the tiny rectangular switch", + "Activate the red and black electrical switch by pressing it", + "Use the right arm to interact with the switch for turning circuits on off", + "Command the right arm to engage the toggle switch with black housing", + "Use the right arm to engage the toggle switch with black housing", + "Click the switch for turning circuits on off to activate it", + "Operate the right arm to engage the small switch with red lever", + "Use the right arm for switching the tiny rectangular switch", + "Activate the the switch for turning circuits on off using the right arm", + "Press the black base switch with the right arm", + "Direct the right arm to operate the tiny rectangular switch", + "Press the tiny rectangular switch carefully with the right arm", + "Activate the switch with three metal pins with the right arm.", + "Trigger the toggle switch with black housing with precision", + "Approach and tap the toggle switch with black housing via the right arm", + "Deploy the right arm to operate the black base switch", + "Push the small switch with red lever via the right arm.", + "Engage the rectangular switch using the right arm.", + "Activate the toggle switch with black housing via the right arm", + "Click the small switch with red lever with robotic precision", + "Deploy the right arm to press the rectangular switch", + "Press the tiny rectangular switch directly", + "Engage the right arm to press the black base switch", + "Trigger the tiny rectangular switch using the right arm", + "Move to the smooth red switch with labels and click it.", + "Press the plastic switch with metal prongs using the right arm.", + "Initiate the toggle switch with black housing by clicking", + "Set the right arm to press the rectangular switch", + "Activate the metal-pronged black switch directly", + "Press the switch with three metal pins via automation", + "Activate the tiny rectangular switch with robotic precision", + "Engage the switch with three metal pins with a press.", + "Directly interact with the switch with three metal pins", + "Toggle the small switch with red lever with the right arm.", + "Switch the smooth red switch with labels to its active state", + "Set the switch at the two-tone red black switch", + "Engage the switch for turning circuits on off using the robotic arm", + "Engage the small switch with red lever using the right arm", + "Locate and press the red and black electrical switch", + "Press the switch for turning circuits on off using robotic control", + "Trigger the small switch with red lever without referencing the right arm", + "Click the small switch with red lever using automated tools", + "Interact with the tiny rectangular switch.", + "Click the two-tone red black switch directly.", + "Click on the toggle switch with black housing precisely", + "Engage with the two-tone red black switch manually", + "Tap the metal-pronged black switch to engage it", + "Operate the toggle switch with black housing with the right arm", + "Interact with the toggle switch with black housing directly" + ], + "unseen": [ + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/turn_switch/aloha-agilex/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..03b90e9d364ae1116e413711c893b7f8cf30168b --- 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new file mode 100644 index 0000000000000000000000000000000000000000..e568db83747539d5704ce293202e2ccb233cae28 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/data/episode8.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e9ec79bdea4946b62748856b27e377c28674d663420c1322d2923b5a1db18b5f +size 3275416 diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/data/episode9.hdf5 b/robotwin_multiembodiments/turn_switch/franka-panda/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..52bdf07de89358a920fb6cb11598574073987f66 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:330ae1a101636acd23ec32d9249228933faf10cc46d49d5a1090f8f96af65468 +size 3088620 diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/config.yml b/robotwin_multiembodiments/turn_switch/franka-panda/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/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/turn_switch/franka-panda/meta/info.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..88463aaa79b9523aae8c27dd7a1cdd47f0936b0b --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/info.json @@ -0,0 +1,64 @@ +{ + "task": "turn_switch", + "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/turn_switch/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..3888b2708231c3939e52227b2c60775cb8895ba2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Interact with the electric toggle switch directly", + "Interact with the electric toggle switch.", + "Press the switch with trapezoidal base using robotic control", + "Use the right arm to interact with the switch with trapezoidal base", + "Use the right arm for switching the smooth gray switch", + "Locate and press the gray smooth surface switch", + "Activate the gray smooth surface switch by pressing it", + "Push the handheld switch via the right arm.", + "Initiate the gray plastic switch by clicking", + "Click on the trapezoidal base switch precisely", + "Click the gray base with black buttons with robotic precision", + "Activate the gray smooth surface switch via the right arm", + "Engage the medium switch with trapezoidal base using the right arm.", + "Locate and press the handheld switch", + "Set the right arm to press the electric toggle switch", + "Click the gray base with black buttons using automated tools", + "Trigger the electric toggle switch with precision", + "Engage the switch with trapezoidal base using the right arm", + "Click the smooth gray switch directly.", + "Switch the electric toggle switch to its active state", + "Engage with the gray base with black buttons manually", + "Press the switch with trapezoidal base to activate.", + "Engage the medium switch with trapezoidal base using the robotic arm", + "Click the handheld switch to activate it", + "Move to the two-button gray switch and click it.", + "Operate the electric toggle switch with the right arm", + "Trigger the gray switch with black buttons without referencing the right arm", + "Directly interact with the gray smooth surface switch", + "Press the handheld switch using the right arm.", + "Press the plastic switch with matte buttons carefully with the right arm", + "Set the switch at the gray switch with black buttons", + "Engage the medium switch with trapezoidal base with a press.", + "Operate the right arm to engage the plastic switch with matte buttons", + "Approach and tap the plastic switch with matte buttons via the right arm", + "Deploy the right arm to operate the two-button gray switch", + "Command the right arm to engage the trapezoidal base switch", + "Tap the gray base with black buttons to engage it", + "Use the right arm to engage the gray base with black buttons", + "Press the switch with trapezoidal base directly", + "Toggle the gray plastic switch with the right arm.", + "Activate the the gray switch with black buttons using the right arm", + "Direct the right arm to operate the electric toggle switch", + "Deploy the right arm to press the trapezoidal base switch", + "Engage the right arm to press the electric toggle switch", + "Activate the gray switch with black buttons directly", + "Press the gray base with black buttons via automation", + "Activate the gray smooth surface switch with the right arm.", + "Activate the two-button gray switch with robotic precision", + "Press the smooth gray switch with the right arm", + "Trigger the gray smooth surface switch using the right arm", + "Interact with the gray switch with black buttons directly", + "Interact with the gray smooth surface switch.", + "Press the switch with trapezoidal base using robotic control", + "Use the right arm to interact with the trapezoidal base switch", + "Use the right arm for switching the gray smooth surface switch", + "Locate and press the electric toggle switch", + "Activate the electric toggle switch by pressing it", + "Push the medium switch with trapezoidal base via the right arm.", + "Initiate the gray smooth surface switch by clicking", + "Click on the gray switch with black buttons precisely", + "Click the gray base with black buttons with robotic precision", + "Activate the gray smooth surface switch via the right arm", + "Engage the two-button gray switch using the right arm.", + "Locate and press the trapezoidal base switch", + "Set the right arm to press the gray plastic switch", + "Click the gray plastic switch using automated tools", + "Trigger the smooth gray switch with precision", + "Engage the medium switch with trapezoidal base using the right arm", + "Click the electric toggle switch directly.", + "Switch the gray plastic switch to its active state", + "Engage with the gray plastic switch manually", + "Press the trapezoidal base switch to activate.", + "Engage the electric toggle switch using the robotic arm", + "Click the trapezoidal base switch to activate it", + "Move to the handheld switch and click it.", + "Operate the plastic switch with matte buttons with the right arm", + "Trigger the two-button gray switch without referencing the right arm", + "Directly interact with the gray base with black buttons", + "Press the gray switch with black buttons using the right arm.", + "Press the medium switch with trapezoidal base carefully with the right arm", + "Set the switch at the trapezoidal base switch", + "Engage the smooth gray switch with a press.", + "Operate the right arm to engage the gray switch with black buttons", + "Approach and tap the plastic switch with matte buttons via the right arm", + "Deploy the right arm to operate the gray plastic switch", + "Command the right arm to engage the gray base with black buttons", + "Tap the plastic switch with matte buttons to engage it", + "Use the right arm to engage the plastic switch with matte buttons", + "Press the electric toggle switch directly", + "Toggle the electric toggle switch with the right arm.", + "Activate the the gray plastic switch using the right arm", + "Direct the right arm to operate the gray plastic switch", + "Deploy the right arm to press the gray base with black buttons", + "Engage the right arm to press the electric toggle switch", + "Activate the medium switch with trapezoidal base directly", + "Press the gray plastic switch via automation", + "Activate the medium switch with trapezoidal base with the right arm.", + "Activate the two-button gray switch with robotic precision", + "Press the gray base with black buttons with the right arm", + "Trigger the gray plastic switch using the right arm" + ], + "unseen": [ + "Move and click the the gray switch medium size", + "Click the gray switch with the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the switch with circular black buttons", + "Click the gray switch with the right arm", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch with the right arm.", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the gray switch", + "Click the gray switch with the right arm", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm.", + "Press the gray switch using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch with the right arm.", + "Press the gray switch using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch with the right arm.", + "Press the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch medium size" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..5207b37c2175b4211880edbbb431942d55062548 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the small trapezoid switch to activate.", + "Toggle the tiny matte beige toggle switch with the left arm.", + "Activate the beige switch with smooth finish with the left arm.", + "Switch the light plastic switch to its active state", + "Initiate the switch with a smooth top by clicking", + "Set the left arm to press the beige switch", + "Locate and press the beige switch with smooth finish", + "Activate the switch with rectangular dark button with robotic precision", + "Press the beige switch directly", + "Operate the left arm to engage the beige switch with smooth finish", + "Deploy the left arm to operate the matte beige switch with flat top", + "Press the small trapezoid switch carefully with the left arm", + "Directly interact with the beige switch with smooth finish", + "Locate and press the toggle switch with brown rectangle button", + "Click the switch with rectangular dark button using automated tools", + "Deploy the left arm to press the switch with brown button", + "Engage the tiny matte beige toggle switch using the robotic arm", + "Engage the light plastic switch using the left arm.", + "Press the switch with brown button using the left arm.", + "Press the light plastic switch with the left arm", + "Activate the switch with brown button by pressing it", + "Engage the small trapezoid switch with a press.", + "Activate the light plastic switch via the left arm", + "Activate the switch with brown button directly", + "Tap the switch with a smooth top to engage it", + "Interact with the switch with a smooth top.", + "Engage with the small trapezoid switch manually", + "Activate the the toggle switch with brown rectangle button using the left arm", + "Push the matte beige switch with flat top via the left arm.", + "Approach and tap the toggle switch with brown rectangle button via the left arm", + "Click on the small trapezoid switch precisely", + "Set the switch at the toggle switch with brown rectangle button", + "Use the left arm for switching the light plastic switch", + "Interact with the beige switch directly", + "Trigger the beige switch with smooth finish using the left arm", + "Engage the beige switch with smooth finish using the left arm", + "Trigger the beige switch with smooth finish without referencing the left arm", + "Press the switch with rectangular dark button using robotic control", + "Press the toggle switch with brown rectangle button via automation", + "Command the left arm to engage the matte beige switch with flat top", + "Click the switch with rectangular dark button to activate it", + "Click the matte beige switch with flat top with robotic precision", + "Engage the left arm to press the beige switch", + "Trigger the toggle switch with brown rectangle button with precision", + "Click the small trapezoid switch directly.", + "Move to the beige switch with smooth finish and click it.", + "Operate the matte beige switch with flat top with the left arm", + "Use the left arm to interact with the light-colored trapezoid-shaped plastic switch", + "Use the left arm to engage the switch with brown button", + "Direct the left arm to operate the switch with a smooth top", + "Press the light plastic switch to activate.", + "Toggle the switch with rectangular dark button with the left arm.", + "Activate the light plastic switch with the left arm.", + "Switch the switch with a smooth top to its active state", + "Initiate the matte beige switch with flat top by clicking", + "Set the left arm to press the beige switch", + "Locate and press the switch with a smooth top", + "Activate the switch with rectangular dark button with robotic precision", + "Press the matte beige switch with flat top directly", + "Operate the left arm to engage the switch with brown button", + "Deploy the left arm to operate the matte beige switch with flat top", + "Press the hand-sized light beige switch carefully with the left arm", + "Directly interact with the light-colored trapezoid-shaped plastic switch", + "Locate and press the hand-sized light beige switch", + "Click the toggle switch with brown rectangle button using automated tools", + "Deploy the left arm to press the beige switch with smooth finish", + "Engage the small trapezoid switch using the robotic arm", + "Engage the switch with rectangular dark button using the left arm.", + "Press the beige switch using the left arm.", + "Press the light-colored trapezoid-shaped plastic switch with the left arm", + "Activate the switch with rectangular dark button by pressing it", + "Engage the small trapezoid switch with a press.", + "Activate the switch with rectangular dark button via the left arm", + "Activate the toggle switch with brown rectangle button directly", + "Tap the matte beige switch with flat top to engage it", + "Interact with the beige switch with smooth finish.", + "Engage with the beige switch with smooth finish manually", + "Activate the the toggle switch with brown rectangle button using the left arm", + "Push the beige switch via the left arm.", + "Approach and tap the light-colored trapezoid-shaped plastic switch via the left arm", + "Click on the beige switch with smooth finish precisely", + "Set the switch at the toggle switch with brown rectangle button", + "Use the left arm for switching the matte beige switch with flat top", + "Interact with the light-colored trapezoid-shaped plastic switch directly", + "Trigger the switch with rectangular dark button using the left arm", + "Engage the beige switch with smooth finish using the left arm", + "Trigger the hand-sized light beige switch without referencing the left arm", + "Press the small trapezoid switch using robotic control", + "Press the matte beige switch with flat top via automation", + "Command the left arm to engage the small trapezoid switch", + "Click the light-colored trapezoid-shaped plastic switch to activate it", + "Click the matte beige switch with flat top with robotic precision", + "Engage the left arm to press the light plastic switch", + "Trigger the light plastic switch with precision", + "Click the tiny matte beige toggle switch directly.", + "Move to the switch with rectangular dark button and click it.", + "Operate the light plastic switch with the left arm", + "Use the left arm to interact with the tiny matte beige toggle switch", + "Use the left arm to engage the beige switch with smooth finish", + "Direct the left arm to operate the beige switch with smooth finish" + ], + "unseen": [ + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top using the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Use the left arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides using the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..8069e929ff54001f97a6984b7437a3a1e27a23a3 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the metal-pronged black switch using the left arm.", + "Toggle the metal-pronged black switch with the left arm.", + "Activate the tiny rectangular switch via the left arm", + "Activate the black base switch with robotic precision", + "Use the left arm to engage the switch with three metal pins", + "Deploy the left arm to operate the small switch with red lever", + "Press the metal-pronged black switch directly", + "Locate and press the red and black electrical switch", + "Push the plastic switch with metal prongs via the left arm.", + "Click on the black base switch precisely", + "Engage the red and black electrical switch using the robotic arm", + "Engage with the small switch with red lever manually", + "Engage the switch with three metal pins with a press.", + "Press the rectangular switch using robotic control", + "Move to the tiny rectangular switch and click it.", + "Activate the tiny rectangular switch directly", + "Activate the switch for turning circuits on off with the left arm.", + "Tap the small switch with red lever to engage it", + "Operate the smooth red switch with labels with the left arm", + "Press the tiny rectangular switch with the left arm", + "Use the left arm for switching the black base switch", + "Switch the metal-pronged black switch to its active state", + "Trigger the toggle switch with black housing without referencing the left arm", + "Activate the plastic switch with metal prongs by pressing it", + "Direct the left arm to operate the metal-pronged black switch", + "Click the switch with three metal pins directly.", + "Activate the the metal-pronged black switch using the left arm", + "Click the switch with three metal pins to activate it", + "Operate the left arm to engage the toggle switch with black housing", + "Set the left arm to press the small switch with red lever", + "Trigger the small switch with red lever using the left arm", + "Press the smooth red switch with labels via automation", + "Use the left arm to interact with the plastic switch with metal prongs", + "Interact with the rectangular switch directly", + "Engage the rectangular switch using the left arm.", + "Interact with the two-tone red black switch.", + "Engage the left arm to press the tiny rectangular switch", + "Press the smooth red switch with labels carefully with the left arm", + "Press the smooth red switch with labels to activate.", + "Engage the metal-pronged black switch using the left arm", + "Click the toggle switch with black housing with robotic precision", + "Deploy the left arm to press the small switch with red lever", + "Initiate the small switch with red lever by clicking", + "Set the switch at the metal-pronged black switch", + "Trigger the rectangular switch with precision", + "Click the two-tone red black switch using automated tools", + "Locate and press the tiny rectangular switch", + "Directly interact with the smooth red switch with labels", + "Approach and tap the smooth red switch with labels via the left arm", + "Command the left arm to engage the black base switch", + "Press the red and black electrical switch using the left arm.", + "Toggle the two-tone red black switch with the left arm.", + "Activate the switch with three metal pins via the left arm", + "Activate the switch for turning circuits on off with robotic precision", + "Use the left arm to engage the red and black electrical switch", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the black base switch directly", + "Locate and press the smooth red switch with labels", + "Push the switch for turning circuits on off via the left arm.", + "Click on the smooth red switch with labels precisely", + "Engage the red and black electrical switch using the robotic arm", + "Engage with the switch for turning circuits on off manually", + "Engage the tiny rectangular switch with a press.", + "Press the two-tone red black switch using robotic control", + "Move to the toggle switch with black housing and click it.", + "Activate the plastic switch with metal prongs directly", + "Activate the plastic switch with metal prongs with the left arm.", + "Tap the metal-pronged black switch to engage it", + "Operate the red and black electrical switch with the left arm", + "Press the black base switch with the left arm", + "Use the left arm for switching the switch with three metal pins", + "Switch the switch with three metal pins to its active state", + "Trigger the tiny rectangular switch without referencing the left arm", + "Activate the red and black electrical switch by pressing it", + "Direct the left arm to operate the two-tone red black switch", + "Click the toggle switch with black housing directly.", + "Activate the the two-tone red black switch using the left arm", + "Click the metal-pronged black switch to activate it", + "Operate the left arm to engage the tiny rectangular switch", + "Set the left arm to press the switch for turning circuits on off", + "Trigger the toggle switch with black housing using the left arm", + "Press the switch with three metal pins via automation", + "Use the left arm to interact with the plastic switch with metal prongs", + "Interact with the toggle switch with black housing directly", + "Engage the rectangular switch using the left arm.", + "Interact with the tiny rectangular switch.", + "Engage the left arm to press the red and black electrical switch", + "Press the metal-pronged black switch carefully with the left arm", + "Press the tiny rectangular switch to activate.", + "Engage the tiny rectangular switch using the left arm", + "Click the metal-pronged black switch with robotic precision", + "Deploy the left arm to press the tiny rectangular switch", + "Initiate the plastic switch with metal prongs by clicking", + "Set the switch at the tiny rectangular switch", + "Trigger the plastic switch with metal prongs with precision", + "Click the switch for turning circuits on off using automated tools", + "Locate and press the smooth red switch with labels", + "Directly interact with the red and black electrical switch", + "Approach and tap the metal-pronged black switch via the left arm", + "Command the left arm to engage the switch for turning circuits on off" + ], + "unseen": [ + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Press the curved toggle switch using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..4855e566b4bd7d4d60cf616fc81cb5f337be8893 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Initiate the two-tone red black switch by clicking", + "Directly interact with the plastic switch with metal prongs", + "Push the switch for turning circuits on off via the left arm.", + "Interact with the smooth red switch with labels.", + "Engage the toggle switch with black housing using the left arm", + "Press the red and black electrical switch to activate.", + "Press the black base switch with the left arm", + "Trigger the plastic switch with metal prongs with precision", + "Activate the the toggle switch with black housing using the left arm", + "Engage the left arm to press the two-tone red black switch", + "Engage the switch for turning circuits on off using the robotic arm", + "Activate the rectangular switch with the left arm.", + "Engage the red and black electrical switch using the left arm.", + "Switch the switch for turning circuits on off to its active state", + "Click the metal-pronged black switch to activate it", + "Engage with the small switch with red lever manually", + "Set the switch at the two-tone red black switch", + "Operate the left arm to engage the rectangular switch", + "Deploy the left arm to press the black base switch", + "Engage the switch for turning circuits on off with a press.", + "Press the rectangular switch directly", + "Approach and tap the black base switch via the left arm", + "Press the plastic switch with metal prongs using robotic control", + "Click the small switch with red lever directly.", + "Command the left arm to engage the metal-pronged black switch", + "Use the left arm to interact with the small switch with red lever", + "Press the switch with three metal pins using the left arm.", + "Toggle the toggle switch with black housing with the left arm.", + "Operate the red and black electrical switch with the left arm", + "Use the left arm for switching the smooth red switch with labels", + "Locate and press the switch for turning circuits on off", + "Click on the smooth red switch with labels precisely", + "Direct the left arm to operate the red and black electrical switch", + "Trigger the red and black electrical switch without referencing the left arm", + "Activate the smooth red switch with labels via the left arm", + "Locate and press the metal-pronged black switch", + "Set the left arm to press the toggle switch with black housing", + "Click the metal-pronged black switch with robotic precision", + "Interact with the red and black electrical switch directly", + "Activate the smooth red switch with labels with robotic precision", + "Trigger the plastic switch with metal prongs using the left arm", + "Press the two-tone red black switch carefully with the left arm", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the switch for turning circuits on off via automation", + "Tap the small switch with red lever to engage it", + "Click the two-tone red black switch using automated tools", + "Move to the switch for turning circuits on off and click it.", + "Activate the small switch with red lever by pressing it", + "Use the left arm to engage the metal-pronged black switch", + "Activate the toggle switch with black housing directly", + "Initiate the tiny rectangular switch by clicking", + "Directly interact with the rectangular switch", + "Push the smooth red switch with labels via the left arm.", + "Interact with the tiny rectangular switch.", + "Engage the switch with three metal pins using the left arm", + "Press the plastic switch with metal prongs to activate.", + "Press the small switch with red lever with the left arm", + "Trigger the two-tone red black switch with precision", + "Activate the the toggle switch with black housing using the left arm", + "Engage the left arm to press the smooth red switch with labels", + "Engage the rectangular switch using the robotic arm", + "Activate the toggle switch with black housing with the left arm.", + "Engage the tiny rectangular switch using the left arm.", + "Switch the plastic switch with metal prongs to its active state", + "Click the plastic switch with metal prongs to activate it", + "Engage with the switch for turning circuits on off manually", + "Set the switch at the black base switch", + "Operate the left arm to engage the plastic switch with metal prongs", + "Deploy the left arm to press the toggle switch with black housing", + "Engage the plastic switch with metal prongs with a press.", + "Press the metal-pronged black switch directly", + "Approach and tap the tiny rectangular switch via the left arm", + "Press the plastic switch with metal prongs using robotic control", + "Click the switch with three metal pins directly.", + "Command the left arm to engage the switch for turning circuits on off", + "Use the left arm to interact with the switch for turning circuits on off", + "Press the two-tone red black switch using the left arm.", + "Toggle the plastic switch with metal prongs with the left arm.", + "Operate the two-tone red black switch with the left arm", + "Use the left arm for switching the small switch with red lever", + "Locate and press the switch with three metal pins", + "Click on the black base switch precisely", + "Direct the left arm to operate the black base switch", + "Trigger the tiny rectangular switch without referencing the left arm", + "Activate the red and black electrical switch via the left arm", + "Locate and press the small switch with red lever", + "Set the left arm to press the rectangular switch", + "Click the two-tone red black switch with robotic precision", + "Interact with the smooth red switch with labels directly", + "Activate the toggle switch with black housing with robotic precision", + "Trigger the black base switch using the left arm", + "Press the switch for turning circuits on off carefully with the left arm", + "Deploy the left arm to operate the switch for turning circuits on off", + "Press the metal-pronged black switch via automation", + "Tap the toggle switch with black housing to engage it", + "Click the metal-pronged black switch using automated tools", + "Move to the switch with three metal pins and click it.", + "Activate the metal-pronged black switch by pressing it", + "Use the left arm to engage the black base switch", + "Activate the switch for turning circuits on off directly" + ], + "unseen": [ + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the curved toggle switch", + "Press the red toggle switch using the left arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Use the left arm to press the curved toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch.", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the curved toggle switch.", + "Use the left arm to press the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Press the curved toggle switch using the left arm", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Use the left arm to press the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Press the red toggle switch using the left arm", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..a502b7e8b4feaa6fcb04e12d79aa263a59f0428a --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Initiate the hand-sized switch with connector prongs by clicking", + "Trigger the black base switch with red toggle using the left arm", + "Switch the rectangular black plastic switch to its active state", + "Engage with the hand-sized switch with connector prongs manually", + "Set the switch at the black switch with metallic connectors", + "Locate and press the small switch", + "Activate the compact switch with toggle on top with robotic precision", + "Engage the left arm to press the black switch", + "Trigger the black switch without referencing the left arm", + "Press the red and black switch to activate.", + "Operate the red-top black switch with the left arm", + "Command the left arm to engage the black switch", + "Press the rectangular switch with curved lever using robotic control", + "Set the left arm to press the black switch", + "Activate the the red-top black switch using the left arm", + "Operate the left arm to engage the switch with curved red toggle", + "Use the left arm to engage the rectangular switch with curved lever", + "Engage the black base switch with red toggle using the left arm", + "Press the rectangular switch with curved lever directly", + "Activate the black switch with metallic connectors via the left arm", + "Engage the hand-sized switch with connector prongs using the left arm.", + "Press the compact switch with toggle on top with the left arm", + "Activate the black switch with metallic connectors directly", + "Press the black switch with metallic connectors carefully with the left arm", + "Click the red and black switch using automated tools", + "Locate and press the black switch", + "Use the left arm to interact with the rectangular switch with curved lever", + "Interact with the rectangular black plastic switch directly", + "Press the black switch via automation", + "Activate the black switch with metallic connectors with the left arm.", + "Click on the plastic switch with metal terminals precisely", + "Press the hand-sized switch with connector prongs using the left arm.", + "Trigger the compact switch with toggle on top with precision", + "Interact with the rectangular switch with curved lever.", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Deploy the left arm to press the red and black switch", + "Use the left arm for switching the black switch with metallic connectors", + "Engage the red-top black switch with a press.", + "Push the small switch via the left arm.", + "Click the rectangular switch with curved lever directly.", + "Click the switch with curved red toggle with robotic precision", + "Tap the switch with curved red toggle to engage it", + "Direct the left arm to operate the plastic switch with metal terminals", + "Move to the black switch with metallic connectors and click it.", + "Engage the black switch with metallic connectors using the robotic arm", + "Activate the hand-sized switch with connector prongs by pressing it", + "Toggle the hand-sized switch with connector prongs with the left arm.", + "Approach and tap the rectangular black plastic switch via the left arm", + "Directly interact with the black base switch with red toggle", + "Click the plastic switch with metal terminals to activate it", + "Initiate the switch with curved red toggle by clicking", + "Trigger the plastic switch with metal terminals using the left arm", + "Switch the red and black switch to its active state", + "Engage with the red and black switch manually", + "Set the switch at the rectangular black plastic switch", + "Locate and press the red and black switch", + "Activate the red and black switch with robotic precision", + "Engage the left arm to press the hand-sized switch with connector prongs", + "Trigger the switch with curved red toggle without referencing the left arm", + "Press the switch with curved red toggle to activate.", + "Operate the black switch with metallic connectors with the left arm", + "Command the left arm to engage the red-top black switch", + "Press the plastic switch with metal terminals using robotic control", + "Set the left arm to press the red-top black switch", + "Activate the the red and black switch using the left arm", + "Operate the left arm to engage the plastic switch with metal terminals", + "Use the left arm to engage the plastic switch with metal terminals", + "Engage the black switch with metallic connectors using the left arm", + "Press the plastic switch with metal terminals directly", + "Activate the switch with curved red toggle via the left arm", + "Engage the small switch using the left arm.", + "Press the rectangular black plastic switch with the left arm", + "Activate the switch with curved red toggle directly", + "Press the compact switch with toggle on top carefully with the left arm", + "Click the small switch using automated tools", + "Locate and press the black switch with metallic connectors", + "Use the left arm to interact with the small switch", + "Interact with the black switch with metallic connectors directly", + "Press the black base switch with red toggle via automation", + "Activate the switch with curved red toggle with the left arm.", + "Click on the hand-sized switch with connector prongs precisely", + "Press the hand-sized switch with connector prongs using the left arm.", + "Trigger the black base switch with red toggle with precision", + "Interact with the switch with curved red toggle.", + "Deploy the left arm to operate the black base switch with red toggle", + "Deploy the left arm to press the compact switch with toggle on top", + "Use the left arm for switching the small switch", + "Engage the black switch with metallic connectors with a press.", + "Push the rectangular switch with curved lever via the left arm.", + "Click the black switch with metallic connectors directly.", + "Click the red-top black switch with robotic precision", + "Tap the rectangular switch with curved lever to engage it", + "Direct the left arm to operate the red and black switch", + "Move to the plastic switch with metal terminals and click it.", + "Engage the rectangular switch with curved lever using the robotic arm", + "Activate the red and black switch by pressing it", + "Toggle the red and black switch with the left arm.", + "Approach and tap the black switch with metallic connectors via the left arm", + "Directly interact with the compact switch with toggle on top", + "Click the switch with curved red toggle to activate it" + ], + "unseen": [ + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Move and click the the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm.", + "Move and click the the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm.", + "Move and click the the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm.", + "Move and click the the smooth black switch with red lever", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the switch with two metal prongs" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..0a7bd08e0ae36b67ad262159afb90d35b0896ccc --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Initiate the hand-sized switch with connector prongs by clicking", + "Use the left arm for switching the switch with curved red toggle", + "Tap the black switch with metallic connectors to engage it", + "Toggle the black switch with metallic connectors with the left arm.", + "Click the small switch directly.", + "Activate the plastic switch with metal terminals with robotic precision", + "Directly interact with the compact switch with toggle on top", + "Set the switch at the red-top black switch", + "Activate the plastic switch with metal terminals by pressing it", + "Operate the left arm to engage the rectangular switch with curved lever", + "Click the rectangular switch with curved lever with robotic precision", + "Push the compact switch with toggle on top via the left arm.", + "Click on the small switch precisely", + "Use the left arm to interact with the compact switch with toggle on top", + "Command the left arm to engage the red-top black switch", + "Press the red-top black switch carefully with the left arm", + "Activate the red-top black switch directly", + "Press the black switch with metallic connectors with the left arm", + "Use the left arm to engage the black switch", + "Engage the switch with curved red toggle using the robotic arm", + "Engage the rectangular black plastic switch using the left arm", + "Activate the black switch with metallic connectors with the left arm.", + "Engage the left arm to press the rectangular black plastic switch", + "Move to the hand-sized switch with connector prongs and click it.", + "Press the compact switch with toggle on top using the left arm.", + "Trigger the compact switch with toggle on top with precision", + "Interact with the small switch.", + "Trigger the plastic switch with metal terminals using the left arm", + "Locate and press the rectangular black plastic switch", + "Engage the red-top black switch with a press.", + "Operate the red-top black switch with the left arm", + "Engage the red and black switch using the left arm.", + "Click the hand-sized switch with connector prongs to activate it", + "Deploy the left arm to press the red-top black switch", + "Interact with the rectangular black plastic switch directly", + "Switch the compact switch with toggle on top to its active state", + "Click the plastic switch with metal terminals using automated tools", + "Approach and tap the switch with curved red toggle via the left arm", + "Press the black switch with metallic connectors directly", + "Press the switch with curved red toggle using robotic control", + "Locate and press the black switch with metallic connectors", + "Direct the left arm to operate the black switch with metallic connectors", + "Deploy the left arm to operate the plastic switch with metal terminals", + "Engage with the black base switch with red toggle manually", + "Press the black switch with metallic connectors via automation", + "Activate the the red and black switch using the left arm", + "Trigger the red-top black switch without referencing the left arm", + "Activate the hand-sized switch with connector prongs via the left arm", + "Set the left arm to press the compact switch with toggle on top", + "Press the plastic switch with metal terminals to activate.", + "Initiate the small switch by clicking", + "Use the left arm for switching the hand-sized switch with connector prongs", + "Tap the small switch to engage it", + "Toggle the plastic switch with metal terminals with the left arm.", + "Click the red and black switch directly.", + "Activate the compact switch with toggle on top with robotic precision", + "Directly interact with the compact switch with toggle on top", + "Set the switch at the switch with curved red toggle", + "Activate the black base switch with red toggle by pressing it", + "Operate the left arm to engage the black switch with metallic connectors", + "Click the compact switch with toggle on top with robotic precision", + "Push the hand-sized switch with connector prongs via the left arm.", + "Click on the switch with curved red toggle precisely", + "Use the left arm to interact with the rectangular switch with curved lever", + "Command the left arm to engage the compact switch with toggle on top", + "Press the compact switch with toggle on top carefully with the left arm", + "Activate the black switch directly", + "Press the black switch with metallic connectors with the left arm", + "Use the left arm to engage the switch with curved red toggle", + "Engage the switch with curved red toggle using the robotic arm", + "Engage the plastic switch with metal terminals using the left arm", + "Activate the plastic switch with metal terminals with the left arm.", + "Engage the left arm to press the hand-sized switch with connector prongs", + "Move to the red-top black switch and click it.", + "Press the plastic switch with metal terminals using the left arm.", + "Trigger the black switch with metallic connectors with precision", + "Interact with the small switch.", + "Trigger the black switch using the left arm", + "Locate and press the black switch", + "Engage the rectangular black plastic switch with a press.", + "Operate the black base switch with red toggle with the left arm", + "Engage the compact switch with toggle on top using the left arm.", + "Click the plastic switch with metal terminals to activate it", + "Deploy the left arm to press the black switch", + "Interact with the rectangular switch with curved lever directly", + "Switch the plastic switch with metal terminals to its active state", + "Click the small switch using automated tools", + "Approach and tap the rectangular switch with curved lever via the left arm", + "Press the black switch directly", + "Press the red-top black switch using robotic control", + "Locate and press the red and black switch", + "Direct the left arm to operate the black switch", + "Deploy the left arm to operate the small switch", + "Engage with the black switch manually", + "Press the rectangular black plastic switch via automation", + "Activate the the switch with curved red toggle using the left arm", + "Trigger the switch with curved red toggle without referencing the left arm", + "Activate the rectangular black plastic switch via the left arm", + "Set the left arm to press the black switch", + "Press the switch with curved red toggle to activate." + ], + "unseen": [ + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch.", + "Use the left arm to press the smooth black switch with red lever", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs.", + "Use the left arm to press the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Use the left arm to press the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..c847baf256d4b1cb2e680558d4f152c978df4179 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Approach and tap the plastic switch with metal prongs via the left arm", + "Click the tiny rectangular switch directly.", + "Activate the red and black electrical switch with robotic precision", + "Tap the rectangular switch to engage it", + "Engage the red and black electrical switch using the robotic arm", + "Locate and press the tiny rectangular switch", + "Set the switch at the smooth red switch with labels", + "Trigger the switch with three metal pins with precision", + "Activate the small switch with red lever by pressing it", + "Use the left arm to engage the smooth red switch with labels", + "Locate and press the toggle switch with black housing", + "Press the smooth red switch with labels carefully with the left arm", + "Direct the left arm to operate the plastic switch with metal prongs", + "Press the red and black electrical switch using the left arm.", + "Use the left arm to interact with the switch for turning circuits on off", + "Command the left arm to engage the tiny rectangular switch", + "Directly interact with the two-tone red black switch", + "Click on the rectangular switch precisely", + "Use the left arm for switching the small switch with red lever", + "Activate the plastic switch with metal prongs via the left arm", + "Click the two-tone red black switch using automated tools", + "Engage the two-tone red black switch using the left arm.", + "Engage the rectangular switch using the left arm", + "Interact with the small switch with red lever directly", + "Press the plastic switch with metal prongs via automation", + "Trigger the smooth red switch with labels without referencing the left arm", + "Engage the switch for turning circuits on off with a press.", + "Click the black base switch to activate it", + "Interact with the metal-pronged black switch.", + "Push the metal-pronged black switch via the left arm.", + "Deploy the left arm to operate the two-tone red black switch", + "Toggle the small switch with red lever with the left arm.", + "Set the left arm to press the black base switch", + "Initiate the metal-pronged black switch by clicking", + "Operate the left arm to engage the switch for turning circuits on off", + "Deploy the left arm to press the small switch with red lever", + "Press the switch for turning circuits on off using robotic control", + "Activate the the metal-pronged black switch using the left arm", + "Engage the left arm to press the switch with three metal pins", + "Click the small switch with red lever with robotic precision", + "Operate the smooth red switch with labels with the left arm", + "Activate the black base switch with the left arm.", + "Press the switch with three metal pins to activate.", + "Activate the switch for turning circuits on off directly", + "Press the red and black electrical switch directly", + "Trigger the black base switch using the left arm", + "Engage with the toggle switch with black housing manually", + "Move to the two-tone red black switch and click it.", + "Switch the red and black electrical switch to its active state", + "Press the two-tone red black switch with the left arm", + "Approach and tap the switch for turning circuits on off via the left arm", + "Click the switch with three metal pins directly.", + "Activate the small switch with red lever with robotic precision", + "Tap the toggle switch with black housing to engage it", + "Engage the metal-pronged black switch using the robotic arm", + "Locate and press the two-tone red black switch", + "Set the switch at the smooth red switch with labels", + "Trigger the small switch with red lever with precision", + "Activate the small switch with red lever by pressing it", + "Use the left arm to engage the switch for turning circuits on off", + "Locate and press the small switch with red lever", + "Press the smooth red switch with labels carefully with the left arm", + "Direct the left arm to operate the smooth red switch with labels", + "Press the two-tone red black switch using the left arm.", + "Use the left arm to interact with the switch for turning circuits on off", + "Command the left arm to engage the rectangular switch", + "Directly interact with the plastic switch with metal prongs", + "Click on the plastic switch with metal prongs precisely", + "Use the left arm for switching the black base switch", + "Activate the two-tone red black switch via the left arm", + "Click the red and black electrical switch using automated tools", + "Engage the switch for turning circuits on off using the left arm.", + "Engage the small switch with red lever using the left arm", + "Interact with the switch with three metal pins directly", + "Press the metal-pronged black switch via automation", + "Trigger the metal-pronged black switch without referencing the left arm", + "Engage the two-tone red black switch with a press.", + "Click the toggle switch with black housing to activate it", + "Interact with the black base switch.", + "Push the smooth red switch with labels via the left arm.", + "Deploy the left arm to operate the tiny rectangular switch", + "Toggle the black base switch with the left arm.", + "Set the left arm to press the rectangular switch", + "Initiate the red and black electrical switch by clicking", + "Operate the left arm to engage the two-tone red black switch", + "Deploy the left arm to press the plastic switch with metal prongs", + "Press the small switch with red lever using robotic control", + "Activate the the red and black electrical switch using the left arm", + "Engage the left arm to press the two-tone red black switch", + "Click the tiny rectangular switch with robotic precision", + "Operate the toggle switch with black housing with the left arm", + "Activate the red and black electrical switch with the left arm.", + "Press the toggle switch with black housing to activate.", + "Activate the black base switch directly", + "Press the red and black electrical switch directly", + "Trigger the plastic switch with metal prongs using the left arm", + "Engage with the small switch with red lever manually", + "Move to the tiny rectangular switch and click it.", + "Switch the plastic switch with metal prongs to its active state", + "Press the small switch with red lever with the left arm" + ], + "unseen": [ + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch with the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch with the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red toggle switch.", + "Click the red toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Press the red toggle switch using the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Direct the left arm to click the curved toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..973f3f03f1ee24376424cb654d169daa4ddfde74 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the switch with rectangular raised area directly", + "Deploy the right arm to press the switch with rectangular raised area", + "Operate the light gray plastic switch with the right arm", + "Trigger the small square switch made of plastic without referencing the right arm", + "Activate the switch with smooth light gray finish directly", + "Set the switch at the small square switch made of plastic", + "Direct the right arm to operate the angled-edge gray square switch", + "Activate the switch with rectangular raised area with robotic precision", + "Approach and tap the switch with rectangular raised area via the right arm", + "Engage with the flat square with raised center manually", + "Press the smooth gray switch with the right arm", + "Deploy the right arm to operate the palm-sized light gray switch", + "Press the switch for electrical control to activate.", + "Use the right arm for switching the square gray switch panel", + "Press the angled-edge gray square switch via automation", + "Directly interact with the smooth gray switch", + "Interact with the angled-edge gray square switch directly", + "Locate and press the angled-edge gray square switch", + "Command the right arm to engage the switch for electrical control", + "Activate the smooth gray switch by pressing it", + "Switch the switch with rectangular raised area to its active state", + "Press the small square switch using the right arm.", + "Activate the the flat square with raised center using the right arm", + "Move to the small square switch and click it.", + "Operate the right arm to engage the smooth gray switch", + "Set the right arm to press the switch with smooth light gray finish", + "Push the switch with smooth light gray finish via the right arm.", + "Click the smooth gray switch directly.", + "Trigger the square switch with smooth surface using the right arm", + "Tap the square switch with smooth surface to engage it", + "Click on the small square switch made of plastic precisely", + "Engage the square gray switch panel using the robotic arm", + "Initiate the switch for electrical control by clicking", + "Activate the switch for electrical control with the right arm.", + "Locate and press the angled-edge gray square switch", + "Use the right arm to engage the small square switch made of plastic", + "Press the switch with smooth light gray finish carefully with the right arm", + "Click the smooth gray switch to activate it", + "Trigger the small square switch with precision", + "Engage the flat square with raised center using the right arm.", + "Engage the right arm to press the flat square with raised center", + "Click the square gray switch panel with robotic precision", + "Use the right arm to interact with the flat square with raised center", + "Toggle the smooth gray switch with the right arm.", + "Click the smooth gray switch using automated tools", + "Press the light gray plastic switch using robotic control", + "Engage the small square switch with a press.", + "Activate the switch for electrical control via the right arm", + "Interact with the switch with smooth light gray finish.", + "Engage the switch for electrical control using the right arm", + "Press the light gray plastic switch directly", + "Deploy the right arm to press the switch with smooth light gray finish", + "Operate the small square switch with the right arm", + "Trigger the light gray plastic switch without referencing the right arm", + "Activate the angled-edge gray square switch directly", + "Set the switch at the small square switch made of plastic", + "Direct the right arm to operate the switch for electrical control", + "Activate the switch for electrical control with robotic precision", + "Approach and tap the smooth gray switch via the right arm", + "Engage with the palm-sized light gray switch manually", + "Press the small square switch with the right arm", + "Deploy the right arm to operate the switch with rectangular raised area", + "Press the square gray switch panel to activate.", + "Use the right arm for switching the small square switch made of plastic", + "Press the small square switch via automation", + "Directly interact with the switch with rectangular raised area", + "Interact with the palm-sized light gray switch directly", + "Locate and press the square gray switch panel", + "Command the right arm to engage the flat square with raised center", + "Activate the light gray plastic switch by pressing it", + "Switch the square gray switch panel to its active state", + "Press the switch with smooth light gray finish using the right arm.", + "Activate the the switch with smooth light gray finish using the right arm", + "Move to the palm-sized light gray switch and click it.", + "Operate the right arm to engage the square switch with smooth surface", + "Set the right arm to press the flat square with raised center", + "Push the palm-sized light gray switch via the right arm.", + "Click the square switch with smooth surface directly.", + "Trigger the smooth gray switch using the right arm", + "Tap the switch with rectangular raised area to engage it", + "Click on the angled-edge gray square switch precisely", + "Engage the small square switch using the robotic arm", + "Initiate the square gray switch panel by clicking", + "Activate the small square switch made of plastic with the right arm.", + "Locate and press the angled-edge gray square switch", + "Use the right arm to engage the palm-sized light gray switch", + "Press the square switch with smooth surface carefully with the right arm", + "Click the square switch with smooth surface to activate it", + "Trigger the small square switch made of plastic with precision", + "Engage the palm-sized light gray switch using the right arm.", + "Engage the right arm to press the switch with rectangular raised area", + "Click the small square switch with robotic precision", + "Use the right arm to interact with the square gray switch panel", + "Toggle the angled-edge gray square switch with the right arm.", + "Click the switch with rectangular raised area using automated tools", + "Press the switch with rectangular raised area using robotic control", + "Engage the light gray plastic switch with a press.", + "Activate the small square switch via the right arm", + "Interact with the switch with rectangular raised area.", + "Engage the small square switch using the right arm" + ], + "unseen": [ + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the flat gray switch", + "Press the switch with angled edges using the right arm", + "Move and click the the flat gray switch", + "Click the flat gray switch with the right arm", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the flat gray switch", + "Press the switch with angled edges using the right arm", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the switch with angled edges", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges", + "Press the flat gray switch using the right arm", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges", + "Press the switch with angled edges using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the flat gray switch", + "Press the switch with angled edges using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the flat gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..f7ea2dd5067d5622237fd92538d12ee0e97348a8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the smooth gray switch directly", + "Trigger the gray switch with black buttons using the left arm", + "Activate the trapezoidal base switch with the left arm.", + "Move to the switch with trapezoidal base and click it.", + "Use the left arm to engage the switch with trapezoidal base", + "Interact with the medium switch with trapezoidal base.", + "Click the gray switch with black buttons to activate it", + "Click the two-button gray switch with robotic precision", + "Approach and tap the electric toggle switch via the left arm", + "Directly interact with the plastic switch with matte buttons", + "Operate the electric toggle switch with the left arm", + "Trigger the gray switch with black buttons with precision", + "Engage the gray switch with black buttons using the left arm.", + "Set the left arm to press the handheld switch", + "Activate the gray base with black buttons via the left arm", + "Deploy the left arm to press the gray switch with black buttons", + "Activate the the smooth gray switch using the left arm", + "Set the switch at the gray smooth surface switch", + "Operate the left arm to engage the gray smooth surface switch", + "Press the switch with trapezoidal base using the left arm.", + "Press the gray base with black buttons carefully with the left arm", + "Press the electric toggle switch directly", + "Press the electric toggle switch using robotic control", + "Click the plastic switch with matte buttons using automated tools", + "Tap the gray plastic switch to engage it", + "Press the gray plastic switch via automation", + "Press the handheld switch to activate.", + "Engage the handheld switch with a press.", + "Initiate the medium switch with trapezoidal base by clicking", + "Click the two-button gray switch directly.", + "Use the left arm for switching the smooth gray switch", + "Use the left arm to interact with the gray plastic switch", + "Switch the switch with trapezoidal base to its active state", + "Trigger the handheld switch without referencing the left arm", + "Command the left arm to engage the plastic switch with matte buttons", + "Interact with the handheld switch directly", + "Press the electric toggle switch with the left arm", + "Direct the left arm to operate the trapezoidal base switch", + "Activate the two-button gray switch by pressing it", + "Locate and press the medium switch with trapezoidal base", + "Activate the trapezoidal base switch with robotic precision", + "Deploy the left arm to operate the gray plastic switch", + "Engage the medium switch with trapezoidal base using the left arm", + "Engage the two-button gray switch using the robotic arm", + "Engage the left arm to press the smooth gray switch", + "Push the gray switch with black buttons via the left arm.", + "Toggle the gray switch with black buttons with the left arm.", + "Locate and press the smooth gray switch", + "Engage with the gray plastic switch manually", + "Click on the handheld switch precisely", + "Activate the handheld switch directly", + "Trigger the trapezoidal base switch using the left arm", + "Activate the switch with trapezoidal base with the left arm.", + "Move to the switch with trapezoidal base and click it.", + "Use the left arm to engage the smooth gray switch", + "Interact with the electric toggle switch.", + "Click the handheld switch to activate it", + "Click the medium switch with trapezoidal base with robotic precision", + "Approach and tap the two-button gray switch via the left arm", + "Directly interact with the gray smooth surface switch", + "Operate the electric toggle switch with the left arm", + "Trigger the gray plastic switch with precision", + "Engage the two-button gray switch using the left arm.", + "Set the left arm to press the handheld switch", + "Activate the two-button gray switch via the left arm", + "Deploy the left arm to press the trapezoidal base switch", + "Activate the the smooth gray switch using the left arm", + "Set the switch at the two-button gray switch", + "Operate the left arm to engage the medium switch with trapezoidal base", + "Press the handheld switch using the left arm.", + "Press the gray plastic switch carefully with the left arm", + "Press the switch with trapezoidal base directly", + "Press the switch with trapezoidal base using robotic control", + "Click the plastic switch with matte buttons using automated tools", + "Tap the medium switch with trapezoidal base to engage it", + "Press the two-button gray switch via automation", + "Press the electric toggle switch to activate.", + "Engage the gray plastic switch with a press.", + "Initiate the smooth gray switch by clicking", + "Click the electric toggle switch directly.", + "Use the left arm for switching the handheld switch", + "Use the left arm to interact with the electric toggle switch", + "Switch the gray base with black buttons to its active state", + "Trigger the switch with trapezoidal base without referencing the left arm", + "Command the left arm to engage the gray switch with black buttons", + "Interact with the trapezoidal base switch directly", + "Press the smooth gray switch with the left arm", + "Direct the left arm to operate the gray plastic switch", + "Activate the electric toggle switch by pressing it", + "Locate and press the medium switch with trapezoidal base", + "Activate the gray plastic switch with robotic precision", + "Deploy the left arm to operate the medium switch with trapezoidal base", + "Engage the handheld switch using the left arm", + "Engage the switch with trapezoidal base using the robotic arm", + "Engage the left arm to press the medium switch with trapezoidal base", + "Push the smooth gray switch via the left arm.", + "Toggle the gray plastic switch with the left arm.", + "Locate and press the smooth gray switch", + "Engage with the medium switch with trapezoidal base manually", + "Click on the two-button gray switch precisely" + ], + "unseen": [ + "Use the left arm to press the switch with circular black buttons.", + "Use the left arm to press the gray switch medium size", + "Move and click the the gray switch", + "Click the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm", + "Press the switch with circular black buttons using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Use the left arm to press the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Click the gray switch using the left arm", + "Click the switch with circular black buttons with the left arm", + "Click the switch with circular black buttons with the left arm", + "Press the switch with circular black buttons using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch medium size using the left arm", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm", + "Press the gray switch using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch medium size using the left arm", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm", + "Press the gray switch using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Activate the switch at the gray switch medium size", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Click the gray switch using the left arm", + "Click the gray switch medium size with the left arm", + "Click the switch with circular black buttons with the left arm", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch medium size", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Use the left arm to press the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch medium size", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch medium size using the left arm", + "Click the gray switch with the left arm", + "Click the switch with circular black buttons with the left arm", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch", + "Activate the switch at the gray switch medium size", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch.", + "Use the left arm to press the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons using the left arm", + "Click the gray switch with the left arm", + "Click the gray switch medium size with the left arm", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the switch with circular black buttons", + "Click the gray switch using the left arm", + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm", + "Press the gray switch using the left arm", + "Direct the left arm to click the gray switch medium size", + "Activate the switch at the gray switch", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch medium size.", + "Use the left arm to press the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch medium size using the left arm", + "Click the switch with circular black buttons with the left arm", + "Click the switch with circular black buttons with the left arm", + "Press the gray switch medium size using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..7cacaf0dfc603c48d57a18cc9de88df32c053bec --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Initiate the switch with slanted sides by clicking", + "Activate the medium-sized black rectangular switch via the left arm", + "Activate the the black switch with matte coating using the left arm", + "Toggle the black switch with slim profile with the left arm.", + "Locate and press the rectangular switch with smooth surface", + "Interact with the sleek black rectangular switch directly", + "Click on the control switch precisely", + "Engage the switch with slanted sides using the left arm", + "Press the black switch with matte coating using the left arm.", + "Press the slanted-edge plastic black switch to activate.", + "Use the left arm to engage the black switch", + "Operate the left arm to engage the sleek black rectangular switch", + "Click the black switch with matte coating to activate it", + "Trigger the compact rectangular black switch using the left arm", + "Click the compact rectangular black switch directly.", + "Trigger the medium-sized black rectangular switch without referencing the left arm", + "Push the black switch with slim profile via the left arm.", + "Engage the left arm to press the black switch with slim profile", + "Engage with the black switch with matte coating manually", + "Switch the black switch with matte coating to its active state", + "Move to the control switch and click it.", + "Press the black switch using robotic control", + "Deploy the left arm to press the switch with slanted sides", + "Directly interact with the rectangular switch with smooth surface", + "Tap the slanted-edge plastic black switch to engage it", + "Operate the black switch with the left arm", + "Use the left arm to interact with the sleek black rectangular switch", + "Click the compact rectangular black switch using automated tools", + "Command the left arm to engage the slanted-edge plastic black switch", + "Use the left arm for switching the medium-sized black rectangular switch", + "Set the left arm to press the medium-sized black rectangular switch", + "Click the palm-sized black switch with robotic precision", + "Locate and press the palm-sized black switch", + "Engage the rectangular switch with smooth surface with a press.", + "Set the switch at the palm-sized black switch", + "Activate the black switch with matte coating with the left arm.", + "Press the black switch with matte coating carefully with the left arm", + "Interact with the palm-sized black switch.", + "Engage the switch with slanted sides using the left arm.", + "Deploy the left arm to operate the black rectangular control switch", + "Engage the switch with slanted sides using the robotic arm", + "Approach and tap the compact rectangular black switch via the left arm", + "Press the compact rectangular black switch via automation", + "Press the black switch with the left arm", + "Direct the left arm to operate the black rectangular control switch", + "Activate the black switch with robotic precision", + "Trigger the slanted-edge plastic black switch with precision", + "Activate the control switch by pressing it", + "Activate the control switch directly", + "Press the switch with slanted sides directly", + "Initiate the medium-sized black rectangular switch by clicking", + "Activate the slanted-edge plastic black switch via the left arm", + "Activate the the switch with slanted sides using the left arm", + "Toggle the black switch with matte coating with the left arm.", + "Locate and press the black switch with matte coating", + "Interact with the black switch with slim profile directly", + "Click on the switch with slanted sides precisely", + "Engage the switch with slanted sides using the left arm", + "Press the slanted-edge plastic black switch using the left arm.", + "Press the black switch to activate.", + "Use the left arm to engage the compact rectangular black switch", + "Operate the left arm to engage the palm-sized black switch", + "Click the slanted-edge plastic black switch to activate it", + "Trigger the palm-sized black switch using the left arm", + "Click the palm-sized black switch directly.", + "Trigger the black switch with matte coating without referencing the left arm", + "Push the control switch via the left arm.", + "Engage the left arm to press the black rectangular control switch", + "Engage with the compact rectangular black switch manually", + "Switch the black rectangular control switch to its active state", + "Move to the sleek black rectangular switch and click it.", + "Press the control switch using robotic control", + "Deploy the left arm to press the rectangular switch with smooth surface", + "Directly interact with the control switch", + "Tap the black switch with slim profile to engage it", + "Operate the black switch with slim profile with the left arm", + "Use the left arm to interact with the medium-sized black rectangular switch", + "Click the medium-sized black rectangular switch using automated tools", + "Command the left arm to engage the switch with slanted sides", + "Use the left arm for switching the compact rectangular black switch", + "Set the left arm to press the palm-sized black switch", + "Click the rectangular switch with smooth surface with robotic precision", + "Locate and press the palm-sized black switch", + "Engage the sleek black rectangular switch with a press.", + "Set the switch at the black switch", + "Activate the black rectangular control switch with the left arm.", + "Press the black switch with matte coating carefully with the left arm", + "Interact with the control switch.", + "Engage the black switch using the left arm.", + "Deploy the left arm to operate the compact rectangular black switch", + "Engage the switch with slanted sides using the robotic arm", + "Approach and tap the medium-sized black rectangular switch via the left arm", + "Press the rectangular switch with smooth surface via automation", + "Press the switch with slanted sides with the left arm", + "Direct the left arm to operate the black rectangular control switch", + "Activate the switch with slanted sides with robotic precision", + "Trigger the compact rectangular black switch with precision", + "Activate the black switch with slim profile by pressing it", + "Activate the sleek black rectangular switch directly", + "Press the black switch directly" + ], + "unseen": [ + "Click the smooth black switch with the left arm", + "Use the left arm to press the rectangular black switch.", + "Move and click the the smooth black switch", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the matte black plastic switch", + "Click the smooth black switch with the left arm.", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Click the smooth black switch using the left arm", + "Use the left arm to press the smooth black switch", + "Direct the left arm to click the smooth black switch", + "Click the rectangular black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Click the rectangular black switch with the left arm.", + "Press the smooth black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the rectangular black switch.", + "Move and click the the rectangular black switch", + "Click the smooth black switch using the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the rectangular black switch", + "Click the smooth black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Click the matte black plastic switch with the left arm.", + "Press the smooth black switch using the left arm", + "Click the smooth black switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the smooth black switch", + "Click the matte black plastic switch with the left arm.", + "Press the smooth black switch using the left arm", + "Click the smooth black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch", + "Direct the left arm to click the smooth black switch", + "Click the smooth black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the matte black plastic switch", + "Direct the left arm to click the smooth black switch", + "Click the smooth black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Click the matte black plastic switch using the left arm", + "Use the left arm to press the smooth black switch", + "Direct the left arm to click the matte black plastic switch", + "Click the rectangular black switch with the left arm.", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Use the left arm to press the matte black plastic switch.", + "Move and click the the smooth black switch", + "Click the rectangular black switch using the left arm", + "Use the left arm to press the rectangular black switch", + "Direct the left arm to click the smooth black switch", + "Click the rectangular black switch with the left arm.", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the rectangular black switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..09c8b759129dee35a5411b54b2fb578b5af539c4 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the rectangular switch using the right arm.", + "Trigger the switch for turning circuits on off using the right arm", + "Press the metal-pronged black switch via automation", + "Engage the switch with three metal pins with a press.", + "Toggle the small switch with red lever with the right arm.", + "Interact with the red and black electrical switch directly", + "Activate the switch with three metal pins directly", + "Activate the the tiny rectangular switch using the right arm", + "Click the two-tone red black switch directly.", + "Deploy the right arm to press the toggle switch with black housing", + "Press the two-tone red black switch carefully with the right arm", + "Engage the small switch with red lever using the right arm", + "Activate the black base switch with the right arm.", + "Press the smooth red switch with labels directly", + "Locate and press the black base switch", + "Click the plastic switch with metal prongs with robotic precision", + "Locate and press the switch with three metal pins", + "Set the switch at the plastic switch with metal prongs", + "Activate the toggle switch with black housing with robotic precision", + "Interact with the toggle switch with black housing.", + "Engage the switch for turning circuits on off using the robotic arm", + "Press the smooth red switch with labels to activate.", + "Activate the red and black electrical switch by pressing it", + "Deploy the right arm to operate the smooth red switch with labels", + "Press the tiny rectangular switch using robotic control", + "Use the right arm to engage the plastic switch with metal prongs", + "Press the smooth red switch with labels using the right arm.", + "Use the right arm for switching the tiny rectangular switch", + "Activate the toggle switch with black housing via the right arm", + "Directly interact with the black base switch", + "Approach and tap the red and black electrical switch via the right arm", + "Operate the right arm to engage the black base switch", + "Trigger the small switch with red lever with precision", + "Push the rectangular switch via the right arm.", + "Command the right arm to engage the small switch with red lever", + "Set the right arm to press the toggle switch with black housing", + "Press the metal-pronged black switch with the right arm", + "Switch the toggle switch with black housing to its active state", + "Engage the right arm to press the small switch with red lever", + "Initiate the plastic switch with metal prongs by clicking", + "Operate the tiny rectangular switch with the right arm", + "Move to the two-tone red black switch and click it.", + "Direct the right arm to operate the toggle switch with black housing", + "Click the metal-pronged black switch to activate it", + "Use the right arm to interact with the toggle switch with black housing", + "Click the tiny rectangular switch using automated tools", + "Tap the smooth red switch with labels to engage it", + "Click on the plastic switch with metal prongs precisely", + "Trigger the small switch with red lever without referencing the right arm", + "Engage with the switch for turning circuits on off manually", + "Engage the switch for turning circuits on off using the right arm.", + "Trigger the plastic switch with metal prongs using the right arm", + "Press the tiny rectangular switch via automation", + "Engage the rectangular switch with a press.", + "Toggle the metal-pronged black switch with the right arm.", + "Interact with the toggle switch with black housing directly", + "Activate the smooth red switch with labels directly", + "Activate the the metal-pronged black switch using the right arm", + "Click the black base switch directly.", + "Deploy the right arm to press the plastic switch with metal prongs", + "Press the switch with three metal pins carefully with the right arm", + "Engage the smooth red switch with labels using the right arm", + "Activate the small switch with red lever with the right arm.", + "Press the plastic switch with metal prongs directly", + "Locate and press the small switch with red lever", + "Click the switch with three metal pins with robotic precision", + "Locate and press the small switch with red lever", + "Set the switch at the switch with three metal pins", + "Activate the switch with three metal pins with robotic precision", + "Interact with the small switch with red lever.", + "Engage the black base switch using the robotic arm", + "Press the smooth red switch with labels to activate.", + "Activate the tiny rectangular switch by pressing it", + "Deploy the right arm to operate the small switch with red lever", + "Press the tiny rectangular switch using robotic control", + "Use the right arm to engage the smooth red switch with labels", + "Press the switch for turning circuits on off using the right arm.", + "Use the right arm for switching the small switch with red lever", + "Activate the smooth red switch with labels via the right arm", + "Directly interact with the smooth red switch with labels", + "Approach and tap the black base switch via the right arm", + "Operate the right arm to engage the tiny rectangular switch", + "Trigger the black base switch with precision", + "Push the rectangular switch via the right arm.", + "Command the right arm to engage the rectangular switch", + "Set the right arm to press the smooth red switch with labels", + "Press the small switch with red lever with the right arm", + "Switch the rectangular switch to its active state", + "Engage the right arm to press the black base switch", + "Initiate the tiny rectangular switch by clicking", + "Operate the switch with three metal pins with the right arm", + "Move to the switch with three metal pins and click it.", + "Direct the right arm to operate the plastic switch with metal prongs", + "Click the tiny rectangular switch to activate it", + "Use the right arm to interact with the smooth red switch with labels", + "Click the two-tone red black switch using automated tools", + "Tap the switch with three metal pins to engage it", + "Click on the small switch with red lever precisely", + "Trigger the black base switch without referencing the right arm", + "Engage with the metal-pronged black switch manually" + ], + "unseen": [ + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Press the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the right arm", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..2ecbdf675ad8d4bb24502350a5604a37fcac0f5e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the small square switch with robotic precision", + "Command the right arm to engage the palm-sized light gray switch", + "Engage with the small square switch manually", + "Locate and press the square switch with smooth surface", + "Click the angled-edge gray square switch using automated tools", + "Set the switch at the small square switch", + "Press the square switch with smooth surface using robotic control", + "Press the square gray switch panel with the right arm", + "Directly interact with the switch with smooth light gray finish", + "Set the right arm to press the switch with rectangular raised area", + "Press the smooth gray switch via automation", + "Engage the angled-edge gray square switch using the right arm", + "Locate and press the flat square with raised center", + "Push the angled-edge gray square switch via the right arm.", + "Approach and tap the angled-edge gray square switch via the right arm", + "Engage the switch with smooth light gray finish with a press.", + "Activate the switch for electrical control directly", + "Click on the square switch with smooth surface precisely", + "Press the square switch with smooth surface carefully with the right arm", + "Switch the square switch with smooth surface to its active state", + "Press the switch with smooth light gray finish using the right arm.", + "Engage the right arm to press the light gray plastic switch", + "Use the right arm to engage the smooth gray switch", + "Interact with the smooth gray switch.", + "Trigger the switch with smooth light gray finish with precision", + "Click the angled-edge gray square switch with robotic precision", + "Activate the the palm-sized light gray switch using the right arm", + "Deploy the right arm to press the square switch with smooth surface", + "Press the square gray switch panel to activate.", + "Deploy the right arm to operate the switch with rectangular raised area", + "Click the angled-edge gray square switch directly.", + "Click the square gray switch panel to activate it", + "Operate the light gray plastic switch with the right arm", + "Activate the switch with rectangular raised area by pressing it", + "Direct the right arm to operate the light gray plastic switch", + "Tap the switch with smooth light gray finish to engage it", + "Engage the flat square with raised center using the right arm.", + "Use the right arm to interact with the smooth gray switch", + "Trigger the square gray switch panel without referencing the right arm", + "Interact with the smooth gray switch directly", + "Toggle the smooth gray switch with the right arm.", + "Activate the square switch with smooth surface via the right arm", + "Operate the right arm to engage the small square switch made of plastic", + "Use the right arm for switching the switch with rectangular raised area", + "Initiate the square switch with smooth surface by clicking", + "Activate the palm-sized light gray switch with the right arm.", + "Press the square gray switch panel directly", + "Engage the small square switch made of plastic using the robotic arm", + "Move to the switch with smooth light gray finish and click it.", + "Trigger the switch with smooth light gray finish using the right arm", + "Activate the switch for electrical control with robotic precision", + "Command the right arm to engage the flat square with raised center", + "Engage with the flat square with raised center manually", + "Locate and press the square switch with smooth surface", + "Click the switch with smooth light gray finish using automated tools", + "Set the switch at the angled-edge gray square switch", + "Press the palm-sized light gray switch using robotic control", + "Press the palm-sized light gray switch with the right arm", + "Directly interact with the small square switch", + "Set the right arm to press the angled-edge gray square switch", + "Press the smooth gray switch via automation", + "Engage the square switch with smooth surface using the right arm", + "Locate and press the smooth gray switch", + "Push the square gray switch panel via the right arm.", + "Approach and tap the smooth gray switch via the right arm", + "Engage the small square switch with a press.", + "Activate the small square switch directly", + "Click on the small square switch made of plastic precisely", + "Press the switch with rectangular raised area carefully with the right arm", + "Switch the switch with smooth light gray finish to its active state", + "Press the small square switch using the right arm.", + "Engage the right arm to press the smooth gray switch", + "Use the right arm to engage the flat square with raised center", + "Interact with the square switch with smooth surface.", + "Trigger the square gray switch panel with precision", + "Click the smooth gray switch with robotic precision", + "Activate the the square switch with smooth surface using the right arm", + "Deploy the right arm to press the square switch with smooth surface", + "Press the switch for electrical control to activate.", + "Deploy the right arm to operate the light gray plastic switch", + "Click the square switch with smooth surface directly.", + "Click the angled-edge gray square switch to activate it", + "Operate the smooth gray switch with the right arm", + "Activate the switch with rectangular raised area by pressing it", + "Direct the right arm to operate the switch for electrical control", + "Tap the light gray plastic switch to engage it", + "Engage the small square switch made of plastic using the right arm.", + "Use the right arm to interact with the switch for electrical control", + "Trigger the switch for electrical control without referencing the right arm", + "Interact with the small square switch directly", + "Toggle the small square switch with the right arm.", + "Activate the switch for electrical control via the right arm", + "Operate the right arm to engage the switch for electrical control", + "Use the right arm for switching the flat square with raised center", + "Initiate the small square switch by clicking", + "Activate the switch for electrical control with the right arm.", + "Press the switch with rectangular raised area directly", + "Engage the small square switch using the robotic arm", + "Move to the switch with rectangular raised area and click it.", + "Trigger the smooth gray switch using the right arm" + ], + "unseen": [ + "Direct the right arm to click the flat gray switch", + "Move and click the the switch with angled edges", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the flat gray switch", + "Move and click the the flat gray switch", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges.", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm.", + "Activate the switch at the flat gray switch", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Move and click the the flat gray switch", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Move and click the the switch with angled edges", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ca1a8bf41e0ca908275cc316173af6bf7c5077 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Switch the sleek black rectangular switch to its active state", + "Engage the black switch with slim profile with a press.", + "Trigger the rectangular switch with smooth surface with precision", + "Press the switch with slanted sides using the right arm.", + "Use the right arm to interact with the black switch", + "Click the black switch with slim profile with robotic precision", + "Use the right arm to engage the control switch", + "Set the right arm to press the palm-sized black switch", + "Engage the compact rectangular black switch using the robotic arm", + "Locate and press the black switch with slim profile", + "Move to the slanted-edge plastic black switch and click it.", + "Interact with the black switch.", + "Deploy the right arm to press the black switch", + "Activate the sleek black rectangular switch via the right arm", + "Engage the black rectangular control switch using the right arm.", + "Click the black switch to activate it", + "Tap the black switch with matte coating to engage it", + "Initiate the medium-sized black rectangular switch by clicking", + "Deploy the right arm to operate the black switch", + "Trigger the black switch with matte coating using the right arm", + "Command the right arm to engage the control switch", + "Activate the sleek black rectangular switch with robotic precision", + "Click the switch with slanted sides directly.", + "Trigger the black rectangular control switch without referencing the right arm", + "Press the black rectangular control switch directly", + "Activate the the switch with slanted sides using the right arm", + "Approach and tap the black rectangular control switch via the right arm", + "Activate the black rectangular control switch directly", + "Press the compact rectangular black switch using robotic control", + "Set the switch at the black switch with matte coating", + "Press the switch with slanted sides via automation", + "Locate and press the switch with slanted sides", + "Engage with the black switch with matte coating manually", + "Click on the black rectangular control switch precisely", + "Directly interact with the slanted-edge plastic black switch", + "Activate the compact rectangular black switch by pressing it", + "Engage the right arm to press the slanted-edge plastic black switch", + "Engage the medium-sized black rectangular switch using the right arm", + "Operate the right arm to engage the black switch with slim profile", + "Use the right arm for switching the medium-sized black rectangular switch", + "Push the control switch via the right arm.", + "Toggle the black switch with matte coating with the right arm.", + "Operate the medium-sized black rectangular switch with the right arm", + "Direct the right arm to operate the switch with slanted sides", + "Click the black switch with matte coating using automated tools", + "Press the medium-sized black rectangular switch to activate.", + "Press the black switch carefully with the right arm", + "Press the compact rectangular black switch with the right arm", + "Interact with the switch with slanted sides directly", + "Activate the black rectangular control switch with the right arm.", + "Switch the rectangular switch with smooth surface to its active state", + "Engage the black rectangular control switch with a press.", + "Trigger the slanted-edge plastic black switch with precision", + "Press the control switch using the right arm.", + "Use the right arm to interact with the sleek black rectangular switch", + "Click the rectangular switch with smooth surface with robotic precision", + "Use the right arm to engage the black rectangular control switch", + "Set the right arm to press the switch with slanted sides", + "Engage the compact rectangular black switch using the robotic arm", + "Locate and press the black switch with matte coating", + "Move to the black switch with slim profile and click it.", + "Interact with the black rectangular control switch.", + "Deploy the right arm to press the black switch with slim profile", + "Activate the sleek black rectangular switch via the right arm", + "Engage the black switch using the right arm.", + "Click the switch with slanted sides to activate it", + "Tap the black switch to engage it", + "Initiate the black switch with slim profile by clicking", + "Deploy the right arm to operate the medium-sized black rectangular switch", + "Trigger the black switch using the right arm", + "Command the right arm to engage the palm-sized black switch", + "Activate the black switch with matte coating with robotic precision", + "Click the black switch directly.", + "Trigger the black switch without referencing the right arm", + "Press the sleek black rectangular switch directly", + "Activate the the black rectangular control switch using the right arm", + "Approach and tap the medium-sized black rectangular switch via the right arm", + "Activate the compact rectangular black switch directly", + "Press the sleek black rectangular switch using robotic control", + "Set the switch at the switch with slanted sides", + "Press the black switch with matte coating via automation", + "Locate and press the rectangular switch with smooth surface", + "Engage with the switch with slanted sides manually", + "Click on the control switch precisely", + "Directly interact with the black switch", + "Activate the sleek black rectangular switch by pressing it", + "Engage the right arm to press the control switch", + "Engage the rectangular switch with smooth surface using the right arm", + "Operate the right arm to engage the black switch", + "Use the right arm for switching the medium-sized black rectangular switch", + "Push the black rectangular control switch via the right arm.", + "Toggle the slanted-edge plastic black switch with the right arm.", + "Operate the control switch with the right arm", + "Direct the right arm to operate the compact rectangular black switch", + "Click the black rectangular control switch using automated tools", + "Press the black switch with matte coating to activate.", + "Press the switch with slanted sides carefully with the right arm", + "Press the black switch with slim profile with the right arm", + "Interact with the black switch directly", + "Activate the control switch with the right arm." + ], + "unseen": [ + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Use the right arm to press the matte black plastic switch", + "Direct the right arm to click the rectangular black switch", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the smooth black switch", + "Click the smooth black switch with the right arm", + "Click the rectangular black switch with the right arm.", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Use the right arm to press the smooth black switch", + "Direct the right arm to click the rectangular black switch", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the rectangular black switch", + "Click the matte black plastic switch with the right arm", + "Click the matte black plastic switch with the right arm.", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the smooth black switch.", + "Use the right arm to press the rectangular black switch", + "Direct the right arm to click the smooth black switch", + "Click the matte black plastic switch using the right arm", + "Press the smooth black switch using the right arm", + "Move and click the the rectangular black switch", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm.", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Use the right arm to press the smooth black switch", + "Direct the right arm to click the rectangular black switch", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the smooth black switch", + "Click the rectangular black switch with the right arm", + "Click the matte black plastic switch with the right arm.", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Use the right arm to press the rectangular black switch", + "Direct the right arm to click the matte black plastic switch", + "Click the smooth black switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the rectangular black switch", + "Click the smooth black switch with the right arm", + "Click the rectangular black switch with the right arm.", + "Activate the switch at the matte black plastic switch", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Use the right arm to press the smooth black switch", + "Direct the right arm to click the rectangular black switch", + "Click the rectangular black switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the matte black plastic switch", + "Click the smooth black switch with the right arm", + "Click the matte black plastic switch with the right arm.", + "Activate the switch at the matte black plastic switch", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the smooth black switch.", + "Use the right arm to press the rectangular black switch", + "Direct the right arm to click the matte black plastic switch", + "Click the smooth black switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the rectangular black switch", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm.", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the smooth black switch.", + "Use the right arm to press the matte black plastic switch", + "Direct the right arm to click the smooth black switch", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm.", + "Activate the switch at the matte black plastic switch", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Use the right arm to press the smooth black switch", + "Direct the right arm to click the smooth black switch", + "Click the smooth black switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the matte black plastic switch", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm.", + "Activate the switch at the rectangular black switch", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Use the right arm to press the matte black plastic switch", + "Direct the right arm to click the smooth black switch", + "Click the matte black plastic switch using the right arm", + "Press the smooth black switch using the right arm", + "Move and click the the matte black plastic switch", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm.", + "Activate the switch at the smooth black switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..a1c34f0d4fca8765b015ecfe285300ed864f9683 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the hand-sized switch tan smooth finish carefully with the right arm", + "Engage with the rectangular switch with slanted sides manually", + "Direct the right arm to operate the trapezoid-shaped switch smooth surface", + "Press the angled switch light tan color using robotic control", + "Click on the trapezoid-shaped switch smooth surface precisely", + "Trigger the switch trapezoid shape brown marking using the right arm", + "Trigger the switch trapezoid shape brown marking with precision", + "Deploy the right arm to operate the plastic switch with angled edges", + "Directly interact with the flat switch", + "Click the switch with darker rectangle using automated tools", + "Press the smooth tan switch with textured sides directly", + "Initiate the light tan rectangular switch smooth finish by clicking", + "Operate the right arm to engage the tan switch", + "Deploy the right arm to press the switch with darker rectangle", + "Press the switch trapezoid shape brown marking via automation", + "Activate the the plastic switch with angled edges using the right arm", + "Interact with the trapezoid-shaped switch smooth surface.", + "Activate the light tan rectangular switch smooth finish by pressing it", + "Engage the right arm to press the hand-sized switch tan smooth finish", + "Interact with the switch trapezoid shape brown marking directly", + "Tap the switch trapezoid shape brown marking to engage it", + "Activate the angled switch light tan color with robotic precision", + "Press the tan switch to activate.", + "Command the right arm to engage the angled switch light tan color", + "Press the trapezoid-shaped switch smooth surface with the right arm", + "Click the tan switch directly.", + "Toggle the rectangular switch with slanted sides with the right arm.", + "Approach and tap the plastic switch with angled edges via the right arm", + "Engage the flat switch using the right arm.", + "Set the right arm to press the tan switch", + "Use the right arm for switching the hand-sized switch tan smooth finish", + "Use the right arm to interact with the flat switch", + "Click the plastic switch with angled edges to activate it", + "Press the trapezoid-shaped switch smooth surface using the right arm.", + "Locate and press the switch trapezoid shape brown marking", + "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm", + "Activate the smooth tan switch with textured sides with the right arm.", + "Switch the switch trapezoid shape brown marking to its active state", + "Locate and press the switch with darker rectangle", + "Activate the switch trapezoid shape brown marking via the right arm", + "Engage the smooth tan switch with textured sides using the robotic arm", + "Set the switch at the light tan rectangular switch smooth finish", + "Use the right arm to engage the hand-sized switch tan smooth finish", + "Engage the tan switch with a press.", + "Move to the tan switch and click it.", + "Push the smooth tan switch with textured sides via the right arm.", + "Activate the rectangular switch with slanted sides directly", + "Operate the hand-sized switch tan smooth finish with the right arm", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Click the smooth tan switch with textured sides with robotic precision", + "Press the rectangular switch with slanted sides carefully with the right arm", + "Engage with the tan switch manually", + "Direct the right arm to operate the trapezoid-shaped switch smooth surface", + "Press the switch with darker rectangle using robotic control", + "Click on the tan switch precisely", + "Trigger the tan switch using the right arm", + "Trigger the switch with darker rectangle with precision", + "Deploy the right arm to operate the small light tan switch", + "Directly interact with the plastic switch with angled edges", + "Click the light tan rectangular switch smooth finish using automated tools", + "Press the switch with darker rectangle directly", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Operate the right arm to engage the tan switch", + "Deploy the right arm to press the switch trapezoid shape brown marking", + "Press the rectangular switch with slanted sides via automation", + "Activate the the flat switch using the right arm", + "Interact with the trapezoid-shaped switch smooth surface.", + "Activate the switch trapezoid shape brown marking by pressing it", + "Engage the right arm to press the trapezoid-shaped switch smooth surface", + "Interact with the light tan rectangular switch smooth finish directly", + "Tap the small light tan switch to engage it", + "Activate the trapezoid-shaped switch smooth surface with robotic precision", + "Press the light tan rectangular switch smooth finish to activate.", + "Command the right arm to engage the rectangular switch with slanted sides", + "Press the switch trapezoid shape brown marking with the right arm", + "Click the switch with darker rectangle directly.", + "Toggle the angled switch light tan color with the right arm.", + "Approach and tap the hand-sized switch tan smooth finish via the right arm", + "Engage the switch trapezoid shape brown marking using the right arm.", + "Set the right arm to press the switch with darker rectangle", + "Use the right arm for switching the light tan rectangular switch smooth finish", + "Use the right arm to interact with the light tan rectangular switch smooth finish", + "Click the light tan rectangular switch smooth finish to activate it", + "Press the rectangular switch with slanted sides using the right arm.", + "Locate and press the flat switch", + "Trigger the tan switch without referencing the right arm", + "Activate the light tan rectangular switch smooth finish with the right arm.", + "Switch the hand-sized switch tan smooth finish to its active state", + "Locate and press the trapezoid-shaped switch smooth surface", + "Activate the tan switch via the right arm", + "Engage the angled switch light tan color using the robotic arm", + "Set the switch at the trapezoid-shaped switch smooth surface", + "Use the right arm to engage the flat switch", + "Engage the smooth tan switch with textured sides with a press.", + "Move to the switch trapezoid shape brown marking and click it.", + "Push the tan switch via the right arm.", + "Activate the tan switch directly", + "Operate the switch with darker rectangle with the right arm", + "Engage the switch trapezoid shape brown marking using the right arm", + "Click the plastic switch with angled edges with robotic precision" + ], + "unseen": [ + "Press the small flat switch tan top using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the small flat switch tan top", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Press the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Use the right arm to press the small flat switch tan top", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Use the right arm to press the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Use the right arm to press the small flat switch tan top", + "Move and click the the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Press the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Use the right arm to press the small flat switch tan top", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Press the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Use the right arm to press the switch flat tan top brown rectangle", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..c4705bd46e8ed070005956ef8e52ae3d2241382f --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the left arm to operate the plastic switch with metal prongs", + "Push the smooth red switch with labels via the left arm.", + "Deploy the left arm to press the plastic switch with metal prongs", + "Activate the switch for turning circuits on off by pressing it", + "Engage the plastic switch with metal prongs using the left arm.", + "Operate the left arm to engage the plastic switch with metal prongs", + "Activate the smooth red switch with labels with the left arm.", + "Initiate the smooth red switch with labels by clicking", + "Press the metal-pronged black switch directly", + "Interact with the tiny rectangular switch directly", + "Engage the red and black electrical switch using the left arm", + "Locate and press the small switch with red lever", + "Press the switch for turning circuits on off with the left arm", + "Click the toggle switch with black housing to activate it", + "Approach and tap the switch for turning circuits on off via the left arm", + "Press the black base switch using the left arm.", + "Click the small switch with red lever with robotic precision", + "Use the left arm for switching the smooth red switch with labels", + "Click the metal-pronged black switch directly.", + "Toggle the plastic switch with metal prongs with the left arm.", + "Direct the left arm to operate the black base switch", + "Click on the switch for turning circuits on off precisely", + "Use the left arm to engage the switch for turning circuits on off", + "Press the rectangular switch carefully with the left arm", + "Switch the switch with three metal pins to its active state", + "Operate the rectangular switch with the left arm", + "Activate the plastic switch with metal prongs with robotic precision", + "Activate the plastic switch with metal prongs directly", + "Set the left arm to press the plastic switch with metal prongs", + "Use the left arm to interact with the rectangular switch", + "Engage the left arm to press the metal-pronged black switch", + "Interact with the metal-pronged black switch.", + "Move to the tiny rectangular switch and click it.", + "Press the switch with three metal pins via automation", + "Trigger the plastic switch with metal prongs using the left arm", + "Set the switch at the black base switch", + "Tap the two-tone red black switch to engage it", + "Trigger the plastic switch with metal prongs without referencing the left arm", + "Press the plastic switch with metal prongs to activate.", + "Engage the plastic switch with metal prongs using the robotic arm", + "Engage the plastic switch with metal prongs with a press.", + "Command the left arm to engage the toggle switch with black housing", + "Activate the plastic switch with metal prongs via the left arm", + "Activate the the two-tone red black switch using the left arm", + "Press the plastic switch with metal prongs using robotic control", + "Locate and press the toggle switch with black housing", + "Directly interact with the smooth red switch with labels", + "Engage with the tiny rectangular switch manually", + "Trigger the toggle switch with black housing with precision", + "Click the red and black electrical switch using automated tools", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Push the smooth red switch with labels via the left arm.", + "Deploy the left arm to press the rectangular switch", + "Activate the red and black electrical switch by pressing it", + "Engage the red and black electrical switch using the left arm.", + "Operate the left arm to engage the tiny rectangular switch", + "Activate the smooth red switch with labels with the left arm.", + "Initiate the rectangular switch by clicking", + "Press the switch with three metal pins directly", + "Interact with the black base switch directly", + "Engage the toggle switch with black housing using the left arm", + "Locate and press the switch with three metal pins", + "Press the metal-pronged black switch with the left arm", + "Click the small switch with red lever to activate it", + "Approach and tap the switch with three metal pins via the left arm", + "Press the rectangular switch using the left arm.", + "Click the tiny rectangular switch with robotic precision", + "Use the left arm for switching the rectangular switch", + "Click the small switch with red lever directly.", + "Toggle the small switch with red lever with the left arm.", + "Direct the left arm to operate the switch with three metal pins", + "Click on the rectangular switch precisely", + "Use the left arm to engage the rectangular switch", + "Press the switch with three metal pins carefully with the left arm", + "Switch the rectangular switch to its active state", + "Operate the switch for turning circuits on off with the left arm", + "Activate the switch for turning circuits on off with robotic precision", + "Activate the small switch with red lever directly", + "Set the left arm to press the metal-pronged black switch", + "Use the left arm to interact with the metal-pronged black switch", + "Engage the left arm to press the smooth red switch with labels", + "Interact with the rectangular switch.", + "Move to the small switch with red lever and click it.", + "Press the two-tone red black switch via automation", + "Trigger the tiny rectangular switch using the left arm", + "Set the switch at the toggle switch with black housing", + "Tap the rectangular switch to engage it", + "Trigger the switch for turning circuits on off without referencing the left arm", + "Press the toggle switch with black housing to activate.", + "Engage the toggle switch with black housing using the robotic arm", + "Engage the toggle switch with black housing with a press.", + "Command the left arm to engage the metal-pronged black switch", + "Activate the black base switch via the left arm", + "Activate the the rectangular switch using the left arm", + "Press the black base switch using robotic control", + "Locate and press the switch for turning circuits on off", + "Directly interact with the two-tone red black switch", + "Engage with the two-tone red black switch manually", + "Trigger the small switch with red lever with precision", + "Click the two-tone red black switch using automated tools" + ], + "unseen": [ + "Click the red toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Move and click the the red toggle switch", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the red toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Activate the switch at the curved toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe2b4e00e0340ec875e27ece246ea0a5187bec9 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the black switch with metallic connectors with the right arm", + "Click the black base switch with red toggle to activate it", + "Initiate the black switch with metallic connectors by clicking", + "Set the switch at the rectangular switch with curved lever", + "Operate the right arm to engage the black switch with metallic connectors", + "Locate and press the plastic switch with metal terminals", + "Engage the black base switch with red toggle with a press.", + "Click the plastic switch with metal terminals directly.", + "Press the small switch directly", + "Engage the rectangular switch with curved lever using the right arm.", + "Deploy the right arm to press the red-top black switch", + "Click on the black switch precisely", + "Command the right arm to engage the plastic switch with metal terminals", + "Switch the rectangular black plastic switch to its active state", + "Trigger the switch with curved red toggle with precision", + "Trigger the red and black switch using the right arm", + "Engage the rectangular black plastic switch using the robotic arm", + "Activate the switch with curved red toggle via the right arm", + "Activate the small switch by pressing it", + "Engage the right arm to press the switch with curved red toggle", + "Approach and tap the plastic switch with metal terminals via the right arm", + "Press the black base switch with red toggle via automation", + "Engage with the red-top black switch manually", + "Trigger the plastic switch with metal terminals without referencing the right arm", + "Engage the black switch with metallic connectors using the right arm", + "Interact with the red-top black switch directly", + "Press the black switch with metallic connectors using robotic control", + "Use the right arm to engage the plastic switch with metal terminals", + "Press the black switch carefully with the right arm", + "Activate the switch with curved red toggle with robotic precision", + "Press the small switch to activate.", + "Click the plastic switch with metal terminals with robotic precision", + "Move to the rectangular black plastic switch and click it.", + "Push the compact switch with toggle on top via the right arm.", + "Activate the the small switch using the right arm", + "Set the right arm to press the plastic switch with metal terminals", + "Activate the small switch with the right arm.", + "Operate the black switch with the right arm", + "Locate and press the rectangular switch with curved lever", + "Direct the right arm to operate the rectangular black plastic switch", + "Toggle the small switch with the right arm.", + "Tap the switch with curved red toggle to engage it", + "Click the black switch with metallic connectors using automated tools", + "Activate the small switch directly", + "Use the right arm to interact with the plastic switch with metal terminals", + "Deploy the right arm to operate the red-top black switch", + "Interact with the small switch.", + "Press the rectangular switch with curved lever using the right arm.", + "Use the right arm for switching the plastic switch with metal terminals", + "Directly interact with the red-top black switch", + "Press the switch with curved red toggle with the right arm", + "Click the rectangular black plastic switch to activate it", + "Initiate the switch with curved red toggle by clicking", + "Set the switch at the black switch", + "Operate the right arm to engage the black base switch with red toggle", + "Locate and press the red-top black switch", + "Engage the hand-sized switch with connector prongs with a press.", + "Click the red-top black switch directly.", + "Press the rectangular switch with curved lever directly", + "Engage the black switch with metallic connectors using the right arm.", + "Deploy the right arm to press the small switch", + "Click on the small switch precisely", + "Command the right arm to engage the black switch with metallic connectors", + "Switch the compact switch with toggle on top to its active state", + "Trigger the black switch with metallic connectors with precision", + "Trigger the black switch using the right arm", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Activate the compact switch with toggle on top via the right arm", + "Activate the black switch with metallic connectors by pressing it", + "Engage the right arm to press the black switch with metallic connectors", + "Approach and tap the red-top black switch via the right arm", + "Press the black switch via automation", + "Engage with the small switch manually", + "Trigger the switch with curved red toggle without referencing the right arm", + "Engage the switch with curved red toggle using the right arm", + "Interact with the black switch directly", + "Press the red and black switch using robotic control", + "Use the right arm to engage the switch with curved red toggle", + "Press the black base switch with red toggle carefully with the right arm", + "Activate the black switch with robotic precision", + "Press the rectangular switch with curved lever to activate.", + "Click the black switch with robotic precision", + "Move to the compact switch with toggle on top and click it.", + "Push the switch with curved red toggle via the right arm.", + "Activate the the small switch using the right arm", + "Set the right arm to press the red-top black switch", + "Activate the compact switch with toggle on top with the right arm.", + "Operate the black base switch with red toggle with the right arm", + "Locate and press the switch with curved red toggle", + "Direct the right arm to operate the black switch", + "Toggle the switch with curved red toggle with the right arm.", + "Tap the hand-sized switch with connector prongs to engage it", + "Click the compact switch with toggle on top using automated tools", + "Activate the small switch directly", + "Use the right arm to interact with the compact switch with toggle on top", + "Deploy the right arm to operate the black switch with metallic connectors", + "Interact with the rectangular black plastic switch.", + "Press the red-top black switch using the right arm.", + "Use the right arm for switching the rectangular black plastic switch", + "Directly interact with the small switch" + ], + "unseen": [ + "Click the switch with two metal prongs with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch using the right arm", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..fcf19d5e769ada8a988afc7f67debe7054a17048 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Push the matte beige switch with flat top via the right arm.", + "Tap the switch with rectangular dark button to engage it", + "Activate the tiny matte beige toggle switch with robotic precision", + "Activate the the light-colored trapezoid-shaped plastic switch using the right arm", + "Toggle the beige switch with smooth finish with the right arm.", + "Locate and press the toggle switch with brown rectangle button", + "Use the right arm for switching the toggle switch with brown rectangle button", + "Engage the switch with brown button using the right arm", + "Engage the switch with brown button using the robotic arm", + "Click the tiny matte beige toggle switch directly.", + "Deploy the right arm to operate the small trapezoid switch", + "Activate the switch with a smooth top directly", + "Directly interact with the light-colored trapezoid-shaped plastic switch", + "Engage the light plastic switch with a press.", + "Use the right arm to engage the hand-sized light beige switch", + "Click the toggle switch with brown rectangle button to activate it", + "Press the switch with a smooth top to activate.", + "Engage with the switch with brown button manually", + "Press the switch with rectangular dark button carefully with the right arm", + "Use the right arm to interact with the light plastic switch", + "Locate and press the beige switch", + "Set the switch at the switch with brown button", + "Set the right arm to press the small trapezoid switch", + "Press the beige switch with smooth finish directly", + "Approach and tap the light-colored trapezoid-shaped plastic switch via the right arm", + "Press the tiny matte beige toggle switch with the right arm", + "Interact with the beige switch directly", + "Engage the light-colored trapezoid-shaped plastic switch using the right arm.", + "Press the switch with a smooth top via automation", + "Switch the switch with a smooth top to its active state", + "Press the toggle switch with brown rectangle button using robotic control", + "Command the right arm to engage the hand-sized light beige switch", + "Engage the right arm to press the switch with a smooth top", + "Deploy the right arm to press the small trapezoid switch", + "Activate the light plastic switch via the right arm", + "Direct the right arm to operate the light-colored trapezoid-shaped plastic switch", + "Click on the hand-sized light beige switch precisely", + "Operate the beige switch with the right arm", + "Click the beige switch using automated tools", + "Trigger the beige switch without referencing the right arm", + "Press the tiny matte beige toggle switch using the right arm.", + "Initiate the hand-sized light beige switch by clicking", + "Activate the beige switch by pressing it", + "Trigger the tiny matte beige toggle switch with precision", + "Move to the matte beige switch with flat top and click it.", + "Interact with the tiny matte beige toggle switch.", + "Operate the right arm to engage the matte beige switch with flat top", + "Activate the small trapezoid switch with the right arm.", + "Trigger the tiny matte beige toggle switch using the right arm", + "Click the light plastic switch with robotic precision", + "Push the beige switch via the right arm.", + "Tap the switch with rectangular dark button to engage it", + "Activate the matte beige switch with flat top with robotic precision", + "Activate the the switch with a smooth top using the right arm", + "Toggle the light-colored trapezoid-shaped plastic switch with the right arm.", + "Locate and press the tiny matte beige toggle switch", + "Use the right arm for switching the switch with rectangular dark button", + "Engage the switch with brown button using the right arm", + "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm", + "Click the tiny matte beige toggle switch directly.", + "Deploy the right arm to operate the beige switch", + "Activate the hand-sized light beige switch directly", + "Directly interact with the switch with brown button", + "Engage the hand-sized light beige switch with a press.", + "Use the right arm to engage the switch with brown button", + "Click the tiny matte beige toggle switch to activate it", + "Press the hand-sized light beige switch to activate.", + "Engage with the small trapezoid switch manually", + "Press the light-colored trapezoid-shaped plastic switch carefully with the right arm", + "Use the right arm to interact with the matte beige switch with flat top", + "Locate and press the switch with a smooth top", + "Set the switch at the switch with a smooth top", + "Set the right arm to press the small trapezoid switch", + "Press the beige switch with smooth finish directly", + "Approach and tap the light plastic switch via the right arm", + "Press the switch with a smooth top with the right arm", + "Interact with the matte beige switch with flat top directly", + "Engage the light plastic switch using the right arm.", + "Press the beige switch with smooth finish via automation", + "Switch the light-colored trapezoid-shaped plastic switch to its active state", + "Press the small trapezoid switch using robotic control", + "Command the right arm to engage the beige switch with smooth finish", + "Engage the right arm to press the toggle switch with brown rectangle button", + "Deploy the right arm to press the switch with a smooth top", + "Activate the small trapezoid switch via the right arm", + "Direct the right arm to operate the small trapezoid switch", + "Click on the switch with rectangular dark button precisely", + "Operate the beige switch with the right arm", + "Click the light-colored trapezoid-shaped plastic switch using automated tools", + "Trigger the light plastic switch without referencing the right arm", + "Press the small trapezoid switch using the right arm.", + "Initiate the beige switch with smooth finish by clicking", + "Activate the beige switch with smooth finish by pressing it", + "Trigger the light plastic switch with precision", + "Move to the toggle switch with brown rectangle button and click it.", + "Interact with the switch with rectangular dark button.", + "Operate the right arm to engage the switch with brown button", + "Activate the matte beige switch with flat top with the right arm.", + "Trigger the toggle switch with brown rectangle button using the right arm", + "Click the matte beige switch with flat top with robotic precision" + ], + "unseen": [ + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm.", + "Click the small beige switch with angular sides using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Press the small beige switch with angular sides using the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm.", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the small beige switch with angular sides", + "Press the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm.", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm.", + "Click the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the small beige switch with angular sides", + "Press the beige switch with darker brown top using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Click the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top", + "Press the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm.", + "Click the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Press the beige switch with darker brown top using the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm.", + "Click the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Press the beige switch with darker brown top using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm.", + "Click the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm.", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Press the beige switch with darker brown top using the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top", + "Press the small beige switch with angular sides using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..1123329fc34ef0ea0a9c2d130c08187913ebc76f --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Tap the plastic switch with angled edges to engage it", + "Use the right arm to engage the rectangular switch with slanted sides", + "Press the light tan rectangular switch smooth finish carefully with the right arm", + "Move to the light tan rectangular switch smooth finish and click it.", + "Engage the right arm to press the small light tan switch", + "Activate the the smooth tan switch with textured sides using the right arm", + "Set the switch at the switch trapezoid shape brown marking", + "Press the flat switch using robotic control", + "Interact with the flat switch.", + "Set the right arm to press the flat switch", + "Switch the hand-sized switch tan smooth finish to its active state", + "Click the flat switch to activate it", + "Trigger the trapezoid-shaped switch smooth surface with precision", + "Use the right arm for switching the flat switch", + "Click the switch trapezoid shape brown marking using automated tools", + "Press the flat switch with the right arm", + "Locate and press the smooth tan switch with textured sides", + "Activate the angled switch light tan color directly", + "Trigger the trapezoid-shaped switch smooth surface without referencing the right arm", + "Press the smooth tan switch with textured sides using the right arm.", + "Toggle the tan switch with the right arm.", + "Locate and press the tan switch", + "Engage the rectangular switch with slanted sides using the right arm.", + "Press the light tan rectangular switch smooth finish to activate.", + "Initiate the light tan rectangular switch smooth finish by clicking", + "Operate the smooth tan switch with textured sides with the right arm", + "Directly interact with the hand-sized switch tan smooth finish", + "Activate the hand-sized switch tan smooth finish by pressing it", + "Click on the flat switch precisely", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Deploy the right arm to press the smooth tan switch with textured sides", + "Command the right arm to engage the hand-sized switch tan smooth finish", + "Click the light tan rectangular switch smooth finish directly.", + "Interact with the light tan rectangular switch smooth finish directly", + "Activate the flat switch via the right arm", + "Engage with the small light tan switch manually", + "Approach and tap the angled switch light tan color via the right arm", + "Engage the rectangular switch with slanted sides using the robotic arm", + "Trigger the angled switch light tan color using the right arm", + "Use the right arm to interact with the angled switch light tan color", + "Operate the right arm to engage the tan switch", + "Activate the hand-sized switch tan smooth finish with robotic precision", + "Activate the switch with darker rectangle with the right arm.", + "Direct the right arm to operate the smooth tan switch with textured sides", + "Deploy the right arm to operate the switch with darker rectangle", + "Press the rectangular switch with slanted sides directly", + "Click the rectangular switch with slanted sides with robotic precision", + "Push the switch trapezoid shape brown marking via the right arm.", + "Press the trapezoid-shaped switch smooth surface via automation", + "Engage the rectangular switch with slanted sides with a press.", + "Tap the trapezoid-shaped switch smooth surface to engage it", + "Use the right arm to engage the hand-sized switch tan smooth finish", + "Press the switch trapezoid shape brown marking carefully with the right arm", + "Move to the hand-sized switch tan smooth finish and click it.", + "Engage the right arm to press the tan switch", + "Activate the the rectangular switch with slanted sides using the right arm", + "Set the switch at the tan switch", + "Press the trapezoid-shaped switch smooth surface using robotic control", + "Interact with the light tan rectangular switch smooth finish.", + "Set the right arm to press the switch with darker rectangle", + "Switch the plastic switch with angled edges to its active state", + "Click the hand-sized switch tan smooth finish to activate it", + "Trigger the switch with darker rectangle with precision", + "Use the right arm for switching the rectangular switch with slanted sides", + "Click the rectangular switch with slanted sides using automated tools", + "Press the tan switch with the right arm", + "Locate and press the angled switch light tan color", + "Activate the switch with darker rectangle directly", + "Trigger the tan switch without referencing the right arm", + "Press the rectangular switch with slanted sides using the right arm.", + "Toggle the tan switch with the right arm.", + "Locate and press the switch trapezoid shape brown marking", + "Engage the tan switch using the right arm.", + "Press the smooth tan switch with textured sides to activate.", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Operate the tan switch with the right arm", + "Directly interact with the angled switch light tan color", + "Activate the small light tan switch by pressing it", + "Click on the flat switch precisely", + "Engage the trapezoid-shaped switch smooth surface using the right arm", + "Deploy the right arm to press the hand-sized switch tan smooth finish", + "Command the right arm to engage the switch trapezoid shape brown marking", + "Click the flat switch directly.", + "Interact with the small light tan switch directly", + "Activate the rectangular switch with slanted sides via the right arm", + "Engage with the light tan rectangular switch smooth finish manually", + "Approach and tap the trapezoid-shaped switch smooth surface via the right arm", + "Engage the rectangular switch with slanted sides using the robotic arm", + "Trigger the plastic switch with angled edges using the right arm", + "Use the right arm to interact with the angled switch light tan color", + "Operate the right arm to engage the rectangular switch with slanted sides", + "Activate the plastic switch with angled edges with robotic precision", + "Activate the switch with darker rectangle with the right arm.", + "Direct the right arm to operate the smooth tan switch with textured sides", + "Deploy the right arm to operate the switch with darker rectangle", + "Press the smooth tan switch with textured sides directly", + "Click the rectangular switch with slanted sides with robotic precision", + "Push the trapezoid-shaped switch smooth surface via the right arm.", + "Press the smooth tan switch with textured sides via automation", + "Engage the tan switch with a press." + ], + "unseen": [ + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm.", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..f923bd5ca59c505907fbbefd666b35f17f786504 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the smooth tan switch with textured sides directly", + "Press the flat switch using the right arm.", + "Locate and press the flat switch", + "Approach and tap the tan switch via the right arm", + "Interact with the hand-sized switch tan smooth finish.", + "Press the small light tan switch with the right arm", + "Switch the trapezoid-shaped switch smooth surface to its active state", + "Press the smooth tan switch with textured sides using robotic control", + "Engage the trapezoid-shaped switch smooth surface using the right arm.", + "Toggle the plastic switch with angled edges with the right arm.", + "Engage the right arm to press the smooth tan switch with textured sides", + "Trigger the rectangular switch with slanted sides with precision", + "Move to the flat switch and click it.", + "Press the hand-sized switch tan smooth finish to activate.", + "Use the right arm to engage the smooth tan switch with textured sides", + "Operate the right arm to engage the switch trapezoid shape brown marking", + "Direct the right arm to operate the rectangular switch with slanted sides", + "Tap the hand-sized switch tan smooth finish to engage it", + "Click the tan switch directly.", + "Activate the hand-sized switch tan smooth finish with the right arm.", + "Locate and press the small light tan switch", + "Activate the the plastic switch with angled edges using the right arm", + "Click the plastic switch with angled edges with robotic precision", + "Directly interact with the smooth tan switch with textured sides", + "Activate the light tan rectangular switch smooth finish via the right arm", + "Activate the switch with darker rectangle with robotic precision", + "Interact with the trapezoid-shaped switch smooth surface directly", + "Set the right arm to press the light tan rectangular switch smooth finish", + "Press the switch trapezoid shape brown marking via automation", + "Deploy the right arm to operate the small light tan switch", + "Use the right arm for switching the plastic switch with angled edges", + "Command the right arm to engage the flat switch", + "Click on the switch with darker rectangle precisely", + "Set the switch at the hand-sized switch tan smooth finish", + "Engage the light tan rectangular switch smooth finish using the robotic arm", + "Operate the flat switch with the right arm", + "Click the switch with darker rectangle using automated tools", + "Push the hand-sized switch tan smooth finish via the right arm.", + "Trigger the smooth tan switch with textured sides without referencing the right arm", + "Deploy the right arm to press the small light tan switch", + "Initiate the small light tan switch by clicking", + "Engage with the light tan rectangular switch smooth finish manually", + "Use the right arm to interact with the rectangular switch with slanted sides", + "Click the tan switch to activate it", + "Activate the hand-sized switch tan smooth finish by pressing it", + "Activate the trapezoid-shaped switch smooth surface directly", + "Engage the switch trapezoid shape brown marking using the right arm", + "Trigger the tan switch using the right arm", + "Engage the hand-sized switch tan smooth finish with a press.", + "Press the switch with darker rectangle carefully with the right arm", + "Press the tan switch directly", + "Press the flat switch using the right arm.", + "Locate and press the smooth tan switch with textured sides", + "Approach and tap the smooth tan switch with textured sides via the right arm", + "Interact with the trapezoid-shaped switch smooth surface.", + "Press the smooth tan switch with textured sides with the right arm", + "Switch the smooth tan switch with textured sides to its active state", + "Press the rectangular switch with slanted sides using robotic control", + "Engage the switch trapezoid shape brown marking using the right arm.", + "Toggle the plastic switch with angled edges with the right arm.", + "Engage the right arm to press the flat switch", + "Trigger the tan switch with precision", + "Move to the rectangular switch with slanted sides and click it.", + "Press the rectangular switch with slanted sides to activate.", + "Use the right arm to engage the flat switch", + "Operate the right arm to engage the small light tan switch", + "Direct the right arm to operate the light tan rectangular switch smooth finish", + "Tap the light tan rectangular switch smooth finish to engage it", + "Click the small light tan switch directly.", + "Activate the switch with darker rectangle with the right arm.", + "Locate and press the switch trapezoid shape brown marking", + "Activate the the small light tan switch using the right arm", + "Click the rectangular switch with slanted sides with robotic precision", + "Directly interact with the light tan rectangular switch smooth finish", + "Activate the angled switch light tan color via the right arm", + "Activate the plastic switch with angled edges with robotic precision", + "Interact with the light tan rectangular switch smooth finish directly", + "Set the right arm to press the switch with darker rectangle", + "Press the trapezoid-shaped switch smooth surface via automation", + "Deploy the right arm to operate the flat switch", + "Use the right arm for switching the small light tan switch", + "Command the right arm to engage the switch trapezoid shape brown marking", + "Click on the plastic switch with angled edges precisely", + "Set the switch at the light tan rectangular switch smooth finish", + "Engage the rectangular switch with slanted sides using the robotic arm", + "Operate the flat switch with the right arm", + "Click the rectangular switch with slanted sides using automated tools", + "Push the plastic switch with angled edges via the right arm.", + "Trigger the tan switch without referencing the right arm", + "Deploy the right arm to press the hand-sized switch tan smooth finish", + "Initiate the rectangular switch with slanted sides by clicking", + "Engage with the small light tan switch manually", + "Use the right arm to interact with the tan switch", + "Click the smooth tan switch with textured sides to activate it", + "Activate the plastic switch with angled edges by pressing it", + "Activate the hand-sized switch tan smooth finish directly", + "Engage the rectangular switch with slanted sides using the right arm", + "Trigger the trapezoid-shaped switch smooth surface using the right arm", + "Engage the small light tan switch with a press.", + "Press the switch trapezoid shape brown marking carefully with the right arm" + ], + "unseen": [ + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..71ff96be5130f93b4dd31333c5ea9a8474d9f5df --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the left arm to press the plastic gray body switch", + "Press the square switch with red bar using robotic control", + "Activate the electrical switch with protruding toggle via the left arm", + "Engage the toggle switch light gray base using the robotic arm", + "Operate the plastic gray body switch with the left arm", + "Use the left arm for switching the plastic gray body switch", + "Trigger the switch with thin red toggle without referencing the left arm", + "Engage the gray switch with red toggle with a press.", + "Trigger the compact switch with flat base with precision", + "Deploy the left arm to operate the gray switch with red toggle", + "Engage the left arm to press the control switch with red lever", + "Engage the gray switch with red toggle using the left arm.", + "Tap the toggle switch light gray base to engage it", + "Activate the gray switch with red toggle by pressing it", + "Activate the light gray square switch with robotic precision", + "Use the left arm to interact with the switch", + "Click the plastic gray body switch with robotic precision", + "Set the left arm to press the gray switch with red toggle", + "Activate the the red bar switch using the left arm", + "Switch the square switch with red bar to its active state", + "Press the toggle switch light gray base carefully with the left arm", + "Engage the light gray square switch using the left arm", + "Press the light gray square switch to activate.", + "Set the switch at the switch", + "Directly interact with the toggle switch light gray base", + "Click on the light gray square switch precisely", + "Press the gray switch with red toggle with the left arm", + "Engage with the gray switch with red toggle manually", + "Click the light gray square switch directly.", + "Operate the left arm to engage the light gray square switch", + "Press the toggle switch light gray base via automation", + "Use the left arm to engage the light gray square switch", + "Push the gray switch with red toggle via the left arm.", + "Click the plastic gray body switch to activate it", + "Press the red bar switch using the left arm.", + "Press the control switch with red lever directly", + "Direct the left arm to operate the switch", + "Move to the control switch with red lever and click it.", + "Interact with the electrical switch with protruding toggle.", + "Trigger the switch for electrical control using the left arm", + "Interact with the switch directly", + "Command the left arm to engage the toggle switch light gray base", + "Activate the electrical switch with protruding toggle directly", + "Click the square switch with red bar using automated tools", + "Initiate the control switch with red lever by clicking", + "Toggle the switch for electrical control with the left arm.", + "Locate and press the toggle switch light gray base", + "Locate and press the switch with thin red toggle", + "Activate the switch for electrical control with the left arm.", + "Approach and tap the square switch with red bar via the left arm", + "Deploy the left arm to press the red bar switch", + "Press the plastic gray body switch using robotic control", + "Activate the switch with thin red toggle via the left arm", + "Engage the electrical switch with protruding toggle using the robotic arm", + "Operate the square switch with red bar with the left arm", + "Use the left arm for switching the switch for electrical control", + "Trigger the square switch with red bar without referencing the left arm", + "Engage the red bar switch with a press.", + "Trigger the gray switch with red toggle with precision", + "Deploy the left arm to operate the red bar switch", + "Engage the left arm to press the square switch with red bar", + "Engage the red bar switch using the left arm.", + "Tap the light gray square switch to engage it", + "Activate the square switch with red bar by pressing it", + "Activate the compact switch with flat base with robotic precision", + "Use the left arm to interact with the switch with thin red toggle", + "Click the plastic gray body switch with robotic precision", + "Set the left arm to press the compact switch with flat base", + "Activate the the plastic gray body switch using the left arm", + "Switch the control switch with red lever to its active state", + "Press the gray switch with red toggle carefully with the left arm", + "Engage the control switch with red lever using the left arm", + "Press the control switch with red lever to activate.", + "Set the switch at the electrical switch with protruding toggle", + "Directly interact with the square switch with red bar", + "Click on the light gray square switch precisely", + "Press the toggle switch light gray base with the left arm", + "Engage with the plastic gray body switch manually", + "Click the toggle switch light gray base directly.", + "Operate the left arm to engage the red bar switch", + "Press the gray switch with red toggle via automation", + "Use the left arm to engage the light gray square switch", + "Push the toggle switch light gray base via the left arm.", + "Click the square switch with red bar to activate it", + "Press the electrical switch with protruding toggle using the left arm.", + "Press the electrical switch with protruding toggle directly", + "Direct the left arm to operate the switch", + "Move to the electrical switch with protruding toggle and click it.", + "Interact with the compact switch with flat base.", + "Trigger the switch using the left arm", + "Interact with the switch directly", + "Command the left arm to engage the light gray square switch", + "Activate the switch for electrical control directly", + "Click the switch using automated tools", + "Initiate the square switch with red bar by clicking", + "Toggle the plastic gray body switch with the left arm.", + "Locate and press the toggle switch light gray base", + "Locate and press the switch", + "Activate the electrical switch with protruding toggle with the left arm.", + "Approach and tap the compact switch with flat base via the left arm" + ], + "unseen": [ + "Click the smooth gray base switch using the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Click the flat square gray switch using the left arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the smooth gray base switch using the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the smooth gray base switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch.", + "Direct the left arm to click the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm.", + "Press the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Activate the switch at the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Click the smooth gray base switch using the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Direct the left arm to click the flat square gray switch", + "Click the flat square gray switch with the left arm.", + "Press the flat square gray switch using the left arm", + "Move and click the the flat square gray switch", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch using the left arm", + "Activate the switch at the flat square gray switch", + "Use the left arm to press the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the flat square gray switch.", + "Direct the left arm to click the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Press the flat square gray switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc1222362283b66be0268305d30cf13a3f948c0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the the smooth red switch with labels using the left arm", + "Press the tiny rectangular switch using the left arm.", + "Interact with the plastic switch with metal prongs.", + "Trigger the smooth red switch with labels with precision", + "Activate the plastic switch with metal prongs directly", + "Directly interact with the tiny rectangular switch", + "Activate the small switch with red lever via the left arm", + "Trigger the metal-pronged black switch using the left arm", + "Initiate the two-tone red black switch by clicking", + "Activate the two-tone red black switch with robotic precision", + "Locate and press the metal-pronged black switch", + "Command the left arm to engage the rectangular switch", + "Press the metal-pronged black switch directly", + "Click the black base switch to activate it", + "Click the toggle switch with black housing with robotic precision", + "Toggle the small switch with red lever with the left arm.", + "Engage the black base switch using the left arm", + "Set the left arm to press the black base switch", + "Engage the metal-pronged black switch using the robotic arm", + "Deploy the left arm to operate the metal-pronged black switch", + "Deploy the left arm to press the rectangular switch", + "Approach and tap the switch for turning circuits on off via the left arm", + "Trigger the plastic switch with metal prongs without referencing the left arm", + "Use the left arm for switching the red and black electrical switch", + "Press the tiny rectangular switch via automation", + "Engage the small switch with red lever using the left arm.", + "Use the left arm to interact with the switch for turning circuits on off", + "Interact with the metal-pronged black switch directly", + "Tap the red and black electrical switch to engage it", + "Engage the small switch with red lever with a press.", + "Operate the left arm to engage the red and black electrical switch", + "Switch the plastic switch with metal prongs to its active state", + "Press the two-tone red black switch with the left arm", + "Push the tiny rectangular switch via the left arm.", + "Click the switch for turning circuits on off directly.", + "Engage with the small switch with red lever manually", + "Operate the switch for turning circuits on off with the left arm", + "Click on the switch for turning circuits on off precisely", + "Engage the left arm to press the metal-pronged black switch", + "Press the plastic switch with metal prongs using robotic control", + "Press the toggle switch with black housing to activate.", + "Activate the plastic switch with metal prongs with the left arm.", + "Move to the rectangular switch and click it.", + "Direct the left arm to operate the toggle switch with black housing", + "Activate the two-tone red black switch by pressing it", + "Press the two-tone red black switch carefully with the left arm", + "Click the plastic switch with metal prongs using automated tools", + "Set the switch at the metal-pronged black switch", + "Use the left arm to engage the small switch with red lever", + "Locate and press the plastic switch with metal prongs", + "Activate the the tiny rectangular switch using the left arm", + "Press the small switch with red lever using the left arm.", + "Interact with the two-tone red black switch.", + "Trigger the tiny rectangular switch with precision", + "Activate the black base switch directly", + "Directly interact with the smooth red switch with labels", + "Activate the smooth red switch with labels via the left arm", + "Trigger the toggle switch with black housing using the left arm", + "Initiate the red and black electrical switch by clicking", + "Activate the black base switch with robotic precision", + "Locate and press the toggle switch with black housing", + "Command the left arm to engage the rectangular switch", + "Press the black base switch directly", + "Click the smooth red switch with labels to activate it", + "Click the smooth red switch with labels with robotic precision", + "Toggle the red and black electrical switch with the left arm.", + "Engage the switch for turning circuits on off using the left arm", + "Set the left arm to press the metal-pronged black switch", + "Engage the rectangular switch using the robotic arm", + "Deploy the left arm to operate the tiny rectangular switch", + "Deploy the left arm to press the toggle switch with black housing", + "Approach and tap the metal-pronged black switch via the left arm", + "Trigger the black base switch without referencing the left arm", + "Use the left arm for switching the switch with three metal pins", + "Press the two-tone red black switch via automation", + "Engage the tiny rectangular switch using the left arm.", + "Use the left arm to interact with the red and black electrical switch", + "Interact with the metal-pronged black switch directly", + "Tap the two-tone red black switch to engage it", + "Engage the tiny rectangular switch with a press.", + "Operate the left arm to engage the switch with three metal pins", + "Switch the red and black electrical switch to its active state", + "Press the metal-pronged black switch with the left arm", + "Push the plastic switch with metal prongs via the left arm.", + "Click the rectangular switch directly.", + "Engage with the red and black electrical switch manually", + "Operate the black base switch with the left arm", + "Click on the small switch with red lever precisely", + "Engage the left arm to press the red and black electrical switch", + "Press the black base switch using robotic control", + "Press the toggle switch with black housing to activate.", + "Activate the red and black electrical switch with the left arm.", + "Move to the rectangular switch and click it.", + "Direct the left arm to operate the red and black electrical switch", + "Activate the tiny rectangular switch by pressing it", + "Press the small switch with red lever carefully with the left arm", + "Click the small switch with red lever using automated tools", + "Set the switch at the plastic switch with metal prongs", + "Use the left arm to engage the smooth red switch with labels", + "Locate and press the small switch with red lever" + ], + "unseen": [ + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red toggle switch with the left arm.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Move and click the the red toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Move and click the the red toggle switch", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the curved toggle switch.", + "Move and click the the curved toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the red toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red toggle switch.", + "Move and click the the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Move and click the the curved toggle switch", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red toggle switch with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..476ec4beebbbb195c52bf08583a29bb12d1cd2ca --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the beige switch directly", + "Command the left arm to engage the matte beige switch with flat top", + "Use the left arm to interact with the tiny matte beige toggle switch", + "Press the light plastic switch using the left arm.", + "Toggle the light plastic switch with the left arm.", + "Click the matte beige switch with flat top to activate it", + "Trigger the light-colored trapezoid-shaped plastic switch with precision", + "Interact with the matte beige switch with flat top.", + "Move to the beige switch with smooth finish and click it.", + "Click on the light-colored trapezoid-shaped plastic switch precisely", + "Trigger the switch with brown button using the left arm", + "Activate the the switch with brown button using the left arm", + "Activate the small trapezoid switch via the left arm", + "Press the small trapezoid switch to activate.", + "Deploy the left arm to press the light plastic switch", + "Activate the light-colored trapezoid-shaped plastic switch directly", + "Engage the matte beige switch with flat top with a press.", + "Engage the tiny matte beige toggle switch using the robotic arm", + "Operate the toggle switch with brown rectangle button with the left arm", + "Switch the light-colored trapezoid-shaped plastic switch to its active state", + "Use the left arm to engage the switch with rectangular dark button", + "Press the tiny matte beige toggle switch carefully with the left arm", + "Set the switch at the switch with rectangular dark button", + "Activate the beige switch by pressing it", + "Engage the left arm to press the switch with a smooth top", + "Trigger the tiny matte beige toggle switch without referencing the left arm", + "Press the beige switch via automation", + "Interact with the light plastic switch directly", + "Engage the small trapezoid switch using the left arm.", + "Approach and tap the tiny matte beige toggle switch via the left arm", + "Click the switch with rectangular dark button directly.", + "Initiate the hand-sized light beige switch by clicking", + "Set the left arm to press the toggle switch with brown rectangle button", + "Engage with the small trapezoid switch manually", + "Locate and press the hand-sized light beige switch", + "Activate the matte beige switch with flat top with robotic precision", + "Engage the tiny matte beige toggle switch using the left arm", + "Locate and press the toggle switch with brown rectangle button", + "Tap the beige switch to engage it", + "Directly interact with the tiny matte beige toggle switch", + "Direct the left arm to operate the switch with rectangular dark button", + "Deploy the left arm to operate the light plastic switch", + "Operate the left arm to engage the small trapezoid switch", + "Click the switch with a smooth top with robotic precision", + "Press the light-colored trapezoid-shaped plastic switch using robotic control", + "Use the left arm for switching the light plastic switch", + "Activate the matte beige switch with flat top with the left arm.", + "Push the light plastic switch via the left arm.", + "Click the toggle switch with brown rectangle button using automated tools", + "Press the toggle switch with brown rectangle button with the left arm", + "Press the tiny matte beige toggle switch directly", + "Command the left arm to engage the light plastic switch", + "Use the left arm to interact with the light-colored trapezoid-shaped plastic switch", + "Press the light plastic switch using the left arm.", + "Toggle the small trapezoid switch with the left arm.", + "Click the beige switch to activate it", + "Trigger the switch with brown button with precision", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Move to the light plastic switch and click it.", + "Click on the beige switch with smooth finish precisely", + "Trigger the tiny matte beige toggle switch using the left arm", + "Activate the the hand-sized light beige switch using the left arm", + "Activate the hand-sized light beige switch via the left arm", + "Press the hand-sized light beige switch to activate.", + "Deploy the left arm to press the switch with brown button", + "Activate the beige switch directly", + "Engage the matte beige switch with flat top with a press.", + "Engage the beige switch with smooth finish using the robotic arm", + "Operate the light-colored trapezoid-shaped plastic switch with the left arm", + "Switch the small trapezoid switch to its active state", + "Use the left arm to engage the tiny matte beige toggle switch", + "Press the beige switch carefully with the left arm", + "Set the switch at the hand-sized light beige switch", + "Activate the beige switch with smooth finish by pressing it", + "Engage the left arm to press the beige switch", + "Trigger the tiny matte beige toggle switch without referencing the left arm", + "Press the beige switch via automation", + "Interact with the tiny matte beige toggle switch directly", + "Engage the toggle switch with brown rectangle button using the left arm.", + "Approach and tap the toggle switch with brown rectangle button via the left arm", + "Click the tiny matte beige toggle switch directly.", + "Initiate the matte beige switch with flat top by clicking", + "Set the left arm to press the beige switch", + "Engage with the light-colored trapezoid-shaped plastic switch manually", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Activate the small trapezoid switch with robotic precision", + "Engage the matte beige switch with flat top using the left arm", + "Locate and press the beige switch with smooth finish", + "Tap the beige switch to engage it", + "Directly interact with the switch with a smooth top", + "Direct the left arm to operate the toggle switch with brown rectangle button", + "Deploy the left arm to operate the matte beige switch with flat top", + "Operate the left arm to engage the switch with rectangular dark button", + "Click the switch with a smooth top with robotic precision", + "Press the beige switch with smooth finish using robotic control", + "Use the left arm for switching the beige switch with smooth finish", + "Activate the switch with brown button with the left arm.", + "Push the small trapezoid switch via the left arm.", + "Click the toggle switch with brown rectangle button using automated tools", + "Press the switch with rectangular dark button with the left arm" + ], + "unseen": [ + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top.", + "Click the beige switch with darker brown top with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the small beige switch with angular sides", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the left arm.", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the left arm.", + "Press the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the rectangular button switch on beige base with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Move and click the the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Direct the left arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the left arm.", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Move and click the the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top.", + "Click the beige switch with darker brown top with the left arm.", + "Press the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..64984b48b9079918d2ababd5bf02f741e170c471 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the gray plastic switch with robotic precision", + "Set the left arm to press the gray plastic switch", + "Engage the gray base with black buttons using the left arm.", + "Set the switch at the switch with trapezoidal base", + "Use the left arm to interact with the gray plastic switch", + "Direct the left arm to operate the gray switch with black buttons", + "Press the plastic switch with matte buttons using robotic control", + "Interact with the gray smooth surface switch directly", + "Click the switch with trapezoidal base with robotic precision", + "Switch the plastic switch with matte buttons to its active state", + "Click the switch with trapezoidal base directly.", + "Press the electric toggle switch using the left arm.", + "Locate and press the electric toggle switch", + "Operate the electric toggle switch with the left arm", + "Trigger the gray plastic switch with precision", + "Use the left arm for switching the gray switch with black buttons", + "Click the smooth gray switch using automated tools", + "Approach and tap the two-button gray switch via the left arm", + "Click on the gray plastic switch precisely", + "Trigger the plastic switch with matte buttons using the left arm", + "Locate and press the trapezoidal base switch", + "Move to the two-button gray switch and click it.", + "Toggle the switch with trapezoidal base with the left arm.", + "Engage the smooth gray switch using the robotic arm", + "Press the gray plastic switch directly", + "Use the left arm to engage the switch with trapezoidal base", + "Engage the left arm to press the medium switch with trapezoidal base", + "Push the medium switch with trapezoidal base via the left arm.", + "Press the gray smooth surface switch via automation", + "Click the plastic switch with matte buttons to activate it", + "Operate the left arm to engage the smooth gray switch", + "Activate the electric toggle switch directly", + "Engage the gray base with black buttons using the left arm", + "Press the handheld switch to activate.", + "Press the gray switch with black buttons carefully with the left arm", + "Engage with the gray smooth surface switch manually", + "Trigger the switch with trapezoidal base without referencing the left arm", + "Command the left arm to engage the trapezoidal base switch", + "Deploy the left arm to press the electric toggle switch", + "Initiate the medium switch with trapezoidal base by clicking", + "Interact with the electric toggle switch.", + "Tap the medium switch with trapezoidal base to engage it", + "Activate the the handheld switch using the left arm", + "Press the medium switch with trapezoidal base with the left arm", + "Activate the plastic switch with matte buttons with the left arm.", + "Engage the gray smooth surface switch with a press.", + "Directly interact with the handheld switch", + "Activate the handheld switch by pressing it", + "Deploy the left arm to operate the plastic switch with matte buttons", + "Activate the trapezoidal base switch via the left arm", + "Activate the trapezoidal base switch with robotic precision", + "Set the left arm to press the medium switch with trapezoidal base", + "Engage the plastic switch with matte buttons using the left arm.", + "Set the switch at the gray plastic switch", + "Use the left arm to interact with the trapezoidal base switch", + "Direct the left arm to operate the smooth gray switch", + "Press the smooth gray switch using robotic control", + "Interact with the gray smooth surface switch directly", + "Click the gray base with black buttons with robotic precision", + "Switch the gray switch with black buttons to its active state", + "Click the gray smooth surface switch directly.", + "Press the switch with trapezoidal base using the left arm.", + "Locate and press the trapezoidal base switch", + "Operate the medium switch with trapezoidal base with the left arm", + "Trigger the gray switch with black buttons with precision", + "Use the left arm for switching the handheld switch", + "Click the gray base with black buttons using automated tools", + "Approach and tap the electric toggle switch via the left arm", + "Click on the gray base with black buttons precisely", + "Trigger the medium switch with trapezoidal base using the left arm", + "Locate and press the plastic switch with matte buttons", + "Move to the electric toggle switch and click it.", + "Toggle the smooth gray switch with the left arm.", + "Engage the switch with trapezoidal base using the robotic arm", + "Press the plastic switch with matte buttons directly", + "Use the left arm to engage the two-button gray switch", + "Engage the left arm to press the two-button gray switch", + "Push the gray switch with black buttons via the left arm.", + "Press the gray smooth surface switch via automation", + "Click the gray switch with black buttons to activate it", + "Operate the left arm to engage the gray plastic switch", + "Activate the handheld switch directly", + "Engage the handheld switch using the left arm", + "Press the trapezoidal base switch to activate.", + "Press the switch with trapezoidal base carefully with the left arm", + "Engage with the gray base with black buttons manually", + "Trigger the trapezoidal base switch without referencing the left arm", + "Command the left arm to engage the electric toggle switch", + "Deploy the left arm to press the gray smooth surface switch", + "Initiate the trapezoidal base switch by clicking", + "Interact with the switch with trapezoidal base.", + "Tap the trapezoidal base switch to engage it", + "Activate the the gray base with black buttons using the left arm", + "Press the switch with trapezoidal base with the left arm", + "Activate the two-button gray switch with the left arm.", + "Engage the trapezoidal base switch with a press.", + "Directly interact with the medium switch with trapezoidal base", + "Activate the gray smooth surface switch by pressing it", + "Deploy the left arm to operate the electric toggle switch", + "Activate the medium switch with trapezoidal base via the left arm" + ], + "unseen": [ + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the gray switch", + "Click the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch medium size with the left arm.", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch.", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch with the left arm.", + "Move and click the the gray switch medium size", + "Press the gray switch medium size using the left arm", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Direct the left arm to click the gray switch", + "Click the gray switch medium size with the left arm.", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch medium size", + "Click the gray switch with the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the gray switch.", + "Direct the left arm to click the gray switch medium size", + "Click the gray switch with the left arm.", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Direct the left arm to click the gray switch medium size", + "Click the gray switch with the left arm.", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch", + "Press the gray switch medium size using the left arm", + "Use the left arm to press the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch.", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch", + "Press the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm.", + "Move and click the the gray switch medium size", + "Press the gray switch medium size using the left arm", + "Use the left arm to press the gray switch medium size", + "Click the gray switch with the left arm", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch.", + "Direct the left arm to click the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch medium size.", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm.", + "Move and click the the switch with circular black buttons", + "Press the gray switch using the left arm", + "Use the left arm to press the gray switch medium size" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..02274c680eb9d530f533706287098f1c7d2e1089 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the right arm to engage the angled switch light tan color", + "Command the right arm to engage the flat switch", + "Engage with the plastic switch with angled edges manually", + "Initiate the light tan rectangular switch smooth finish by clicking", + "Interact with the angled switch light tan color directly", + "Set the right arm to press the angled switch light tan color", + "Activate the small light tan switch with the right arm.", + "Click on the light tan rectangular switch smooth finish precisely", + "Locate and press the switch with darker rectangle", + "Press the flat switch directly", + "Press the light tan rectangular switch smooth finish using the right arm.", + "Use the right arm to engage the light tan rectangular switch smooth finish", + "Press the tan switch with the right arm", + "Use the right arm for switching the light tan rectangular switch smooth finish", + "Direct the right arm to operate the rectangular switch with slanted sides", + "Activate the hand-sized switch tan smooth finish with robotic precision", + "Engage the angled switch light tan color using the right arm.", + "Activate the smooth tan switch with textured sides via the right arm", + "Switch the switch with darker rectangle to its active state", + "Set the switch at the rectangular switch with slanted sides", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Use the right arm to interact with the angled switch light tan color", + "Click the smooth tan switch with textured sides directly.", + "Click the switch with darker rectangle using automated tools", + "Click the plastic switch with angled edges to activate it", + "Deploy the right arm to press the tan switch", + "Press the angled switch light tan color carefully with the right arm", + "Engage the switch with darker rectangle with a press.", + "Activate the the angled switch light tan color using the right arm", + "Trigger the smooth tan switch with textured sides using the right arm", + "Deploy the right arm to operate the rectangular switch with slanted sides", + "Operate the rectangular switch with slanted sides with the right arm", + "Move to the switch with darker rectangle and click it.", + "Activate the trapezoid-shaped switch smooth surface by pressing it", + "Locate and press the rectangular switch with slanted sides", + "Press the hand-sized switch tan smooth finish via automation", + "Press the light tan rectangular switch smooth finish using robotic control", + "Toggle the tan switch with the right arm.", + "Press the switch trapezoid shape brown marking to activate.", + "Click the tan switch with robotic precision", + "Interact with the small light tan switch.", + "Engage the tan switch using the robotic arm", + "Trigger the hand-sized switch tan smooth finish with precision", + "Approach and tap the tan switch via the right arm", + "Directly interact with the switch trapezoid shape brown marking", + "Push the light tan rectangular switch smooth finish via the right arm.", + "Tap the rectangular switch with slanted sides to engage it", + "Activate the small light tan switch directly", + "Engage the right arm to press the hand-sized switch tan smooth finish", + "Trigger the tan switch without referencing the right arm", + "Operate the right arm to engage the light tan rectangular switch smooth finish", + "Command the right arm to engage the rectangular switch with slanted sides", + "Engage with the hand-sized switch tan smooth finish manually", + "Initiate the smooth tan switch with textured sides by clicking", + "Interact with the light tan rectangular switch smooth finish directly", + "Set the right arm to press the switch with darker rectangle", + "Activate the small light tan switch with the right arm.", + "Click on the switch with darker rectangle precisely", + "Locate and press the flat switch", + "Press the hand-sized switch tan smooth finish directly", + "Press the small light tan switch using the right arm.", + "Use the right arm to engage the angled switch light tan color", + "Press the hand-sized switch tan smooth finish with the right arm", + "Use the right arm for switching the light tan rectangular switch smooth finish", + "Direct the right arm to operate the angled switch light tan color", + "Activate the small light tan switch with robotic precision", + "Engage the switch with darker rectangle using the right arm.", + "Activate the switch trapezoid shape brown marking via the right arm", + "Switch the small light tan switch to its active state", + "Set the switch at the hand-sized switch tan smooth finish", + "Engage the switch trapezoid shape brown marking using the right arm", + "Use the right arm to interact with the trapezoid-shaped switch smooth surface", + "Click the switch with darker rectangle directly.", + "Click the switch trapezoid shape brown marking using automated tools", + "Click the hand-sized switch tan smooth finish to activate it", + "Deploy the right arm to press the trapezoid-shaped switch smooth surface", + "Press the hand-sized switch tan smooth finish carefully with the right arm", + "Engage the tan switch with a press.", + "Activate the the switch trapezoid shape brown marking using the right arm", + "Trigger the rectangular switch with slanted sides using the right arm", + "Deploy the right arm to operate the smooth tan switch with textured sides", + "Operate the light tan rectangular switch smooth finish with the right arm", + "Move to the small light tan switch and click it.", + "Activate the smooth tan switch with textured sides by pressing it", + "Locate and press the smooth tan switch with textured sides", + "Press the flat switch via automation", + "Press the angled switch light tan color using robotic control", + "Toggle the switch trapezoid shape brown marking with the right arm.", + "Press the rectangular switch with slanted sides to activate.", + "Click the switch with darker rectangle with robotic precision", + "Interact with the tan switch.", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Trigger the small light tan switch with precision", + "Approach and tap the hand-sized switch tan smooth finish via the right arm", + "Directly interact with the small light tan switch", + "Push the trapezoid-shaped switch smooth surface via the right arm.", + "Tap the rectangular switch with slanted sides to engage it", + "Activate the plastic switch with angled edges directly", + "Engage the right arm to press the switch trapezoid shape brown marking", + "Trigger the tan switch without referencing the right arm" + ], + "unseen": [ + "Press the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the small flat switch tan top", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the small flat switch tan top", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm.", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..ed66339d276b18d82a09eb684e508870b86651f2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the hand-sized switch tan smooth finish to activate it", + "Press the angled switch light tan color carefully with the left arm", + "Press the rectangular switch with slanted sides using robotic control", + "Click the angled switch light tan color with robotic precision", + "Activate the flat switch via the left arm", + "Interact with the hand-sized switch tan smooth finish.", + "Press the switch with darker rectangle to activate.", + "Direct the left arm to operate the plastic switch with angled edges", + "Move to the plastic switch with angled edges and click it.", + "Activate the rectangular switch with slanted sides directly", + "Trigger the small light tan switch using the left arm", + "Engage the left arm to press the tan switch", + "Use the left arm for switching the plastic switch with angled edges", + "Tap the light tan rectangular switch smooth finish to engage it", + "Interact with the switch trapezoid shape brown marking directly", + "Press the trapezoid-shaped switch smooth surface via automation", + "Press the light tan rectangular switch smooth finish directly", + "Set the left arm to press the smooth tan switch with textured sides", + "Initiate the light tan rectangular switch smooth finish by clicking", + "Click the light tan rectangular switch smooth finish directly.", + "Locate and press the small light tan switch", + "Locate and press the rectangular switch with slanted sides", + "Directly interact with the tan switch", + "Click the switch with darker rectangle using automated tools", + "Deploy the left arm to operate the light tan rectangular switch smooth finish", + "Toggle the tan switch with the left arm.", + "Activate the switch trapezoid shape brown marking with robotic precision", + "Use the left arm to interact with the rectangular switch with slanted sides", + "Activate the switch trapezoid shape brown marking with the left arm.", + "Press the trapezoid-shaped switch smooth surface using the left arm.", + "Use the left arm to engage the smooth tan switch with textured sides", + "Switch the flat switch to its active state", + "Press the switch with darker rectangle with the left arm", + "Deploy the left arm to press the switch with darker rectangle", + "Push the switch trapezoid shape brown marking via the left arm.", + "Operate the trapezoid-shaped switch smooth surface with the left arm", + "Command the left arm to engage the angled switch light tan color", + "Engage the small light tan switch using the left arm", + "Engage with the hand-sized switch tan smooth finish manually", + "Engage the flat switch using the robotic arm", + "Set the switch at the plastic switch with angled edges", + "Operate the left arm to engage the tan switch", + "Engage the flat switch using the left arm.", + "Activate the hand-sized switch tan smooth finish by pressing it", + "Trigger the tan switch without referencing the left arm", + "Trigger the smooth tan switch with textured sides with precision", + "Approach and tap the switch trapezoid shape brown marking via the left arm", + "Engage the plastic switch with angled edges with a press.", + "Activate the the switch with darker rectangle using the left arm", + "Click on the rectangular switch with slanted sides precisely", + "Click the switch with darker rectangle to activate it", + "Press the switch trapezoid shape brown marking carefully with the left arm", + "Press the switch trapezoid shape brown marking using robotic control", + "Click the trapezoid-shaped switch smooth surface with robotic precision", + "Activate the rectangular switch with slanted sides via the left arm", + "Interact with the smooth tan switch with textured sides.", + "Press the switch with darker rectangle to activate.", + "Direct the left arm to operate the trapezoid-shaped switch smooth surface", + "Move to the hand-sized switch tan smooth finish and click it.", + "Activate the trapezoid-shaped switch smooth surface directly", + "Trigger the small light tan switch using the left arm", + "Engage the left arm to press the small light tan switch", + "Use the left arm for switching the plastic switch with angled edges", + "Tap the plastic switch with angled edges to engage it", + "Interact with the trapezoid-shaped switch smooth surface directly", + "Press the trapezoid-shaped switch smooth surface via automation", + "Press the angled switch light tan color directly", + "Set the left arm to press the smooth tan switch with textured sides", + "Initiate the switch trapezoid shape brown marking by clicking", + "Click the tan switch directly.", + "Locate and press the plastic switch with angled edges", + "Locate and press the trapezoid-shaped switch smooth surface", + "Directly interact with the tan switch", + "Click the flat switch using automated tools", + "Deploy the left arm to operate the plastic switch with angled edges", + "Toggle the switch with darker rectangle with the left arm.", + "Activate the plastic switch with angled edges with robotic precision", + "Use the left arm to interact with the tan switch", + "Activate the small light tan switch with the left arm.", + "Press the tan switch using the left arm.", + "Use the left arm to engage the angled switch light tan color", + "Switch the tan switch to its active state", + "Press the smooth tan switch with textured sides with the left arm", + "Deploy the left arm to press the switch with darker rectangle", + "Push the hand-sized switch tan smooth finish via the left arm.", + "Operate the tan switch with the left arm", + "Command the left arm to engage the plastic switch with angled edges", + "Engage the plastic switch with angled edges using the left arm", + "Engage with the smooth tan switch with textured sides manually", + "Engage the plastic switch with angled edges using the robotic arm", + "Set the switch at the rectangular switch with slanted sides", + "Operate the left arm to engage the smooth tan switch with textured sides", + "Engage the small light tan switch using the left arm.", + "Activate the smooth tan switch with textured sides by pressing it", + "Trigger the rectangular switch with slanted sides without referencing the left arm", + "Trigger the trapezoid-shaped switch smooth surface with precision", + "Approach and tap the smooth tan switch with textured sides via the left arm", + "Engage the angled switch light tan color with a press.", + "Activate the the hand-sized switch tan smooth finish using the left arm", + "Click on the switch trapezoid shape brown marking precisely" + ], + "unseen": [ + "Click the small flat switch tan top using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the small flat switch tan top", + "Press the small flat switch tan top using the left arm", + "Move and click the the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the small flat switch tan top using the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top using the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..9d3e05f2f435b4ed92589a398c13c179837bb905 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the the switch with curved red toggle using the right arm", + "Trigger the black base switch with red toggle without referencing the right arm", + "Click the black switch to activate it", + "Toggle the red-top black switch with the right arm.", + "Engage with the rectangular switch with curved lever manually", + "Directly interact with the hand-sized switch with connector prongs", + "Trigger the black switch with metallic connectors with precision", + "Press the switch with curved red toggle carefully with the right arm", + "Press the black switch with metallic connectors using the right arm.", + "Press the black base switch with red toggle to activate.", + "Engage the black switch with metallic connectors using the robotic arm", + "Press the hand-sized switch with connector prongs with the right arm", + "Engage the rectangular black plastic switch with a press.", + "Tap the compact switch with toggle on top to engage it", + "Move to the black switch with metallic connectors and click it.", + "Interact with the red and black switch directly", + "Activate the rectangular black plastic switch directly", + "Use the right arm to engage the plastic switch with metal terminals", + "Approach and tap the compact switch with toggle on top via the right arm", + "Switch the black base switch with red toggle to its active state", + "Trigger the rectangular switch with curved lever using the right arm", + "Use the right arm to interact with the red and black switch", + "Activate the black switch via the right arm", + "Deploy the right arm to press the red-top black switch", + "Click the rectangular switch with curved lever directly.", + "Press the black switch with metallic connectors via automation", + "Click the black switch with metallic connectors using automated tools", + "Press the black switch with metallic connectors directly", + "Press the small switch using robotic control", + "Operate the rectangular black plastic switch with the right arm", + "Engage the right arm to press the rectangular black plastic switch", + "Engage the hand-sized switch with connector prongs using the right arm", + "Interact with the black switch with metallic connectors.", + "Click on the compact switch with toggle on top precisely", + "Direct the right arm to operate the rectangular switch with curved lever", + "Click the black base switch with red toggle with robotic precision", + "Activate the rectangular switch with curved lever with the right arm.", + "Locate and press the black switch", + "Activate the switch with curved red toggle with robotic precision", + "Engage the red-top black switch using the right arm.", + "Command the right arm to engage the switch with curved red toggle", + "Locate and press the small switch", + "Deploy the right arm to operate the hand-sized switch with connector prongs", + "Activate the red-top black switch by pressing it", + "Initiate the red-top black switch by clicking", + "Operate the right arm to engage the black switch with metallic connectors", + "Use the right arm for switching the rectangular switch with curved lever", + "Set the right arm to press the rectangular black plastic switch", + "Push the compact switch with toggle on top via the right arm.", + "Set the switch at the black base switch with red toggle", + "Activate the the plastic switch with metal terminals using the right arm", + "Trigger the red-top black switch without referencing the right arm", + "Click the rectangular black plastic switch to activate it", + "Toggle the black switch with metallic connectors with the right arm.", + "Engage with the red-top black switch manually", + "Directly interact with the rectangular black plastic switch", + "Trigger the red and black switch with precision", + "Press the black switch carefully with the right arm", + "Press the compact switch with toggle on top using the right arm.", + "Press the black switch with metallic connectors to activate.", + "Engage the rectangular switch with curved lever using the robotic arm", + "Press the red-top black switch with the right arm", + "Engage the small switch with a press.", + "Tap the hand-sized switch with connector prongs to engage it", + "Move to the black base switch with red toggle and click it.", + "Interact with the switch with curved red toggle directly", + "Activate the red and black switch directly", + "Use the right arm to engage the black base switch with red toggle", + "Approach and tap the red and black switch via the right arm", + "Switch the plastic switch with metal terminals to its active state", + "Trigger the switch with curved red toggle using the right arm", + "Use the right arm to interact with the red and black switch", + "Activate the black switch via the right arm", + "Deploy the right arm to press the plastic switch with metal terminals", + "Click the small switch directly.", + "Press the black switch with metallic connectors via automation", + "Click the hand-sized switch with connector prongs using automated tools", + "Press the small switch directly", + "Press the plastic switch with metal terminals using robotic control", + "Operate the black switch with metallic connectors with the right arm", + "Engage the right arm to press the compact switch with toggle on top", + "Engage the black switch with metallic connectors using the right arm", + "Interact with the black switch with metallic connectors.", + "Click on the small switch precisely", + "Direct the right arm to operate the compact switch with toggle on top", + "Click the compact switch with toggle on top with robotic precision", + "Activate the hand-sized switch with connector prongs with the right arm.", + "Locate and press the red-top black switch", + "Activate the hand-sized switch with connector prongs with robotic precision", + "Engage the rectangular switch with curved lever using the right arm.", + "Command the right arm to engage the black switch", + "Locate and press the rectangular switch with curved lever", + "Deploy the right arm to operate the rectangular black plastic switch", + "Activate the compact switch with toggle on top by pressing it", + "Initiate the rectangular black plastic switch by clicking", + "Operate the right arm to engage the black switch", + "Use the right arm for switching the rectangular black plastic switch", + "Set the right arm to press the hand-sized switch with connector prongs", + "Push the switch with curved red toggle via the right arm.", + "Set the switch at the hand-sized switch with connector prongs" + ], + "unseen": [ + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..b0d16b2c2855a0f1c0050da86f906ed67ad82739 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Trigger the red-top black switch without referencing the right arm", + "Initiate the black switch with metallic connectors by clicking", + "Direct the right arm to operate the compact switch with toggle on top", + "Set the right arm to press the small switch", + "Press the compact switch with toggle on top directly", + "Activate the the red-top black switch using the right arm", + "Operate the right arm to engage the black switch", + "Move to the rectangular switch with curved lever and click it.", + "Switch the plastic switch with metal terminals to its active state", + "Press the switch with curved red toggle carefully with the right arm", + "Use the right arm to engage the switch with curved red toggle", + "Engage the right arm to press the rectangular switch with curved lever", + "Tap the red-top black switch to engage it", + "Push the black switch via the right arm.", + "Activate the red and black switch by pressing it", + "Click the plastic switch with metal terminals to activate it", + "Click the switch with curved red toggle directly.", + "Locate and press the hand-sized switch with connector prongs", + "Approach and tap the small switch via the right arm", + "Command the right arm to engage the black base switch with red toggle", + "Trigger the small switch using the right arm", + "Press the small switch using robotic control", + "Activate the red-top black switch with the right arm.", + "Trigger the hand-sized switch with connector prongs with precision", + "Click on the rectangular black plastic switch precisely", + "Press the rectangular switch with curved lever using the right arm.", + "Use the right arm to interact with the plastic switch with metal terminals", + "Press the plastic switch with metal terminals to activate.", + "Operate the compact switch with toggle on top with the right arm", + "Locate and press the red-top black switch", + "Use the right arm for switching the red and black switch", + "Engage the hand-sized switch with connector prongs using the right arm.", + "Interact with the switch with curved red toggle directly", + "Directly interact with the switch with curved red toggle", + "Interact with the rectangular switch with curved lever.", + "Engage the rectangular black plastic switch with a press.", + "Activate the rectangular switch with curved lever via the right arm", + "Press the black switch with metallic connectors via automation", + "Deploy the right arm to press the black base switch with red toggle", + "Activate the red-top black switch directly", + "Set the switch at the compact switch with toggle on top", + "Click the compact switch with toggle on top using automated tools", + "Toggle the switch with curved red toggle with the right arm.", + "Click the compact switch with toggle on top with robotic precision", + "Deploy the right arm to operate the switch with curved red toggle", + "Engage the compact switch with toggle on top using the right arm", + "Engage the red and black switch using the robotic arm", + "Activate the black switch with robotic precision", + "Press the black switch with metallic connectors with the right arm", + "Engage with the black switch with metallic connectors manually", + "Trigger the red and black switch without referencing the right arm", + "Initiate the red and black switch by clicking", + "Direct the right arm to operate the black switch with metallic connectors", + "Set the right arm to press the small switch", + "Press the rectangular switch with curved lever directly", + "Activate the the switch with curved red toggle using the right arm", + "Operate the right arm to engage the black switch with metallic connectors", + "Move to the black base switch with red toggle and click it.", + "Switch the red-top black switch to its active state", + "Press the red-top black switch carefully with the right arm", + "Use the right arm to engage the red-top black switch", + "Engage the right arm to press the red-top black switch", + "Tap the rectangular switch with curved lever to engage it", + "Push the rectangular switch with curved lever via the right arm.", + "Activate the switch with curved red toggle by pressing it", + "Click the hand-sized switch with connector prongs to activate it", + "Click the hand-sized switch with connector prongs directly.", + "Locate and press the black switch", + "Approach and tap the hand-sized switch with connector prongs via the right arm", + "Command the right arm to engage the rectangular black plastic switch", + "Trigger the red-top black switch using the right arm", + "Press the compact switch with toggle on top using robotic control", + "Activate the black base switch with red toggle with the right arm.", + "Trigger the black switch with precision", + "Click on the switch with curved red toggle precisely", + "Press the rectangular black plastic switch using the right arm.", + "Use the right arm to interact with the compact switch with toggle on top", + "Press the plastic switch with metal terminals to activate.", + "Operate the hand-sized switch with connector prongs with the right arm", + "Locate and press the small switch", + "Use the right arm for switching the black switch", + "Engage the hand-sized switch with connector prongs using the right arm.", + "Interact with the rectangular black plastic switch directly", + "Directly interact with the black base switch with red toggle", + "Interact with the small switch.", + "Engage the plastic switch with metal terminals with a press.", + "Activate the red and black switch via the right arm", + "Press the plastic switch with metal terminals via automation", + "Deploy the right arm to press the rectangular black plastic switch", + "Activate the black switch with metallic connectors directly", + "Set the switch at the compact switch with toggle on top", + "Click the compact switch with toggle on top using automated tools", + "Toggle the black base switch with red toggle with the right arm.", + "Click the black switch with robotic precision", + "Deploy the right arm to operate the red-top black switch", + "Engage the black switch with metallic connectors using the right arm", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Activate the black base switch with red toggle with robotic precision", + "Press the plastic switch with metal terminals with the right arm", + "Engage with the red and black switch manually" + ], + "unseen": [ + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the simple toggle switch", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the smooth black switch with red lever", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Press the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5aa4d2d05444a18a51106c09cf8fa6fa642625 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Directly interact with the small trapezoid switch", + "Trigger the hand-sized light beige switch with precision", + "Click the small trapezoid switch directly.", + "Engage the switch with a smooth top using the robotic arm", + "Engage with the switch with rectangular dark button manually", + "Trigger the beige switch using the right arm", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Approach and tap the switch with rectangular dark button via the right arm", + "Deploy the right arm to operate the beige switch", + "Engage the toggle switch with brown rectangle button with a press.", + "Press the light plastic switch to activate.", + "Activate the toggle switch with brown rectangle button with robotic precision", + "Click the small trapezoid switch using automated tools", + "Deploy the right arm to press the small trapezoid switch", + "Trigger the matte beige switch with flat top without referencing the right arm", + "Use the right arm to interact with the matte beige switch with flat top", + "Move to the matte beige switch with flat top and click it.", + "Interact with the light plastic switch.", + "Locate and press the switch with brown button", + "Toggle the light-colored trapezoid-shaped plastic switch with the right arm.", + "Engage the matte beige switch with flat top using the right arm", + "Tap the beige switch to engage it", + "Click the small trapezoid switch with robotic precision", + "Press the toggle switch with brown rectangle button directly", + "Switch the light plastic switch to its active state", + "Set the right arm to press the matte beige switch with flat top", + "Press the light-colored trapezoid-shaped plastic switch using robotic control", + "Activate the switch with rectangular dark button via the right arm", + "Press the beige switch with smooth finish carefully with the right arm", + "Use the right arm to engage the hand-sized light beige switch", + "Click the light plastic switch to activate it", + "Interact with the light-colored trapezoid-shaped plastic switch directly", + "Press the beige switch using the right arm.", + "Engage the hand-sized light beige switch using the right arm.", + "Direct the right arm to operate the light plastic switch", + "Push the light plastic switch via the right arm.", + "Activate the switch with a smooth top by pressing it", + "Activate the the light-colored trapezoid-shaped plastic switch using the right arm", + "Press the beige switch with smooth finish with the right arm", + "Activate the hand-sized light beige switch directly", + "Operate the right arm to engage the beige switch with smooth finish", + "Press the switch with rectangular dark button via automation", + "Operate the small trapezoid switch with the right arm", + "Initiate the small trapezoid switch by clicking", + "Set the switch at the beige switch", + "Command the right arm to engage the tiny matte beige toggle switch", + "Use the right arm for switching the small trapezoid switch", + "Click on the light-colored trapezoid-shaped plastic switch precisely", + "Activate the light-colored trapezoid-shaped plastic switch with the right arm.", + "Engage the right arm to press the switch with rectangular dark button", + "Directly interact with the beige switch", + "Trigger the small trapezoid switch with precision", + "Click the toggle switch with brown rectangle button directly.", + "Engage the beige switch with smooth finish using the robotic arm", + "Engage with the light plastic switch manually", + "Trigger the toggle switch with brown rectangle button using the right arm", + "Locate and press the toggle switch with brown rectangle button", + "Approach and tap the switch with a smooth top via the right arm", + "Deploy the right arm to operate the beige switch with smooth finish", + "Engage the tiny matte beige toggle switch with a press.", + "Press the light plastic switch to activate.", + "Activate the light-colored trapezoid-shaped plastic switch with robotic precision", + "Click the light plastic switch using automated tools", + "Deploy the right arm to press the switch with brown button", + "Trigger the switch with a smooth top without referencing the right arm", + "Use the right arm to interact with the beige switch", + "Move to the small trapezoid switch and click it.", + "Interact with the switch with brown button.", + "Locate and press the matte beige switch with flat top", + "Toggle the beige switch with the right arm.", + "Engage the switch with brown button using the right arm", + "Tap the tiny matte beige toggle switch to engage it", + "Click the switch with a smooth top with robotic precision", + "Press the switch with a smooth top directly", + "Switch the tiny matte beige toggle switch to its active state", + "Set the right arm to press the switch with brown button", + "Press the small trapezoid switch using robotic control", + "Activate the toggle switch with brown rectangle button via the right arm", + "Press the light-colored trapezoid-shaped plastic switch carefully with the right arm", + "Use the right arm to engage the small trapezoid switch", + "Click the toggle switch with brown rectangle button to activate it", + "Interact with the switch with brown button directly", + "Press the switch with brown button using the right arm.", + "Engage the hand-sized light beige switch using the right arm.", + "Direct the right arm to operate the light plastic switch", + "Push the switch with brown button via the right arm.", + "Activate the small trapezoid switch by pressing it", + "Activate the the light plastic switch using the right arm", + "Press the tiny matte beige toggle switch with the right arm", + "Activate the matte beige switch with flat top directly", + "Operate the right arm to engage the switch with rectangular dark button", + "Press the switch with a smooth top via automation", + "Operate the beige switch with the right arm", + "Initiate the switch with rectangular dark button by clicking", + "Set the switch at the switch with a smooth top", + "Command the right arm to engage the small trapezoid switch", + "Use the right arm for switching the beige switch", + "Click on the light plastic switch precisely", + "Activate the hand-sized light beige switch with the right arm.", + "Engage the right arm to press the switch with a smooth top" + ], + "unseen": [ + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the beige switch with darker brown top", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Use the right arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..d440b87696df01805b46998398fb8b0930e0b2f1 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Direct the right arm to operate the small switch", + "Activate the rectangular black plastic switch by pressing it", + "Press the switch with curved red toggle carefully with the right arm", + "Press the black base switch with red toggle to activate.", + "Click the rectangular switch with curved lever with robotic precision", + "Operate the compact switch with toggle on top with the right arm", + "Activate the plastic switch with metal terminals with robotic precision", + "Engage the black switch with metallic connectors using the right arm", + "Engage the right arm to press the compact switch with toggle on top", + "Directly interact with the rectangular black plastic switch", + "Activate the plastic switch with metal terminals with the right arm.", + "Operate the right arm to engage the small switch", + "Activate the the switch with curved red toggle using the right arm", + "Press the rectangular switch with curved lever via automation", + "Tap the small switch to engage it", + "Push the rectangular black plastic switch via the right arm.", + "Deploy the right arm to press the rectangular black plastic switch", + "Use the right arm for switching the black switch", + "Press the black base switch with red toggle directly", + "Press the black base switch with red toggle using the right arm.", + "Command the right arm to engage the switch with curved red toggle", + "Toggle the black base switch with red toggle with the right arm.", + "Trigger the plastic switch with metal terminals without referencing the right arm", + "Activate the black switch directly", + "Interact with the small switch.", + "Move to the black switch with metallic connectors and click it.", + "Use the right arm to engage the black switch with metallic connectors", + "Trigger the black switch with metallic connectors using the right arm", + "Locate and press the black switch with metallic connectors", + "Switch the rectangular switch with curved lever to its active state", + "Engage with the hand-sized switch with connector prongs manually", + "Activate the switch with curved red toggle via the right arm", + "Trigger the black base switch with red toggle with precision", + "Engage the hand-sized switch with connector prongs with a press.", + "Deploy the right arm to operate the black base switch with red toggle", + "Engage the black switch with metallic connectors using the robotic arm", + "Click the switch with curved red toggle directly.", + "Set the right arm to press the black switch", + "Click the hand-sized switch with connector prongs to activate it", + "Press the red and black switch using robotic control", + "Engage the black base switch with red toggle using the right arm.", + "Approach and tap the compact switch with toggle on top via the right arm", + "Press the hand-sized switch with connector prongs with the right arm", + "Initiate the compact switch with toggle on top by clicking", + "Use the right arm to interact with the red-top black switch", + "Locate and press the plastic switch with metal terminals", + "Interact with the compact switch with toggle on top directly", + "Click on the compact switch with toggle on top precisely", + "Set the switch at the black base switch with red toggle", + "Click the black base switch with red toggle using automated tools", + "Direct the right arm to operate the rectangular black plastic switch", + "Activate the plastic switch with metal terminals by pressing it", + "Press the small switch carefully with the right arm", + "Press the black switch to activate.", + "Click the plastic switch with metal terminals with robotic precision", + "Operate the black switch with metallic connectors with the right arm", + "Activate the black switch with metallic connectors with robotic precision", + "Engage the black switch using the right arm", + "Engage the right arm to press the compact switch with toggle on top", + "Directly interact with the small switch", + "Activate the red-top black switch with the right arm.", + "Operate the right arm to engage the hand-sized switch with connector prongs", + "Activate the the small switch using the right arm", + "Press the rectangular switch with curved lever via automation", + "Tap the rectangular black plastic switch to engage it", + "Push the switch with curved red toggle via the right arm.", + "Deploy the right arm to press the black base switch with red toggle", + "Use the right arm for switching the switch with curved red toggle", + "Press the compact switch with toggle on top directly", + "Press the hand-sized switch with connector prongs using the right arm.", + "Command the right arm to engage the black switch with metallic connectors", + "Toggle the compact switch with toggle on top with the right arm.", + "Trigger the red-top black switch without referencing the right arm", + "Activate the red-top black switch directly", + "Interact with the red-top black switch.", + "Move to the black base switch with red toggle and click it.", + "Use the right arm to engage the black switch with metallic connectors", + "Trigger the hand-sized switch with connector prongs using the right arm", + "Locate and press the rectangular switch with curved lever", + "Switch the red-top black switch to its active state", + "Engage with the black switch manually", + "Activate the black base switch with red toggle via the right arm", + "Trigger the red-top black switch with precision", + "Engage the switch with curved red toggle with a press.", + "Deploy the right arm to operate the rectangular switch with curved lever", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Click the red and black switch directly.", + "Set the right arm to press the black switch with metallic connectors", + "Click the plastic switch with metal terminals to activate it", + "Press the plastic switch with metal terminals using robotic control", + "Engage the hand-sized switch with connector prongs using the right arm.", + "Approach and tap the black switch via the right arm", + "Press the switch with curved red toggle with the right arm", + "Initiate the rectangular black plastic switch by clicking", + "Use the right arm to interact with the rectangular switch with curved lever", + "Locate and press the small switch", + "Interact with the red-top black switch directly", + "Click on the plastic switch with metal terminals precisely", + "Set the switch at the black switch", + "Click the rectangular switch with curved lever using automated tools" + ], + "unseen": [ + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Press the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Press the switch with two metal prongs using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..5162d5aace1d948f8767d82baece236f037581f7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the two-button gray switch directly", + "Press the electric toggle switch carefully with the right arm", + "Approach and tap the gray smooth surface switch via the right arm", + "Click the gray switch with black buttons directly.", + "Directly interact with the handheld switch", + "Engage the right arm to press the switch with trapezoidal base", + "Activate the the medium switch with trapezoidal base using the right arm", + "Click the plastic switch with matte buttons using automated tools", + "Operate the right arm to engage the gray plastic switch", + "Tap the gray base with black buttons to engage it", + "Locate and press the trapezoidal base switch", + "Click on the electric toggle switch precisely", + "Engage the medium switch with trapezoidal base using the robotic arm", + "Interact with the plastic switch with matte buttons.", + "Deploy the right arm to operate the plastic switch with matte buttons", + "Interact with the medium switch with trapezoidal base directly", + "Direct the right arm to operate the gray smooth surface switch", + "Operate the gray switch with black buttons with the right arm", + "Push the gray switch with black buttons via the right arm.", + "Command the right arm to engage the handheld switch", + "Activate the handheld switch via the right arm", + "Engage the handheld switch with a press.", + "Trigger the electric toggle switch using the right arm", + "Engage the gray plastic switch using the right arm", + "Press the plastic switch with matte buttons using robotic control", + "Activate the two-button gray switch with the right arm.", + "Click the gray switch with black buttons to activate it", + "Locate and press the plastic switch with matte buttons", + "Move to the gray smooth surface switch and click it.", + "Press the medium switch with trapezoidal base using the right arm.", + "Press the medium switch with trapezoidal base via automation", + "Press the gray switch with black buttons to activate.", + "Click the handheld switch with robotic precision", + "Activate the gray smooth surface switch directly", + "Press the handheld switch with the right arm", + "Initiate the plastic switch with matte buttons by clicking", + "Engage the handheld switch using the right arm.", + "Toggle the handheld switch with the right arm.", + "Set the switch at the gray base with black buttons", + "Switch the two-button gray switch to its active state", + "Activate the handheld switch by pressing it", + "Trigger the medium switch with trapezoidal base without referencing the right arm", + "Use the right arm for switching the electric toggle switch", + "Activate the medium switch with trapezoidal base with robotic precision", + "Use the right arm to interact with the electric toggle switch", + "Engage with the smooth gray switch manually", + "Deploy the right arm to press the medium switch with trapezoidal base", + "Use the right arm to engage the trapezoidal base switch", + "Trigger the handheld switch with precision", + "Set the right arm to press the gray base with black buttons", + "Press the gray plastic switch directly", + "Press the gray switch with black buttons carefully with the right arm", + "Approach and tap the gray base with black buttons via the right arm", + "Click the trapezoidal base switch directly.", + "Directly interact with the gray smooth surface switch", + "Engage the right arm to press the plastic switch with matte buttons", + "Activate the the two-button gray switch using the right arm", + "Click the trapezoidal base switch using automated tools", + "Operate the right arm to engage the switch with trapezoidal base", + "Tap the trapezoidal base switch to engage it", + "Locate and press the medium switch with trapezoidal base", + "Click on the electric toggle switch precisely", + "Engage the smooth gray switch using the robotic arm", + "Interact with the gray switch with black buttons.", + "Deploy the right arm to operate the gray plastic switch", + "Interact with the smooth gray switch directly", + "Direct the right arm to operate the handheld switch", + "Operate the gray smooth surface switch with the right arm", + "Push the electric toggle switch via the right arm.", + "Command the right arm to engage the plastic switch with matte buttons", + "Activate the medium switch with trapezoidal base via the right arm", + "Engage the switch with trapezoidal base with a press.", + "Trigger the gray plastic switch using the right arm", + "Engage the handheld switch using the right arm", + "Press the gray base with black buttons using robotic control", + "Activate the smooth gray switch with the right arm.", + "Click the electric toggle switch to activate it", + "Locate and press the gray switch with black buttons", + "Move to the switch with trapezoidal base and click it.", + "Press the medium switch with trapezoidal base using the right arm.", + "Press the switch with trapezoidal base via automation", + "Press the switch with trapezoidal base to activate.", + "Click the handheld switch with robotic precision", + "Activate the gray switch with black buttons directly", + "Press the two-button gray switch with the right arm", + "Initiate the switch with trapezoidal base by clicking", + "Engage the gray smooth surface switch using the right arm.", + "Toggle the switch with trapezoidal base with the right arm.", + "Set the switch at the medium switch with trapezoidal base", + "Switch the smooth gray switch to its active state", + "Activate the trapezoidal base switch by pressing it", + "Trigger the two-button gray switch without referencing the right arm", + "Use the right arm for switching the trapezoidal base switch", + "Activate the switch with trapezoidal base with robotic precision", + "Use the right arm to interact with the trapezoidal base switch", + "Engage with the gray plastic switch manually", + "Deploy the right arm to press the plastic switch with matte buttons", + "Use the right arm to engage the gray plastic switch", + "Trigger the handheld switch with precision", + "Set the right arm to press the two-button gray switch" + ], + "unseen": [ + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch medium size", + "Press the gray switch using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Move and click the the switch with circular black buttons", + "Press the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size with the right arm.", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the gray switch medium size", + "Click the gray switch with the right arm", + "Move and click the the gray switch", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Press the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size using the right arm", + "Use the right arm to press the gray switch", + "Click the gray switch with the right arm.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size with the right arm.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the right arm", + "Move and click the the gray switch", + "Press the gray switch using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch.", + "Click the gray switch using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch.", + "Click the gray switch medium size using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Activate the switch at the gray switch medium size", + "Click the gray switch with the right arm", + "Move and click the the switch with circular black buttons", + "Press the gray switch using the right arm", + "Click the gray switch medium size with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..15658a4329a211f442f5a771d75feb9bc8220649 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the switch with a smooth top using the robotic arm", + "Activate the switch with a smooth top with robotic precision", + "Engage the beige switch with smooth finish with a press.", + "Toggle the beige switch with smooth finish with the left arm.", + "Press the hand-sized light beige switch carefully with the left arm", + "Trigger the hand-sized light beige switch using the left arm", + "Activate the switch with a smooth top directly", + "Engage the left arm to press the light plastic switch", + "Activate the matte beige switch with flat top with the left arm.", + "Trigger the light-colored trapezoid-shaped plastic switch without referencing the left arm", + "Switch the beige switch to its active state", + "Use the left arm to engage the beige switch", + "Operate the tiny matte beige toggle switch with the left arm", + "Approach and tap the small trapezoid switch via the left arm", + "Operate the left arm to engage the tiny matte beige toggle switch", + "Press the switch with brown button directly", + "Engage with the toggle switch with brown rectangle button manually", + "Deploy the left arm to press the switch with rectangular dark button", + "Use the left arm for switching the switch with brown button", + "Engage the light plastic switch using the left arm.", + "Interact with the toggle switch with brown rectangle button directly", + "Press the beige switch using the left arm.", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Press the tiny matte beige toggle switch using robotic control", + "Click on the small trapezoid switch precisely", + "Move to the toggle switch with brown rectangle button and click it.", + "Locate and press the toggle switch with brown rectangle button", + "Set the left arm to press the tiny matte beige toggle switch", + "Activate the tiny matte beige toggle switch via the left arm", + "Tap the beige switch with smooth finish to engage it", + "Activate the the tiny matte beige toggle switch using the left arm", + "Press the beige switch with the left arm", + "Click the light plastic switch to activate it", + "Activate the small trapezoid switch by pressing it", + "Press the beige switch with smooth finish via automation", + "Engage the beige switch using the left arm", + "Trigger the matte beige switch with flat top with precision", + "Press the switch with brown button to activate.", + "Interact with the switch with brown button.", + "Command the left arm to engage the hand-sized light beige switch", + "Direct the left arm to operate the tiny matte beige toggle switch", + "Initiate the hand-sized light beige switch by clicking", + "Click the beige switch with smooth finish using automated tools", + "Use the left arm to interact with the small trapezoid switch", + "Click the switch with a smooth top with robotic precision", + "Click the toggle switch with brown rectangle button directly.", + "Push the light-colored trapezoid-shaped plastic switch via the left arm.", + "Set the switch at the matte beige switch with flat top", + "Deploy the left arm to operate the light plastic switch", + "Directly interact with the toggle switch with brown rectangle button", + "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm", + "Activate the switch with rectangular dark button with robotic precision", + "Engage the toggle switch with brown rectangle button with a press.", + "Toggle the switch with a smooth top with the left arm.", + "Press the light plastic switch carefully with the left arm", + "Trigger the light plastic switch using the left arm", + "Activate the beige switch directly", + "Engage the left arm to press the tiny matte beige toggle switch", + "Activate the matte beige switch with flat top with the left arm.", + "Trigger the beige switch without referencing the left arm", + "Switch the hand-sized light beige switch to its active state", + "Use the left arm to engage the hand-sized light beige switch", + "Operate the beige switch with smooth finish with the left arm", + "Approach and tap the beige switch with smooth finish via the left arm", + "Operate the left arm to engage the matte beige switch with flat top", + "Press the matte beige switch with flat top directly", + "Engage with the small trapezoid switch manually", + "Deploy the left arm to press the small trapezoid switch", + "Use the left arm for switching the beige switch with smooth finish", + "Engage the tiny matte beige toggle switch using the left arm.", + "Interact with the beige switch directly", + "Press the tiny matte beige toggle switch using the left arm.", + "Locate and press the beige switch", + "Press the small trapezoid switch using robotic control", + "Click on the beige switch with smooth finish precisely", + "Move to the small trapezoid switch and click it.", + "Locate and press the hand-sized light beige switch", + "Set the left arm to press the beige switch", + "Activate the switch with a smooth top via the left arm", + "Tap the hand-sized light beige switch to engage it", + "Activate the the tiny matte beige toggle switch using the left arm", + "Press the switch with a smooth top with the left arm", + "Click the matte beige switch with flat top to activate it", + "Activate the hand-sized light beige switch by pressing it", + "Press the hand-sized light beige switch via automation", + "Engage the matte beige switch with flat top using the left arm", + "Trigger the hand-sized light beige switch with precision", + "Press the light-colored trapezoid-shaped plastic switch to activate.", + "Interact with the switch with a smooth top.", + "Command the left arm to engage the light plastic switch", + "Direct the left arm to operate the switch with brown button", + "Initiate the switch with a smooth top by clicking", + "Click the beige switch with smooth finish using automated tools", + "Use the left arm to interact with the light-colored trapezoid-shaped plastic switch", + "Click the tiny matte beige toggle switch with robotic precision", + "Click the hand-sized light beige switch directly.", + "Push the tiny matte beige toggle switch via the left arm.", + "Set the switch at the light-colored trapezoid-shaped plastic switch", + "Deploy the left arm to operate the light plastic switch", + "Directly interact with the beige switch with smooth finish" + ], + "unseen": [ + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm.", + "Click the rectangular button switch on beige base with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm.", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm.", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Press the rectangular button switch on beige base using the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm.", + "Click the small beige switch with angular sides with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm.", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm.", + "Click the rectangular button switch on beige base with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Press the small beige switch with angular sides using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Move and click the the beige switch with darker brown top", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm.", + "Click the rectangular button switch on beige base with the left arm", + "Click the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top.", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm.", + "Click the small beige switch with angular sides with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Press the beige switch with darker brown top using the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top with the left arm", + "Click the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Press the rectangular button switch on beige base using the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Activate the switch at the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Direct the left arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top with the left arm", + "Click the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Press the rectangular button switch on beige base using the left arm", + "Use the left arm to press the small beige switch with angular sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..d25cfccf9689e05cb960d751a168c2991a829650 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the two-tone red black switch with robotic precision", + "Locate and press the smooth red switch with labels", + "Deploy the right arm to operate the black base switch", + "Engage the rectangular switch using the right arm.", + "Trigger the black base switch using the right arm", + "Press the toggle switch with black housing carefully with the right arm", + "Set the right arm to press the metal-pronged black switch", + "Engage with the plastic switch with metal prongs manually", + "Use the right arm for switching the black base switch", + "Press the rectangular switch to activate.", + "Switch the toggle switch with black housing to its active state", + "Engage the smooth red switch with labels with a press.", + "Activate the black base switch directly", + "Click the smooth red switch with labels directly.", + "Activate the the plastic switch with metal prongs using the right arm", + "Engage the tiny rectangular switch using the right arm", + "Interact with the rectangular switch directly", + "Press the two-tone red black switch via automation", + "Engage the right arm to press the black base switch", + "Click the smooth red switch with labels to activate it", + "Activate the small switch with red lever by pressing it", + "Command the right arm to engage the metal-pronged black switch", + "Use the right arm to engage the small switch with red lever", + "Approach and tap the small switch with red lever via the right arm", + "Operate the right arm to engage the rectangular switch", + "Operate the tiny rectangular switch with the right arm", + "Trigger the two-tone red black switch without referencing the right arm", + "Click the toggle switch with black housing with robotic precision", + "Trigger the switch for turning circuits on off with precision", + "Use the right arm to interact with the toggle switch with black housing", + "Press the two-tone red black switch directly", + "Initiate the switch for turning circuits on off by clicking", + "Press the toggle switch with black housing using robotic control", + "Locate and press the black base switch", + "Set the switch at the two-tone red black switch", + "Engage the rectangular switch using the robotic arm", + "Activate the small switch with red lever with the right arm.", + "Press the toggle switch with black housing using the right arm.", + "Press the tiny rectangular switch with the right arm", + "Directly interact with the toggle switch with black housing", + "Toggle the switch with three metal pins with the right arm.", + "Click the smooth red switch with labels using automated tools", + "Direct the right arm to operate the red and black electrical switch", + "Deploy the right arm to press the switch with three metal pins", + "Click on the two-tone red black switch precisely", + "Interact with the rectangular switch.", + "Move to the plastic switch with metal prongs and click it.", + "Push the toggle switch with black housing via the right arm.", + "Activate the small switch with red lever via the right arm", + "Tap the two-tone red black switch to engage it", + "Activate the rectangular switch with robotic precision", + "Locate and press the toggle switch with black housing", + "Deploy the right arm to operate the switch with three metal pins", + "Engage the two-tone red black switch using the right arm.", + "Trigger the rectangular switch using the right arm", + "Press the metal-pronged black switch carefully with the right arm", + "Set the right arm to press the small switch with red lever", + "Engage with the switch for turning circuits on off manually", + "Use the right arm for switching the black base switch", + "Press the toggle switch with black housing to activate.", + "Switch the two-tone red black switch to its active state", + "Engage the smooth red switch with labels with a press.", + "Activate the switch with three metal pins directly", + "Click the two-tone red black switch directly.", + "Activate the the tiny rectangular switch using the right arm", + "Engage the small switch with red lever using the right arm", + "Interact with the plastic switch with metal prongs directly", + "Press the switch with three metal pins via automation", + "Engage the right arm to press the smooth red switch with labels", + "Click the plastic switch with metal prongs to activate it", + "Activate the plastic switch with metal prongs by pressing it", + "Command the right arm to engage the switch with three metal pins", + "Use the right arm to engage the metal-pronged black switch", + "Approach and tap the plastic switch with metal prongs via the right arm", + "Operate the right arm to engage the red and black electrical switch", + "Operate the black base switch with the right arm", + "Trigger the smooth red switch with labels without referencing the right arm", + "Click the toggle switch with black housing with robotic precision", + "Trigger the tiny rectangular switch with precision", + "Use the right arm to interact with the metal-pronged black switch", + "Press the switch for turning circuits on off directly", + "Initiate the red and black electrical switch by clicking", + "Press the plastic switch with metal prongs using robotic control", + "Locate and press the rectangular switch", + "Set the switch at the switch for turning circuits on off", + "Engage the switch for turning circuits on off using the robotic arm", + "Activate the plastic switch with metal prongs with the right arm.", + "Press the switch for turning circuits on off using the right arm.", + "Press the small switch with red lever with the right arm", + "Directly interact with the plastic switch with metal prongs", + "Toggle the switch with three metal pins with the right arm.", + "Click the black base switch using automated tools", + "Direct the right arm to operate the tiny rectangular switch", + "Deploy the right arm to press the toggle switch with black housing", + "Click on the tiny rectangular switch precisely", + "Interact with the toggle switch with black housing.", + "Move to the smooth red switch with labels and click it.", + "Push the red and black electrical switch via the right arm.", + "Activate the red and black electrical switch via the right arm", + "Tap the switch with three metal pins to engage it" + ], + "unseen": [ + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the curved toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the right arm", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the curved toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..0c04d6966692c82f45c26f3ae5113cb076a32dd8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the plastic switch with angled edges precisely", + "Click the switch trapezoid shape brown marking with robotic precision", + "Press the switch trapezoid shape brown marking to activate.", + "Operate the left arm to engage the hand-sized switch tan smooth finish", + "Press the rectangular switch with slanted sides directly", + "Deploy the left arm to operate the smooth tan switch with textured sides", + "Activate the smooth tan switch with textured sides directly", + "Click the smooth tan switch with textured sides directly.", + "Tap the small light tan switch to engage it", + "Operate the plastic switch with angled edges with the left arm", + "Press the hand-sized switch tan smooth finish with the left arm", + "Use the left arm for switching the hand-sized switch tan smooth finish", + "Trigger the flat switch without referencing the left arm", + "Click the tan switch using automated tools", + "Engage the plastic switch with angled edges with a press.", + "Set the left arm to press the light tan rectangular switch smooth finish", + "Activate the switch with darker rectangle via the left arm", + "Deploy the left arm to press the tan switch", + "Trigger the light tan rectangular switch smooth finish using the left arm", + "Press the angled switch light tan color carefully with the left arm", + "Press the switch trapezoid shape brown marking using robotic control", + "Direct the left arm to operate the smooth tan switch with textured sides", + "Switch the switch with darker rectangle to its active state", + "Press the small light tan switch via automation", + "Interact with the switch trapezoid shape brown marking.", + "Locate and press the switch trapezoid shape brown marking", + "Directly interact with the flat switch", + "Use the left arm to engage the rectangular switch with slanted sides", + "Trigger the switch with darker rectangle with precision", + "Push the switch with darker rectangle via the left arm.", + "Set the switch at the rectangular switch with slanted sides", + "Use the left arm to interact with the angled switch light tan color", + "Engage the switch trapezoid shape brown marking using the left arm.", + "Toggle the light tan rectangular switch smooth finish with the left arm.", + "Approach and tap the trapezoid-shaped switch smooth surface via the left arm", + "Engage the small light tan switch using the left arm", + "Locate and press the rectangular switch with slanted sides", + "Press the light tan rectangular switch smooth finish using the left arm.", + "Engage the left arm to press the switch with darker rectangle", + "Engage with the flat switch manually", + "Engage the rectangular switch with slanted sides using the robotic arm", + "Click the switch trapezoid shape brown marking to activate it", + "Activate the switch with darker rectangle by pressing it", + "Activate the switch with darker rectangle with robotic precision", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Activate the light tan rectangular switch smooth finish with the left arm.", + "Move to the trapezoid-shaped switch smooth surface and click it.", + "Interact with the rectangular switch with slanted sides directly", + "Command the left arm to engage the flat switch", + "Activate the the switch trapezoid shape brown marking using the left arm", + "Click on the trapezoid-shaped switch smooth surface precisely", + "Click the switch trapezoid shape brown marking with robotic precision", + "Press the tan switch to activate.", + "Operate the left arm to engage the smooth tan switch with textured sides", + "Press the angled switch light tan color directly", + "Deploy the left arm to operate the light tan rectangular switch smooth finish", + "Activate the switch trapezoid shape brown marking directly", + "Click the switch with darker rectangle directly.", + "Tap the angled switch light tan color to engage it", + "Operate the small light tan switch with the left arm", + "Press the trapezoid-shaped switch smooth surface with the left arm", + "Use the left arm for switching the hand-sized switch tan smooth finish", + "Trigger the angled switch light tan color without referencing the left arm", + "Click the flat switch using automated tools", + "Engage the hand-sized switch tan smooth finish with a press.", + "Set the left arm to press the light tan rectangular switch smooth finish", + "Activate the rectangular switch with slanted sides via the left arm", + "Deploy the left arm to press the plastic switch with angled edges", + "Trigger the switch with darker rectangle using the left arm", + "Press the angled switch light tan color carefully with the left arm", + "Press the smooth tan switch with textured sides using robotic control", + "Direct the left arm to operate the rectangular switch with slanted sides", + "Switch the light tan rectangular switch smooth finish to its active state", + "Press the switch trapezoid shape brown marking via automation", + "Interact with the hand-sized switch tan smooth finish.", + "Locate and press the rectangular switch with slanted sides", + "Directly interact with the small light tan switch", + "Use the left arm to engage the smooth tan switch with textured sides", + "Trigger the switch trapezoid shape brown marking with precision", + "Push the light tan rectangular switch smooth finish via the left arm.", + "Set the switch at the rectangular switch with slanted sides", + "Use the left arm to interact with the switch trapezoid shape brown marking", + "Engage the plastic switch with angled edges using the left arm.", + "Toggle the smooth tan switch with textured sides with the left arm.", + "Approach and tap the hand-sized switch tan smooth finish via the left arm", + "Engage the light tan rectangular switch smooth finish using the left arm", + "Locate and press the trapezoid-shaped switch smooth surface", + "Press the hand-sized switch tan smooth finish using the left arm.", + "Engage the left arm to press the smooth tan switch with textured sides", + "Engage with the flat switch manually", + "Engage the light tan rectangular switch smooth finish using the robotic arm", + "Click the switch with darker rectangle to activate it", + "Activate the switch trapezoid shape brown marking by pressing it", + "Activate the angled switch light tan color with robotic precision", + "Initiate the plastic switch with angled edges by clicking", + "Activate the flat switch with the left arm.", + "Move to the hand-sized switch tan smooth finish and click it.", + "Interact with the plastic switch with angled edges directly", + "Command the left arm to engage the small light tan switch", + "Activate the the light tan rectangular switch smooth finish using the left arm" + ], + "unseen": [ + "Use the left arm to press the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top.", + "Click the small flat switch tan top with the left arm.", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle with the left arm.", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle with the left arm.", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the small flat switch tan top with the left arm.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the small flat switch tan top with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the left arm.", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the left arm.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the small flat switch tan top.", + "Click the lightweight plastic switch angled edges with the left arm.", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the left arm.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the small flat switch tan top with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the left arm", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges with the left arm.", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the left arm", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the left arm.", + "Press the small flat switch tan top using the left arm", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..67286a0bcb00234065b8b074d952c32cd5fe24b4 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the electrical switch with protruding toggle using the robotic arm", + "Click the compact switch with flat base to activate it", + "Trigger the toggle switch light gray base without referencing the left arm", + "Trigger the switch with thin red toggle using the left arm", + "Set the left arm to press the red bar switch", + "Move to the switch for electrical control and click it.", + "Operate the toggle switch light gray base with the left arm", + "Press the gray switch with red toggle with the left arm", + "Activate the the gray switch with red toggle using the left arm", + "Approach and tap the square switch with red bar via the left arm", + "Locate and press the switch", + "Engage the light gray square switch using the left arm", + "Engage the compact switch with flat base using the left arm.", + "Activate the plastic gray body switch via the left arm", + "Interact with the compact switch with flat base directly", + "Directly interact with the toggle switch light gray base", + "Tap the red bar switch to engage it", + "Deploy the left arm to operate the light gray square switch", + "Use the left arm for switching the electrical switch with protruding toggle", + "Press the gray switch with red toggle to activate.", + "Engage the red bar switch with a press.", + "Push the switch via the left arm.", + "Command the left arm to engage the gray switch with red toggle", + "Switch the square switch with red bar to its active state", + "Set the switch at the electrical switch with protruding toggle", + "Activate the plastic gray body switch with the left arm.", + "Engage the left arm to press the switch with thin red toggle", + "Press the square switch with red bar using the left arm.", + "Activate the switch with thin red toggle directly", + "Direct the left arm to operate the switch with thin red toggle", + "Activate the switch with robotic precision", + "Press the toggle switch light gray base via automation", + "Engage with the light gray square switch manually", + "Click the light gray square switch using automated tools", + "Use the left arm to interact with the plastic gray body switch", + "Toggle the red bar switch with the left arm.", + "Use the left arm to engage the red bar switch", + "Activate the toggle switch light gray base by pressing it", + "Trigger the gray switch with red toggle with precision", + "Operate the left arm to engage the switch", + "Press the gray switch with red toggle carefully with the left arm", + "Initiate the switch for electrical control by clicking", + "Locate and press the electrical switch with protruding toggle", + "Click the switch for electrical control with robotic precision", + "Press the gray switch with red toggle directly", + "Deploy the left arm to press the red bar switch", + "Interact with the switch for electrical control.", + "Click on the toggle switch light gray base precisely", + "Press the switch using robotic control", + "Click the square switch with red bar directly.", + "Engage the gray switch with red toggle using the robotic arm", + "Click the switch for electrical control to activate it", + "Trigger the compact switch with flat base without referencing the left arm", + "Trigger the light gray square switch using the left arm", + "Set the left arm to press the switch for electrical control", + "Move to the gray switch with red toggle and click it.", + "Operate the plastic gray body switch with the left arm", + "Press the electrical switch with protruding toggle with the left arm", + "Activate the the switch using the left arm", + "Approach and tap the switch via the left arm", + "Locate and press the switch with thin red toggle", + "Engage the square switch with red bar using the left arm", + "Engage the compact switch with flat base using the left arm.", + "Activate the compact switch with flat base via the left arm", + "Interact with the compact switch with flat base directly", + "Directly interact with the switch for electrical control", + "Tap the compact switch with flat base to engage it", + "Deploy the left arm to operate the compact switch with flat base", + "Use the left arm for switching the control switch with red lever", + "Press the control switch with red lever to activate.", + "Engage the plastic gray body switch with a press.", + "Push the switch with thin red toggle via the left arm.", + "Command the left arm to engage the light gray square switch", + "Switch the switch for electrical control to its active state", + "Set the switch at the gray switch with red toggle", + "Activate the toggle switch light gray base with the left arm.", + "Engage the left arm to press the switch", + "Press the switch using the left arm.", + "Activate the plastic gray body switch directly", + "Direct the left arm to operate the light gray square switch", + "Activate the switch for electrical control with robotic precision", + "Press the red bar switch via automation", + "Engage with the compact switch with flat base manually", + "Click the switch using automated tools", + "Use the left arm to interact with the switch", + "Toggle the gray switch with red toggle with the left arm.", + "Use the left arm to engage the compact switch with flat base", + "Activate the switch for electrical control by pressing it", + "Trigger the gray switch with red toggle with precision", + "Operate the left arm to engage the plastic gray body switch", + "Press the plastic gray body switch carefully with the left arm", + "Initiate the control switch with red lever by clicking", + "Locate and press the switch", + "Click the light gray square switch with robotic precision", + "Press the light gray square switch directly", + "Deploy the left arm to press the toggle switch light gray base", + "Interact with the red bar switch.", + "Click on the switch with thin red toggle precisely", + "Press the control switch with red lever using robotic control", + "Click the gray switch with red toggle directly." + ], + "unseen": [ + "Activate the switch at the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Direct the left arm to click the flat square gray switch", + "Press the flat square gray switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch using the left arm", + "Use the left arm to press the flat square gray switch.", + "Click the smooth gray base switch with the left arm.", + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch using the left arm", + "Use the left arm to press the flat square gray switch.", + "Click the smooth gray base switch with the left arm.", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the smooth gray base switch using the left arm", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Activate the switch at the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm", + "Direct the left arm to click the flat square gray switch", + "Press the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the flat square gray switch using the left arm", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Activate the switch at the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Direct the left arm to click the flat square gray switch", + "Press the smooth gray base switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch using the left arm", + "Use the left arm to press the smooth gray base switch.", + "Click the smooth gray base switch with the left arm.", + "Activate the switch at the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the left arm", + "Direct the left arm to click the smooth gray base switch", + "Press the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch using the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch with the left arm.", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the flat square gray switch using the left arm", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the smooth gray base switch using the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the left arm.", + "Activate the switch at the flat square gray switch", + "Click the flat square gray switch with the left arm", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch using the left arm", + "Use the left arm to press the flat square gray switch.", + "Click the smooth gray base switch with the left arm.", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Direct the left arm to click the hand-sized square electrical switch", + "Press the smooth gray base switch using the left arm", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch using the left arm", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch with the left arm.", + "Activate the switch at the flat square gray switch", + "Click the flat square gray switch with the left arm", + "Direct the left arm to click the smooth gray base switch", + "Press the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch using the left arm", + "Use the left arm to press the smooth gray base switch.", + "Click the smooth gray base switch with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..4c86b65673f4cbab36c3e5c4f556bff4c7cb8672 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Trigger the compact switch with toggle on top without referencing the right arm", + "Deploy the right arm to press the rectangular switch with curved lever", + "Deploy the right arm to operate the hand-sized switch with connector prongs", + "Command the right arm to engage the red-top black switch", + "Use the right arm for switching the small switch", + "Move to the red-top black switch and click it.", + "Direct the right arm to operate the rectangular black plastic switch", + "Engage with the small switch manually", + "Switch the red and black switch to its active state", + "Trigger the rectangular switch with curved lever using the right arm", + "Activate the compact switch with toggle on top with robotic precision", + "Engage the rectangular switch with curved lever with a press.", + "Approach and tap the black base switch with red toggle via the right arm", + "Click on the black base switch with red toggle precisely", + "Engage the compact switch with toggle on top using the right arm.", + "Set the right arm to press the rectangular switch with curved lever", + "Locate and press the black switch with metallic connectors", + "Click the black base switch with red toggle to activate it", + "Activate the the rectangular black plastic switch using the right arm", + "Engage the switch with curved red toggle using the right arm", + "Press the black base switch with red toggle using the right arm.", + "Activate the hand-sized switch with connector prongs by pressing it", + "Toggle the rectangular switch with curved lever with the right arm.", + "Trigger the small switch with precision", + "Press the black base switch with red toggle using robotic control", + "Press the black switch with metallic connectors via automation", + "Interact with the red-top black switch directly", + "Engage the right arm to press the plastic switch with metal terminals", + "Interact with the rectangular black plastic switch.", + "Directly interact with the plastic switch with metal terminals", + "Activate the red and black switch with the right arm.", + "Press the black switch carefully with the right arm", + "Press the red and black switch to activate.", + "Set the switch at the black switch", + "Click the rectangular switch with curved lever directly.", + "Tap the plastic switch with metal terminals to engage it", + "Use the right arm to engage the small switch", + "Activate the black switch via the right arm", + "Click the black base switch with red toggle using automated tools", + "Use the right arm to interact with the rectangular black plastic switch", + "Operate the black switch with metallic connectors with the right arm", + "Locate and press the plastic switch with metal terminals", + "Push the small switch via the right arm.", + "Initiate the compact switch with toggle on top by clicking", + "Activate the rectangular black plastic switch directly", + "Press the black switch with the right arm", + "Press the black base switch with red toggle directly", + "Engage the red and black switch using the robotic arm", + "Click the red-top black switch with robotic precision", + "Operate the right arm to engage the compact switch with toggle on top", + "Trigger the small switch without referencing the right arm", + "Deploy the right arm to press the compact switch with toggle on top", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Command the right arm to engage the hand-sized switch with connector prongs", + "Use the right arm for switching the small switch", + "Move to the plastic switch with metal terminals and click it.", + "Direct the right arm to operate the compact switch with toggle on top", + "Engage with the compact switch with toggle on top manually", + "Switch the black switch to its active state", + "Trigger the black base switch with red toggle using the right arm", + "Activate the black switch with robotic precision", + "Engage the red-top black switch with a press.", + "Approach and tap the hand-sized switch with connector prongs via the right arm", + "Click on the compact switch with toggle on top precisely", + "Engage the rectangular black plastic switch using the right arm.", + "Set the right arm to press the red and black switch", + "Locate and press the plastic switch with metal terminals", + "Click the red-top black switch to activate it", + "Activate the the red-top black switch using the right arm", + "Engage the compact switch with toggle on top using the right arm", + "Press the red-top black switch using the right arm.", + "Activate the black switch by pressing it", + "Toggle the rectangular switch with curved lever with the right arm.", + "Trigger the switch with curved red toggle with precision", + "Press the rectangular switch with curved lever using robotic control", + "Press the red-top black switch via automation", + "Interact with the rectangular black plastic switch directly", + "Engage the right arm to press the rectangular black plastic switch", + "Interact with the hand-sized switch with connector prongs.", + "Directly interact with the black switch with metallic connectors", + "Activate the compact switch with toggle on top with the right arm.", + "Press the hand-sized switch with connector prongs carefully with the right arm", + "Press the small switch to activate.", + "Set the switch at the black base switch with red toggle", + "Click the hand-sized switch with connector prongs directly.", + "Tap the small switch to engage it", + "Use the right arm to engage the compact switch with toggle on top", + "Activate the black switch via the right arm", + "Click the rectangular switch with curved lever using automated tools", + "Use the right arm to interact with the red-top black switch", + "Operate the red-top black switch with the right arm", + "Locate and press the rectangular black plastic switch", + "Push the red-top black switch via the right arm.", + "Initiate the plastic switch with metal terminals by clicking", + "Activate the black switch directly", + "Press the red and black switch with the right arm", + "Press the black base switch with red toggle directly", + "Engage the red and black switch using the robotic arm", + "Click the switch with curved red toggle with robotic precision", + "Operate the right arm to engage the black switch" + ], + "unseen": [ + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the right arm", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm", + "Move and click the the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the switch with two metal prongs" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a7274ccf360b5a83205e243bfb0c0c837ab550 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for switching the rectangular switch with smooth surface", + "Engage the right arm to press the control switch", + "Set the right arm to press the control switch", + "Activate the slanted-edge plastic black switch with robotic precision", + "Locate and press the rectangular switch with smooth surface", + "Switch the black switch with matte coating to its active state", + "Press the rectangular switch with smooth surface to activate.", + "Interact with the palm-sized black switch.", + "Use the right arm to engage the compact rectangular black switch", + "Interact with the medium-sized black rectangular switch directly", + "Operate the right arm to engage the black switch", + "Tap the black switch to engage it", + "Deploy the right arm to operate the sleek black rectangular switch", + "Activate the the black rectangular control switch using the right arm", + "Click on the control switch precisely", + "Trigger the black switch with matte coating with precision", + "Toggle the black switch with slim profile with the right arm.", + "Trigger the rectangular switch with smooth surface without referencing the right arm", + "Activate the compact rectangular black switch directly", + "Move to the compact rectangular black switch and click it.", + "Operate the switch with slanted sides with the right arm", + "Click the black rectangular control switch to activate it", + "Press the palm-sized black switch using robotic control", + "Engage the slanted-edge plastic black switch using the right arm", + "Click the black switch directly.", + "Set the switch at the control switch", + "Press the compact rectangular black switch directly", + "Press the medium-sized black rectangular switch carefully with the right arm", + "Engage the black switch with a press.", + "Click the medium-sized black rectangular switch with robotic precision", + "Activate the palm-sized black switch by pressing it", + "Engage the slanted-edge plastic black switch using the right arm.", + "Activate the sleek black rectangular switch via the right arm", + "Press the black switch using the right arm.", + "Directly interact with the palm-sized black switch", + "Locate and press the medium-sized black rectangular switch", + "Push the slanted-edge plastic black switch via the right arm.", + "Press the slanted-edge plastic black switch via automation", + "Command the right arm to engage the sleek black rectangular switch", + "Click the black switch using automated tools", + "Approach and tap the compact rectangular black switch via the right arm", + "Deploy the right arm to press the black switch", + "Press the compact rectangular black switch with the right arm", + "Initiate the sleek black rectangular switch by clicking", + "Activate the black switch with the right arm.", + "Trigger the rectangular switch with smooth surface using the right arm", + "Direct the right arm to operate the black switch", + "Engage with the switch with slanted sides manually", + "Use the right arm to interact with the black switch with slim profile", + "Engage the black switch using the robotic arm", + "Use the right arm for switching the medium-sized black rectangular switch", + "Engage the right arm to press the switch with slanted sides", + "Set the right arm to press the medium-sized black rectangular switch", + "Activate the slanted-edge plastic black switch with robotic precision", + "Locate and press the rectangular switch with smooth surface", + "Switch the black switch to its active state", + "Press the compact rectangular black switch to activate.", + "Interact with the medium-sized black rectangular switch.", + "Use the right arm to engage the black switch with slim profile", + "Interact with the black switch with matte coating directly", + "Operate the right arm to engage the medium-sized black rectangular switch", + "Tap the black switch with matte coating to engage it", + "Deploy the right arm to operate the sleek black rectangular switch", + "Activate the the medium-sized black rectangular switch using the right arm", + "Click on the slanted-edge plastic black switch precisely", + "Trigger the control switch with precision", + "Toggle the rectangular switch with smooth surface with the right arm.", + "Trigger the black rectangular control switch without referencing the right arm", + "Activate the compact rectangular black switch directly", + "Move to the black switch with slim profile and click it.", + "Operate the switch with slanted sides with the right arm", + "Click the palm-sized black switch to activate it", + "Press the rectangular switch with smooth surface using robotic control", + "Engage the compact rectangular black switch using the right arm", + "Click the rectangular switch with smooth surface directly.", + "Set the switch at the control switch", + "Press the compact rectangular black switch directly", + "Press the black switch with slim profile carefully with the right arm", + "Engage the medium-sized black rectangular switch with a press.", + "Click the medium-sized black rectangular switch with robotic precision", + "Activate the rectangular switch with smooth surface by pressing it", + "Engage the black rectangular control switch using the right arm.", + "Activate the black rectangular control switch via the right arm", + "Press the sleek black rectangular switch using the right arm.", + "Directly interact with the compact rectangular black switch", + "Locate and press the compact rectangular black switch", + "Push the black switch with matte coating via the right arm.", + "Press the rectangular switch with smooth surface via automation", + "Command the right arm to engage the black switch with slim profile", + "Click the black rectangular control switch using automated tools", + "Approach and tap the control switch via the right arm", + "Deploy the right arm to press the black switch with slim profile", + "Press the black rectangular control switch with the right arm", + "Initiate the switch with slanted sides by clicking", + "Activate the rectangular switch with smooth surface with the right arm.", + "Trigger the slanted-edge plastic black switch using the right arm", + "Direct the right arm to operate the sleek black rectangular switch", + "Engage with the switch with slanted sides manually", + "Use the right arm to interact with the compact rectangular black switch", + "Engage the sleek black rectangular switch using the robotic arm" + ], + "unseen": [ + "Click the rectangular black switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch using the right arm", + "Press the smooth black switch using the right arm", + "Move and click the the rectangular black switch", + "Direct the right arm to click the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch with the right arm.", + "Click the rectangular black switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the matte black plastic switch", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch with the right arm.", + "Click the rectangular black switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the matte black plastic switch using the right arm", + "Press the matte black plastic switch using the right arm", + "Move and click the the matte black plastic switch", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the matte black plastic switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the smooth black switch", + "Direct the right arm to click the smooth black switch", + "Activate the switch at the smooth black switch", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch with the right arm.", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the smooth black switch", + "Direct the right arm to click the rectangular black switch", + "Activate the switch at the smooth black switch", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the matte black plastic switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the smooth black switch", + "Direct the right arm to click the rectangular black switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the rectangular black switch", + "Click the rectangular black switch with the right arm.", + "Click the rectangular black switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the smooth black switch", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Use the right arm to press the rectangular black switch", + "Click the rectangular black switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch using the right arm", + "Press the smooth black switch using the right arm", + "Move and click the the rectangular black switch", + "Direct the right arm to click the smooth black switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch with the right arm.", + "Click the matte black plastic switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the rectangular black switch.", + "Click the rectangular black switch using the right arm", + "Press the smooth black switch using the right arm", + "Move and click the the rectangular black switch", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the smooth black switch", + "Use the right arm to press the smooth black switch", + "Click the rectangular black switch with the right arm.", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm", + "Use the right arm to press the smooth black switch.", + "Click the smooth black switch using the right arm", + "Press the rectangular black switch using the right arm", + "Move and click the the matte black plastic switch", + "Direct the right arm to click the rectangular black switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the matte black plastic switch", + "Click the rectangular black switch with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..5407174f83909a3ce8953a88b991e4e829e8a9c7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the switch with smooth light gray finish with the right arm", + "Trigger the switch with smooth light gray finish without referencing the right arm", + "Activate the switch with smooth light gray finish by pressing it", + "Trigger the smooth gray switch with precision", + "Set the switch at the small square switch", + "Operate the flat square with raised center with the right arm", + "Press the palm-sized light gray switch carefully with the right arm", + "Press the small square switch made of plastic via automation", + "Press the switch for electrical control directly", + "Click the small square switch with robotic precision", + "Operate the right arm to engage the small square switch made of plastic", + "Use the right arm to engage the smooth gray switch", + "Engage the right arm to press the square switch with smooth surface", + "Toggle the angled-edge gray square switch with the right arm.", + "Use the right arm for switching the square gray switch panel", + "Deploy the right arm to operate the flat square with raised center", + "Move to the small square switch and click it.", + "Engage the angled-edge gray square switch using the right arm", + "Approach and tap the small square switch made of plastic via the right arm", + "Activate the light gray plastic switch with robotic precision", + "Engage the light gray plastic switch using the right arm.", + "Directly interact with the flat square with raised center", + "Switch the palm-sized light gray switch to its active state", + "Locate and press the flat square with raised center", + "Press the flat square with raised center using robotic control", + "Locate and press the switch with rectangular raised area", + "Engage with the switch with smooth light gray finish manually", + "Interact with the angled-edge gray square switch.", + "Activate the light gray plastic switch with the right arm.", + "Click the flat square with raised center directly.", + "Initiate the flat square with raised center by clicking", + "Command the right arm to engage the switch with rectangular raised area", + "Activate the smooth gray switch via the right arm", + "Press the light gray plastic switch using the right arm.", + "Activate the the light gray plastic switch using the right arm", + "Click on the square switch with smooth surface precisely", + "Use the right arm to interact with the flat square with raised center", + "Engage the small square switch using the robotic arm", + "Tap the palm-sized light gray switch to engage it", + "Interact with the square gray switch panel directly", + "Set the right arm to press the angled-edge gray square switch", + "Push the palm-sized light gray switch via the right arm.", + "Engage the square gray switch panel with a press.", + "Trigger the light gray plastic switch using the right arm", + "Click the smooth gray switch to activate it", + "Deploy the right arm to press the switch for electrical control", + "Direct the right arm to operate the light gray plastic switch", + "Press the square switch with smooth surface to activate.", + "Activate the small square switch made of plastic directly", + "Click the switch for electrical control using automated tools", + "Press the small square switch with the right arm", + "Trigger the smooth gray switch without referencing the right arm", + "Activate the flat square with raised center by pressing it", + "Trigger the flat square with raised center with precision", + "Set the switch at the small square switch made of plastic", + "Operate the angled-edge gray square switch with the right arm", + "Press the angled-edge gray square switch carefully with the right arm", + "Press the smooth gray switch via automation", + "Press the square gray switch panel directly", + "Click the square gray switch panel with robotic precision", + "Operate the right arm to engage the square gray switch panel", + "Use the right arm to engage the angled-edge gray square switch", + "Engage the right arm to press the flat square with raised center", + "Toggle the square switch with smooth surface with the right arm.", + "Use the right arm for switching the switch for electrical control", + "Deploy the right arm to operate the small square switch made of plastic", + "Move to the switch with smooth light gray finish and click it.", + "Engage the flat square with raised center using the right arm", + "Approach and tap the smooth gray switch via the right arm", + "Activate the smooth gray switch with robotic precision", + "Engage the switch for electrical control using the right arm.", + "Directly interact with the light gray plastic switch", + "Switch the small square switch made of plastic to its active state", + "Locate and press the switch with rectangular raised area", + "Press the light gray plastic switch using robotic control", + "Locate and press the square switch with smooth surface", + "Engage with the flat square with raised center manually", + "Interact with the smooth gray switch.", + "Activate the smooth gray switch with the right arm.", + "Click the smooth gray switch directly.", + "Initiate the square switch with smooth surface by clicking", + "Command the right arm to engage the small square switch", + "Activate the square switch with smooth surface via the right arm", + "Press the light gray plastic switch using the right arm.", + "Activate the the switch with rectangular raised area using the right arm", + "Click on the switch with rectangular raised area precisely", + "Use the right arm to interact with the switch with rectangular raised area", + "Engage the square gray switch panel using the robotic arm", + "Tap the square gray switch panel to engage it", + "Interact with the switch with smooth light gray finish directly", + "Set the right arm to press the angled-edge gray square switch", + "Push the angled-edge gray square switch via the right arm.", + "Engage the switch for electrical control with a press.", + "Trigger the small square switch made of plastic using the right arm", + "Click the palm-sized light gray switch to activate it", + "Deploy the right arm to press the small square switch made of plastic", + "Direct the right arm to operate the palm-sized light gray switch", + "Press the square gray switch panel to activate.", + "Activate the smooth gray switch directly", + "Click the palm-sized light gray switch using automated tools" + ], + "unseen": [ + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the flat gray switch", + "Click the switch with angled edges with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the gray switch with slanted sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..680579cf71e60b26b2a04a467a226c05281120e3 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the two-button gray switch with the right arm", + "Activate the gray smooth surface switch directly", + "Set the switch at the gray switch with black buttons", + "Interact with the two-button gray switch directly", + "Trigger the electric toggle switch with precision", + "Tap the gray smooth surface switch to engage it", + "Activate the gray smooth surface switch by pressing it", + "Press the plastic switch with matte buttons directly", + "Press the two-button gray switch carefully with the right arm", + "Operate the right arm to engage the gray smooth surface switch", + "Set the right arm to press the medium switch with trapezoidal base", + "Engage with the gray switch with black buttons manually", + "Deploy the right arm to press the medium switch with trapezoidal base", + "Move to the medium switch with trapezoidal base and click it.", + "Locate and press the gray plastic switch", + "Engage the gray base with black buttons using the right arm.", + "Activate the two-button gray switch via the right arm", + "Approach and tap the gray smooth surface switch via the right arm", + "Use the right arm to engage the plastic switch with matte buttons", + "Initiate the gray plastic switch by clicking", + "Push the two-button gray switch via the right arm.", + "Engage the gray base with black buttons using the right arm", + "Click on the trapezoidal base switch precisely", + "Command the right arm to engage the gray smooth surface switch", + "Switch the medium switch with trapezoidal base to its active state", + "Press the gray smooth surface switch to activate.", + "Activate the the gray plastic switch using the right arm", + "Locate and press the smooth gray switch", + "Click the gray smooth surface switch directly.", + "Click the smooth gray switch with robotic precision", + "Press the switch with trapezoidal base using the right arm.", + "Activate the handheld switch with robotic precision", + "Trigger the trapezoidal base switch using the right arm", + "Engage the gray smooth surface switch with a press.", + "Interact with the smooth gray switch.", + "Click the medium switch with trapezoidal base to activate it", + "Use the right arm to interact with the smooth gray switch", + "Press the gray switch with black buttons via automation", + "Use the right arm for switching the electric toggle switch", + "Press the gray plastic switch using robotic control", + "Toggle the two-button gray switch with the right arm.", + "Engage the right arm to press the gray base with black buttons", + "Directly interact with the electric toggle switch", + "Trigger the gray switch with black buttons without referencing the right arm", + "Click the plastic switch with matte buttons using automated tools", + "Engage the handheld switch using the robotic arm", + "Press the medium switch with trapezoidal base with the right arm", + "Direct the right arm to operate the electric toggle switch", + "Activate the switch with trapezoidal base with the right arm.", + "Deploy the right arm to operate the gray plastic switch", + "Operate the two-button gray switch with the right arm", + "Activate the gray smooth surface switch directly", + "Set the switch at the switch with trapezoidal base", + "Interact with the electric toggle switch directly", + "Trigger the trapezoidal base switch with precision", + "Tap the gray smooth surface switch to engage it", + "Activate the switch with trapezoidal base by pressing it", + "Press the plastic switch with matte buttons directly", + "Press the gray plastic switch carefully with the right arm", + "Operate the right arm to engage the gray plastic switch", + "Set the right arm to press the switch with trapezoidal base", + "Engage with the gray switch with black buttons manually", + "Deploy the right arm to press the smooth gray switch", + "Move to the gray smooth surface switch and click it.", + "Locate and press the gray base with black buttons", + "Engage the trapezoidal base switch using the right arm.", + "Activate the electric toggle switch via the right arm", + "Approach and tap the trapezoidal base switch via the right arm", + "Use the right arm to engage the gray base with black buttons", + "Initiate the gray smooth surface switch by clicking", + "Push the plastic switch with matte buttons via the right arm.", + "Engage the medium switch with trapezoidal base using the right arm", + "Click on the two-button gray switch precisely", + "Command the right arm to engage the gray base with black buttons", + "Switch the trapezoidal base switch to its active state", + "Press the handheld switch to activate.", + "Activate the the plastic switch with matte buttons using the right arm", + "Locate and press the trapezoidal base switch", + "Click the trapezoidal base switch directly.", + "Click the gray plastic switch with robotic precision", + "Press the gray base with black buttons using the right arm.", + "Activate the plastic switch with matte buttons with robotic precision", + "Trigger the switch with trapezoidal base using the right arm", + "Engage the gray base with black buttons with a press.", + "Interact with the two-button gray switch.", + "Click the two-button gray switch to activate it", + "Use the right arm to interact with the handheld switch", + "Press the two-button gray switch via automation", + "Use the right arm for switching the trapezoidal base switch", + "Press the switch with trapezoidal base using robotic control", + "Toggle the handheld switch with the right arm.", + "Engage the right arm to press the gray switch with black buttons", + "Directly interact with the plastic switch with matte buttons", + "Trigger the plastic switch with matte buttons without referencing the right arm", + "Click the gray switch with black buttons using automated tools", + "Engage the handheld switch using the robotic arm", + "Press the trapezoidal base switch with the right arm", + "Direct the right arm to operate the medium switch with trapezoidal base", + "Activate the gray plastic switch with the right arm.", + "Deploy the right arm to operate the medium switch with trapezoidal base" + ], + "unseen": [ + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch.", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Move and click the the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the switch with circular black buttons", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the gray switch with the right arm.", + "Use the right arm to press the gray switch.", + "Press the gray switch using the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the switch with circular black buttons.", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch.", + "Press the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Direct the right arm to click the gray switch", + "Click the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Press the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the switch with circular black buttons", + "Direct the right arm to click the gray switch", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch.", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the switch with circular black buttons", + "Direct the right arm to click the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size.", + "Press the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Move and click the the switch with circular black buttons", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the switch with circular black buttons.", + "Press the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch medium size using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..e7ff98e2183b6dca0e4a9424148689b9ae565c87 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the switch with slanted sides by pressing it", + "Initiate the palm-sized black switch by clicking", + "Engage the black switch with matte coating with a press.", + "Engage the left arm to press the sleek black rectangular switch", + "Press the rectangular switch with smooth surface via automation", + "Activate the compact rectangular black switch with the left arm.", + "Interact with the black switch with matte coating directly", + "Locate and press the compact rectangular black switch", + "Operate the left arm to engage the black switch with matte coating", + "Deploy the left arm to operate the slanted-edge plastic black switch", + "Activate the black switch with robotic precision", + "Engage the control switch using the robotic arm", + "Command the left arm to engage the switch with slanted sides", + "Click the black switch with matte coating using automated tools", + "Switch the control switch to its active state", + "Direct the left arm to operate the black switch", + "Press the rectangular switch with smooth surface carefully with the left arm", + "Engage with the black switch with slim profile manually", + "Move to the black switch with slim profile and click it.", + "Trigger the slanted-edge plastic black switch using the left arm", + "Activate the black switch with matte coating directly", + "Use the left arm to engage the black rectangular control switch", + "Locate and press the slanted-edge plastic black switch", + "Engage the switch with slanted sides using the left arm", + "Press the sleek black rectangular switch using robotic control", + "Press the palm-sized black switch to activate.", + "Interact with the slanted-edge plastic black switch.", + "Set the switch at the black switch with matte coating", + "Engage the slanted-edge plastic black switch using the left arm.", + "Use the left arm for switching the control switch", + "Press the switch with slanted sides directly", + "Deploy the left arm to press the switch with slanted sides", + "Click the medium-sized black rectangular switch directly.", + "Tap the slanted-edge plastic black switch to engage it", + "Use the left arm to interact with the sleek black rectangular switch", + "Set the left arm to press the medium-sized black rectangular switch", + "Toggle the switch with slanted sides with the left arm.", + "Operate the black switch with matte coating with the left arm", + "Trigger the black switch with matte coating without referencing the left arm", + "Press the palm-sized black switch using the left arm.", + "Push the medium-sized black rectangular switch via the left arm.", + "Activate the the control switch using the left arm", + "Click the black switch with matte coating to activate it", + "Press the rectangular switch with smooth surface with the left arm", + "Trigger the switch with slanted sides with precision", + "Directly interact with the slanted-edge plastic black switch", + "Activate the black switch via the left arm", + "Approach and tap the medium-sized black rectangular switch via the left arm", + "Click on the rectangular switch with smooth surface precisely", + "Click the palm-sized black switch with robotic precision", + "Activate the black switch with matte coating by pressing it", + "Initiate the switch with slanted sides by clicking", + "Engage the black switch with a press.", + "Engage the left arm to press the slanted-edge plastic black switch", + "Press the switch with slanted sides via automation", + "Activate the black switch with matte coating with the left arm.", + "Interact with the medium-sized black rectangular switch directly", + "Locate and press the control switch", + "Operate the left arm to engage the black rectangular control switch", + "Deploy the left arm to operate the rectangular switch with smooth surface", + "Activate the rectangular switch with smooth surface with robotic precision", + "Engage the black rectangular control switch using the robotic arm", + "Command the left arm to engage the slanted-edge plastic black switch", + "Click the black rectangular control switch using automated tools", + "Switch the control switch to its active state", + "Direct the left arm to operate the black rectangular control switch", + "Press the medium-sized black rectangular switch carefully with the left arm", + "Engage with the palm-sized black switch manually", + "Move to the rectangular switch with smooth surface and click it.", + "Trigger the control switch using the left arm", + "Activate the rectangular switch with smooth surface directly", + "Use the left arm to engage the black switch with slim profile", + "Locate and press the sleek black rectangular switch", + "Engage the black switch using the left arm", + "Press the switch with slanted sides using robotic control", + "Press the black switch to activate.", + "Interact with the control switch.", + "Set the switch at the black switch with slim profile", + "Engage the control switch using the left arm.", + "Use the left arm for switching the rectangular switch with smooth surface", + "Press the palm-sized black switch directly", + "Deploy the left arm to press the control switch", + "Click the black switch directly.", + "Tap the black switch to engage it", + "Use the left arm to interact with the switch with slanted sides", + "Set the left arm to press the black switch with matte coating", + "Toggle the sleek black rectangular switch with the left arm.", + "Operate the palm-sized black switch with the left arm", + "Trigger the palm-sized black switch without referencing the left arm", + "Press the slanted-edge plastic black switch using the left arm.", + "Push the rectangular switch with smooth surface via the left arm.", + "Activate the the black switch with slim profile using the left arm", + "Click the slanted-edge plastic black switch to activate it", + "Press the black switch with slim profile with the left arm", + "Trigger the black switch with matte coating with precision", + "Directly interact with the black switch with matte coating", + "Activate the switch with slanted sides via the left arm", + "Approach and tap the control switch via the left arm", + "Click on the slanted-edge plastic black switch precisely", + "Click the palm-sized black switch with robotic precision" + ], + "unseen": [ + "Move and click the the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch using the left arm", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Click the rectangular black switch with the left arm.", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the smooth black switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the smooth black switch with the left arm.", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch using the left arm", + "Press the smooth black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the smooth black switch.", + "Click the rectangular black switch with the left arm.", + "Use the left arm to press the matte black plastic switch", + "Click the rectangular black switch using the left arm", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the smooth black switch", + "Move and click the the rectangular black switch", + "Use the left arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the left arm.", + "Use the left arm to press the smooth black switch", + "Click the rectangular black switch using the left arm", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the smooth black switch", + "Use the left arm to press the rectangular black switch.", + "Click the matte black plastic switch with the left arm.", + "Use the left arm to press the rectangular black switch", + "Click the smooth black switch using the left arm", + "Press the matte black plastic switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the matte black plastic switch", + "Use the left arm to press the matte black plastic switch.", + "Click the rectangular black switch with the left arm.", + "Use the left arm to press the smooth black switch", + "Click the smooth black switch using the left arm", + "Press the rectangular black switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the smooth black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the rectangular black switch", + "Use the left arm to press the rectangular black switch.", + "Click the matte black plastic switch with the left arm.", + "Use the left arm to press the rectangular black switch", + "Click the smooth black switch using the left arm", + "Press the matte black plastic switch using the left arm", + "Click the rectangular black switch with the left arm", + "Activate the switch at the matte black plastic switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the matte black plastic switch", + "Move and click the the rectangular black switch", + "Use the left arm to press the rectangular black switch.", + "Click the smooth black switch with the left arm.", + "Use the left arm to press the smooth black switch", + "Click the matte black plastic switch using the left arm", + "Press the rectangular black switch using the left arm", + "Click the matte black plastic switch with the left arm", + "Activate the switch at the rectangular black switch", + "Click the rectangular black switch with the left arm", + "Direct the left arm to click the rectangular black switch", + "Move and click the the rectangular black switch", + "Use the left arm to press the rectangular black switch.", + "Click the rectangular black switch with the left arm.", + "Use the left arm to press the matte black plastic switch", + "Click the rectangular black switch using the left arm", + "Press the matte black plastic switch using the left arm", + "Click the smooth black switch with the left arm", + "Activate the switch at the smooth black switch", + "Click the matte black plastic switch with the left arm", + "Direct the left arm to click the matte black plastic switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b24a1fc57d0d6fb7bde7c20b0f6e58a90db572 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the the control switch with red lever using the left arm", + "Activate the gray switch with red toggle with the left arm.", + "Activate the toggle switch light gray base by pressing it", + "Deploy the left arm to operate the toggle switch light gray base", + "Press the switch for electrical control with the left arm", + "Press the switch for electrical control carefully with the left arm", + "Locate and press the compact switch with flat base", + "Click the compact switch with flat base directly.", + "Interact with the plastic gray body switch directly", + "Click on the plastic gray body switch precisely", + "Press the switch to activate.", + "Set the left arm to press the switch for electrical control", + "Interact with the gray switch with red toggle.", + "Toggle the control switch with red lever with the left arm.", + "Press the red bar switch using the left arm.", + "Click the switch with thin red toggle with robotic precision", + "Direct the left arm to operate the red bar switch", + "Deploy the left arm to press the red bar switch", + "Command the left arm to engage the light gray square switch", + "Trigger the switch for electrical control without referencing the left arm", + "Operate the toggle switch light gray base with the left arm", + "Use the left arm to interact with the plastic gray body switch", + "Trigger the electrical switch with protruding toggle using the left arm", + "Click the square switch with red bar using automated tools", + "Directly interact with the switch with thin red toggle", + "Press the switch for electrical control via automation", + "Press the switch directly", + "Activate the light gray square switch with robotic precision", + "Engage the left arm to press the control switch with red lever", + "Approach and tap the switch via the left arm", + "Move to the switch and click it.", + "Engage the toggle switch light gray base with a press.", + "Initiate the switch for electrical control by clicking", + "Operate the left arm to engage the square switch with red bar", + "Activate the gray switch with red toggle directly", + "Activate the red bar switch via the left arm", + "Engage the toggle switch light gray base using the robotic arm", + "Click the toggle switch light gray base to activate it", + "Use the left arm for switching the compact switch with flat base", + "Trigger the light gray square switch with precision", + "Engage the switch using the left arm", + "Set the switch at the gray switch with red toggle", + "Press the electrical switch with protruding toggle using robotic control", + "Locate and press the light gray square switch", + "Engage with the switch for electrical control manually", + "Use the left arm to engage the electrical switch with protruding toggle", + "Engage the switch with thin red toggle using the left arm.", + "Tap the toggle switch light gray base to engage it", + "Switch the electrical switch with protruding toggle to its active state", + "Push the square switch with red bar via the left arm.", + "Activate the the switch using the left arm", + "Activate the switch with the left arm.", + "Activate the gray switch with red toggle by pressing it", + "Deploy the left arm to operate the control switch with red lever", + "Press the switch for electrical control with the left arm", + "Press the control switch with red lever carefully with the left arm", + "Locate and press the electrical switch with protruding toggle", + "Click the compact switch with flat base directly.", + "Interact with the switch for electrical control directly", + "Click on the control switch with red lever precisely", + "Press the red bar switch to activate.", + "Set the left arm to press the toggle switch light gray base", + "Interact with the electrical switch with protruding toggle.", + "Toggle the control switch with red lever with the left arm.", + "Press the square switch with red bar using the left arm.", + "Click the gray switch with red toggle with robotic precision", + "Direct the left arm to operate the toggle switch light gray base", + "Deploy the left arm to press the gray switch with red toggle", + "Command the left arm to engage the square switch with red bar", + "Trigger the switch for electrical control without referencing the left arm", + "Operate the plastic gray body switch with the left arm", + "Use the left arm to interact with the gray switch with red toggle", + "Trigger the control switch with red lever using the left arm", + "Click the switch for electrical control using automated tools", + "Directly interact with the switch with thin red toggle", + "Press the switch via automation", + "Press the switch for electrical control directly", + "Activate the toggle switch light gray base with robotic precision", + "Engage the left arm to press the control switch with red lever", + "Approach and tap the gray switch with red toggle via the left arm", + "Move to the red bar switch and click it.", + "Engage the switch with thin red toggle with a press.", + "Initiate the toggle switch light gray base by clicking", + "Operate the left arm to engage the toggle switch light gray base", + "Activate the switch with thin red toggle directly", + "Activate the gray switch with red toggle via the left arm", + "Engage the electrical switch with protruding toggle using the robotic arm", + "Click the compact switch with flat base to activate it", + "Use the left arm for switching the switch for electrical control", + "Trigger the compact switch with flat base with precision", + "Engage the switch for electrical control using the left arm", + "Set the switch at the electrical switch with protruding toggle", + "Press the compact switch with flat base using robotic control", + "Locate and press the control switch with red lever", + "Engage with the red bar switch manually", + "Use the left arm to engage the gray switch with red toggle", + "Engage the control switch with red lever using the left arm.", + "Tap the switch for electrical control to engage it", + "Switch the switch with thin red toggle to its active state", + "Push the plastic gray body switch via the left arm." + ], + "unseen": [ + "Activate the switch at the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm", + "Click the flat square gray switch with the left arm", + "Press the smooth gray base switch using the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the flat square gray switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Press the flat square gray switch using the left arm", + "Use the left arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Click the flat square gray switch with the left arm", + "Press the smooth gray base switch using the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the hand-sized square electrical switch", + "Use the left arm to press the smooth gray base switch.", + "Click the flat square gray switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the smooth gray base switch with the left arm", + "Press the smooth gray base switch using the left arm", + "Use the left arm to press the flat square gray switch", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the smooth gray base switch.", + "Click the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Activate the switch at the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm", + "Click the smooth gray base switch with the left arm", + "Press the smooth gray base switch using the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm.", + "Direct the left arm to click the flat square gray switch", + "Use the left arm to press the flat square gray switch.", + "Click the flat square gray switch using the left arm", + "Move and click the the hand-sized square electrical switch", + "Activate the switch at the hand-sized square electrical switch", + "Click the flat square gray switch with the left arm", + "Click the flat square gray switch with the left arm", + "Press the hand-sized square electrical switch using the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the flat square gray switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the smooth gray base switch.", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the smooth gray base switch", + "Click the flat square gray switch with the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Press the flat square gray switch using the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch using the left arm", + "Move and click the the smooth gray base switch", + "Activate the switch at the flat square gray switch", + "Click the smooth gray base switch with the left arm", + "Click the flat square gray switch with the left arm", + "Press the flat square gray switch using the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the flat square gray switch", + "Use the left arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Click the hand-sized square electrical switch with the left arm", + "Press the smooth gray base switch using the left arm", + "Use the left arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the left arm.", + "Direct the left arm to click the smooth gray base switch", + "Use the left arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch using the left arm", + "Move and click the the flat square gray switch", + "Activate the switch at the smooth gray base switch", + "Click the smooth gray base switch with the left arm", + "Click the smooth gray base switch with the left arm", + "Press the flat square gray switch using the left arm", + "Use the left arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the left arm.", + "Direct the left arm to click the hand-sized square electrical switch", + "Use the left arm to press the flat square gray switch.", + "Click the flat square gray switch using the left arm", + "Move and click the the flat square gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..84bba559923a911c910cfd106a3516e22cc3c3af --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the switch with curved red toggle directly", + "Press the hand-sized switch with connector prongs via automation", + "Trigger the red-top black switch with precision", + "Use the left arm for switching the red-top black switch", + "Engage with the black switch with metallic connectors manually", + "Engage the black switch with metallic connectors using the left arm.", + "Engage the black switch using the left arm", + "Engage the switch with curved red toggle using the robotic arm", + "Activate the red-top black switch with the left arm.", + "Interact with the black switch with metallic connectors directly", + "Activate the rectangular black plastic switch via the left arm", + "Press the black switch with the left arm", + "Operate the red and black switch with the left arm", + "Click the black switch with robotic precision", + "Command the left arm to engage the small switch", + "Deploy the left arm to press the red-top black switch", + "Click the black switch directly.", + "Trigger the red and black switch without referencing the left arm", + "Locate and press the black switch with metallic connectors", + "Interact with the switch with curved red toggle.", + "Activate the the plastic switch with metal terminals using the left arm", + "Directly interact with the rectangular switch with curved lever", + "Approach and tap the black switch with metallic connectors via the left arm", + "Trigger the small switch using the left arm", + "Switch the plastic switch with metal terminals to its active state", + "Press the switch with curved red toggle using robotic control", + "Press the hand-sized switch with connector prongs to activate.", + "Activate the switch with curved red toggle with robotic precision", + "Activate the red-top black switch by pressing it", + "Direct the left arm to operate the red-top black switch", + "Push the black switch with metallic connectors via the left arm.", + "Set the switch at the switch with curved red toggle", + "Click the black base switch with red toggle to activate it", + "Initiate the hand-sized switch with connector prongs by clicking", + "Deploy the left arm to operate the rectangular switch with curved lever", + "Use the left arm to interact with the rectangular switch with curved lever", + "Locate and press the compact switch with toggle on top", + "Set the left arm to press the black switch with metallic connectors", + "Click on the small switch precisely", + "Toggle the black switch with the left arm.", + "Engage the black switch with metallic connectors with a press.", + "Use the left arm to engage the black switch with metallic connectors", + "Move to the black switch with metallic connectors and click it.", + "Engage the left arm to press the rectangular switch with curved lever", + "Tap the rectangular switch with curved lever to engage it", + "Press the small switch carefully with the left arm", + "Click the plastic switch with metal terminals using automated tools", + "Press the plastic switch with metal terminals using the left arm.", + "Activate the small switch directly", + "Operate the left arm to engage the hand-sized switch with connector prongs", + "Press the red-top black switch directly", + "Press the rectangular switch with curved lever via automation", + "Trigger the plastic switch with metal terminals with precision", + "Use the left arm for switching the rectangular black plastic switch", + "Engage with the red and black switch manually", + "Engage the red and black switch using the left arm.", + "Engage the red and black switch using the left arm", + "Engage the black base switch with red toggle using the robotic arm", + "Activate the compact switch with toggle on top with the left arm.", + "Interact with the small switch directly", + "Activate the rectangular switch with curved lever via the left arm", + "Press the black switch with the left arm", + "Operate the hand-sized switch with connector prongs with the left arm", + "Click the rectangular black plastic switch with robotic precision", + "Command the left arm to engage the rectangular black plastic switch", + "Deploy the left arm to press the red and black switch", + "Click the rectangular black plastic switch directly.", + "Trigger the hand-sized switch with connector prongs without referencing the left arm", + "Locate and press the hand-sized switch with connector prongs", + "Interact with the rectangular switch with curved lever.", + "Activate the the red and black switch using the left arm", + "Directly interact with the switch with curved red toggle", + "Approach and tap the small switch via the left arm", + "Trigger the hand-sized switch with connector prongs using the left arm", + "Switch the red-top black switch to its active state", + "Press the compact switch with toggle on top using robotic control", + "Press the black switch to activate.", + "Activate the rectangular switch with curved lever with robotic precision", + "Activate the small switch by pressing it", + "Direct the left arm to operate the rectangular switch with curved lever", + "Push the black switch with metallic connectors via the left arm.", + "Set the switch at the small switch", + "Click the red-top black switch to activate it", + "Initiate the rectangular black plastic switch by clicking", + "Deploy the left arm to operate the black switch", + "Use the left arm to interact with the rectangular black plastic switch", + "Locate and press the black switch with metallic connectors", + "Set the left arm to press the plastic switch with metal terminals", + "Click on the red-top black switch precisely", + "Toggle the black switch with metallic connectors with the left arm.", + "Engage the small switch with a press.", + "Use the left arm to engage the plastic switch with metal terminals", + "Move to the small switch and click it.", + "Engage the left arm to press the rectangular switch with curved lever", + "Tap the black base switch with red toggle to engage it", + "Press the switch with curved red toggle carefully with the left arm", + "Click the red and black switch using automated tools", + "Press the compact switch with toggle on top using the left arm.", + "Activate the compact switch with toggle on top directly", + "Operate the left arm to engage the switch with curved red toggle" + ], + "unseen": [ + "Use the left arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Activate the switch at the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs using the left arm", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the simple toggle switch using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..0059dac5a5e47a7706dc68ba7f5097e64c612337 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the rectangular black plastic switch using the left arm.", + "Trigger the black switch without referencing the left arm", + "Interact with the switch with curved red toggle directly", + "Activate the red-top black switch via the left arm", + "Use the left arm for switching the black base switch with red toggle", + "Engage the small switch using the robotic arm", + "Use the left arm to engage the red-top black switch", + "Engage with the black switch with metallic connectors manually", + "Engage the rectangular switch with curved lever with a press.", + "Click the red and black switch directly.", + "Command the left arm to engage the black base switch with red toggle", + "Press the switch with curved red toggle with the left arm", + "Press the rectangular black plastic switch to activate.", + "Switch the rectangular switch with curved lever to its active state", + "Deploy the left arm to operate the compact switch with toggle on top", + "Locate and press the rectangular switch with curved lever", + "Engage the left arm to press the red and black switch", + "Activate the small switch with robotic precision", + "Initiate the hand-sized switch with connector prongs by clicking", + "Press the plastic switch with metal terminals using robotic control", + "Activate the hand-sized switch with connector prongs by pressing it", + "Activate the the plastic switch with metal terminals using the left arm", + "Press the switch with curved red toggle directly", + "Operate the red and black switch with the left arm", + "Operate the left arm to engage the red and black switch", + "Click the plastic switch with metal terminals using automated tools", + "Push the black switch with metallic connectors via the left arm.", + "Deploy the left arm to press the hand-sized switch with connector prongs", + "Locate and press the black switch", + "Trigger the switch with curved red toggle with precision", + "Move to the black base switch with red toggle and click it.", + "Activate the hand-sized switch with connector prongs directly", + "Directly interact with the red and black switch", + "Click on the switch with curved red toggle precisely", + "Direct the left arm to operate the red-top black switch", + "Click the rectangular switch with curved lever to activate it", + "Toggle the small switch with the left arm.", + "Trigger the black switch with metallic connectors using the left arm", + "Tap the red-top black switch to engage it", + "Engage the rectangular switch with curved lever using the left arm", + "Click the black switch with robotic precision", + "Press the switch with curved red toggle carefully with the left arm", + "Activate the rectangular switch with curved lever with the left arm.", + "Use the left arm to interact with the hand-sized switch with connector prongs", + "Interact with the black switch with metallic connectors.", + "Press the black switch with metallic connectors using the left arm.", + "Set the switch at the rectangular black plastic switch", + "Set the left arm to press the hand-sized switch with connector prongs", + "Press the compact switch with toggle on top via automation", + "Approach and tap the compact switch with toggle on top via the left arm", + "Engage the red and black switch using the left arm.", + "Trigger the switch with curved red toggle without referencing the left arm", + "Interact with the black switch with metallic connectors directly", + "Activate the compact switch with toggle on top via the left arm", + "Use the left arm for switching the small switch", + "Engage the small switch using the robotic arm", + "Use the left arm to engage the small switch", + "Engage with the red-top black switch manually", + "Engage the plastic switch with metal terminals with a press.", + "Click the red and black switch directly.", + "Command the left arm to engage the rectangular black plastic switch", + "Press the rectangular black plastic switch with the left arm", + "Press the black switch to activate.", + "Switch the black switch with metallic connectors to its active state", + "Deploy the left arm to operate the red-top black switch", + "Locate and press the plastic switch with metal terminals", + "Engage the left arm to press the black switch with metallic connectors", + "Activate the plastic switch with metal terminals with robotic precision", + "Initiate the rectangular black plastic switch by clicking", + "Press the red and black switch using robotic control", + "Activate the switch with curved red toggle by pressing it", + "Activate the the hand-sized switch with connector prongs using the left arm", + "Press the black base switch with red toggle directly", + "Operate the plastic switch with metal terminals with the left arm", + "Operate the left arm to engage the plastic switch with metal terminals", + "Click the hand-sized switch with connector prongs using automated tools", + "Push the rectangular black plastic switch via the left arm.", + "Deploy the left arm to press the red and black switch", + "Locate and press the rectangular switch with curved lever", + "Trigger the hand-sized switch with connector prongs with precision", + "Move to the switch with curved red toggle and click it.", + "Activate the hand-sized switch with connector prongs directly", + "Directly interact with the black switch with metallic connectors", + "Click on the rectangular black plastic switch precisely", + "Direct the left arm to operate the red-top black switch", + "Click the black switch to activate it", + "Toggle the black switch with the left arm.", + "Trigger the hand-sized switch with connector prongs using the left arm", + "Tap the black switch with metallic connectors to engage it", + "Engage the small switch using the left arm", + "Click the red and black switch with robotic precision", + "Press the black switch carefully with the left arm", + "Activate the plastic switch with metal terminals with the left arm.", + "Use the left arm to interact with the compact switch with toggle on top", + "Interact with the red and black switch.", + "Press the switch with curved red toggle using the left arm.", + "Set the switch at the hand-sized switch with connector prongs", + "Set the left arm to press the plastic switch with metal terminals", + "Press the small switch via automation", + "Approach and tap the rectangular black plastic switch via the left arm" + ], + "unseen": [ + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch.", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the simple toggle switch", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..99b3e1afee53b7755b7e5281f17e81821e7aaeea --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the small trapezoid switch to activate.", + "Directly interact with the switch with brown button", + "Click the tiny matte beige toggle switch to activate it", + "Press the switch with brown button carefully with the left arm", + "Engage the left arm to press the beige switch with smooth finish", + "Press the switch with rectangular dark button via automation", + "Trigger the switch with rectangular dark button with precision", + "Push the beige switch via the left arm.", + "Set the switch at the beige switch", + "Click the switch with rectangular dark button with robotic precision", + "Interact with the small trapezoid switch directly", + "Activate the the beige switch using the left arm", + "Locate and press the small trapezoid switch", + "Deploy the left arm to operate the switch with a smooth top", + "Interact with the switch with a smooth top.", + "Locate and press the matte beige switch with flat top", + "Press the hand-sized light beige switch using robotic control", + "Approach and tap the matte beige switch with flat top via the left arm", + "Engage the matte beige switch with flat top using the left arm", + "Press the beige switch using the left arm.", + "Press the tiny matte beige toggle switch directly", + "Operate the left arm to engage the tiny matte beige toggle switch", + "Switch the beige switch to its active state", + "Command the left arm to engage the hand-sized light beige switch", + "Activate the switch with rectangular dark button via the left arm", + "Move to the light-colored trapezoid-shaped plastic switch and click it.", + "Deploy the left arm to press the toggle switch with brown rectangle button", + "Set the left arm to press the beige switch with smooth finish", + "Engage the switch with brown button with a press.", + "Activate the switch with brown button by pressing it", + "Click the hand-sized light beige switch using automated tools", + "Press the beige switch with the left arm", + "Trigger the switch with a smooth top without referencing the left arm", + "Initiate the switch with brown button by clicking", + "Engage the light-colored trapezoid-shaped plastic switch using the left arm.", + "Engage with the beige switch manually", + "Toggle the switch with a smooth top with the left arm.", + "Operate the toggle switch with brown rectangle button with the left arm", + "Activate the switch with a smooth top directly", + "Engage the switch with rectangular dark button using the robotic arm", + "Click the switch with rectangular dark button directly.", + "Click on the beige switch with smooth finish precisely", + "Activate the toggle switch with brown rectangle button with robotic precision", + "Trigger the hand-sized light beige switch using the left arm", + "Tap the tiny matte beige toggle switch to engage it", + "Use the left arm for switching the hand-sized light beige switch", + "Use the left arm to engage the light-colored trapezoid-shaped plastic switch", + "Use the left arm to interact with the switch with rectangular dark button", + "Activate the matte beige switch with flat top with the left arm.", + "Direct the left arm to operate the small trapezoid switch", + "Press the small trapezoid switch to activate.", + "Directly interact with the light-colored trapezoid-shaped plastic switch", + "Click the matte beige switch with flat top to activate it", + "Press the hand-sized light beige switch carefully with the left arm", + "Engage the left arm to press the small trapezoid switch", + "Press the light-colored trapezoid-shaped plastic switch via automation", + "Trigger the small trapezoid switch with precision", + "Push the beige switch with smooth finish via the left arm.", + "Set the switch at the beige switch", + "Click the light plastic switch with robotic precision", + "Interact with the beige switch with smooth finish directly", + "Activate the the light plastic switch using the left arm", + "Locate and press the tiny matte beige toggle switch", + "Deploy the left arm to operate the toggle switch with brown rectangle button", + "Interact with the tiny matte beige toggle switch.", + "Locate and press the beige switch with smooth finish", + "Press the light plastic switch using robotic control", + "Approach and tap the beige switch via the left arm", + "Engage the beige switch with smooth finish using the left arm", + "Press the matte beige switch with flat top using the left arm.", + "Press the tiny matte beige toggle switch directly", + "Operate the left arm to engage the small trapezoid switch", + "Switch the small trapezoid switch to its active state", + "Command the left arm to engage the beige switch with smooth finish", + "Activate the hand-sized light beige switch via the left arm", + "Move to the matte beige switch with flat top and click it.", + "Deploy the left arm to press the light plastic switch", + "Set the left arm to press the light-colored trapezoid-shaped plastic switch", + "Engage the light plastic switch with a press.", + "Activate the toggle switch with brown rectangle button by pressing it", + "Click the hand-sized light beige switch using automated tools", + "Press the toggle switch with brown rectangle button with the left arm", + "Trigger the light-colored trapezoid-shaped plastic switch without referencing the left arm", + "Initiate the light plastic switch by clicking", + "Engage the toggle switch with brown rectangle button using the left arm.", + "Engage with the small trapezoid switch manually", + "Toggle the light-colored trapezoid-shaped plastic switch with the left arm.", + "Operate the switch with brown button with the left arm", + "Activate the light plastic switch directly", + "Engage the light plastic switch using the robotic arm", + "Click the beige switch directly.", + "Click on the tiny matte beige toggle switch precisely", + "Activate the tiny matte beige toggle switch with robotic precision", + "Trigger the small trapezoid switch using the left arm", + "Tap the switch with rectangular dark button to engage it", + "Use the left arm for switching the switch with rectangular dark button", + "Use the left arm to engage the switch with a smooth top", + "Use the left arm to interact with the beige switch with smooth finish", + "Activate the light plastic switch with the left arm.", + "Direct the left arm to operate the switch with a smooth top" + ], + "unseen": [ + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm.", + "Direct the left arm to click the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm.", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm.", + "Direct the left arm to click the rectangular button switch on beige base", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top using the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm.", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm.", + "Direct the left arm to click the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm.", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm.", + "Direct the left arm to click the beige switch with darker brown top", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm", + "Use the left arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top using the left arm", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides with the left arm.", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm.", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Use the left arm to press the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the left arm", + "Click the rectangular button switch on beige base with the left arm", + "Use the left arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides using the left arm", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm.", + "Direct the left arm to click the small beige switch with angular sides", + "Move and click the the beige switch with darker brown top" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4ac447be691f07707c88a96bf8933ce9055ed6 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the rectangular switch with slanted sides precisely", + "Activate the light tan rectangular switch smooth finish with the left arm.", + "Tap the plastic switch with angled edges to engage it", + "Switch the hand-sized switch tan smooth finish to its active state", + "Toggle the switch with darker rectangle with the left arm.", + "Interact with the switch with darker rectangle.", + "Locate and press the rectangular switch with slanted sides", + "Click the switch trapezoid shape brown marking to activate it", + "Trigger the trapezoid-shaped switch smooth surface without referencing the left arm", + "Locate and press the switch with darker rectangle", + "Trigger the rectangular switch with slanted sides with precision", + "Command the left arm to engage the flat switch", + "Press the smooth tan switch with textured sides to activate.", + "Engage the left arm to press the plastic switch with angled edges", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Deploy the left arm to press the switch with darker rectangle", + "Engage the light tan rectangular switch smooth finish with a press.", + "Direct the left arm to operate the flat switch", + "Engage with the smooth tan switch with textured sides manually", + "Activate the the switch with darker rectangle using the left arm", + "Activate the rectangular switch with slanted sides with robotic precision", + "Deploy the left arm to operate the plastic switch with angled edges", + "Click the plastic switch with angled edges directly.", + "Press the light tan rectangular switch smooth finish carefully with the left arm", + "Trigger the smooth tan switch with textured sides using the left arm", + "Interact with the small light tan switch directly", + "Press the smooth tan switch with textured sides with the left arm", + "Use the left arm to engage the rectangular switch with slanted sides", + "Operate the small light tan switch with the left arm", + "Set the left arm to press the angled switch light tan color", + "Press the hand-sized switch tan smooth finish via automation", + "Press the tan switch using robotic control", + "Activate the tan switch via the left arm", + "Push the small light tan switch via the left arm.", + "Approach and tap the angled switch light tan color via the left arm", + "Activate the switch with darker rectangle by pressing it", + "Click the plastic switch with angled edges with robotic precision", + "Operate the left arm to engage the light tan rectangular switch smooth finish", + "Engage the trapezoid-shaped switch smooth surface using the left arm.", + "Set the switch at the flat switch", + "Press the flat switch using the left arm.", + "Initiate the flat switch by clicking", + "Engage the hand-sized switch tan smooth finish using the left arm", + "Move to the small light tan switch and click it.", + "Directly interact with the light tan rectangular switch smooth finish", + "Use the left arm to interact with the tan switch", + "Activate the angled switch light tan color directly", + "Click the hand-sized switch tan smooth finish using automated tools", + "Use the left arm for switching the hand-sized switch tan smooth finish", + "Press the angled switch light tan color directly", + "Click on the small light tan switch precisely", + "Activate the small light tan switch with the left arm.", + "Tap the switch with darker rectangle to engage it", + "Switch the smooth tan switch with textured sides to its active state", + "Toggle the trapezoid-shaped switch smooth surface with the left arm.", + "Interact with the switch trapezoid shape brown marking.", + "Locate and press the light tan rectangular switch smooth finish", + "Click the plastic switch with angled edges to activate it", + "Trigger the flat switch without referencing the left arm", + "Locate and press the rectangular switch with slanted sides", + "Trigger the light tan rectangular switch smooth finish with precision", + "Command the left arm to engage the tan switch", + "Press the trapezoid-shaped switch smooth surface to activate.", + "Engage the left arm to press the tan switch", + "Engage the switch with darker rectangle using the robotic arm", + "Deploy the left arm to press the plastic switch with angled edges", + "Engage the trapezoid-shaped switch smooth surface with a press.", + "Direct the left arm to operate the switch trapezoid shape brown marking", + "Engage with the light tan rectangular switch smooth finish manually", + "Activate the the rectangular switch with slanted sides using the left arm", + "Activate the rectangular switch with slanted sides with robotic precision", + "Deploy the left arm to operate the flat switch", + "Click the light tan rectangular switch smooth finish directly.", + "Press the flat switch carefully with the left arm", + "Trigger the plastic switch with angled edges using the left arm", + "Interact with the rectangular switch with slanted sides directly", + "Press the rectangular switch with slanted sides with the left arm", + "Use the left arm to engage the tan switch", + "Operate the small light tan switch with the left arm", + "Set the left arm to press the trapezoid-shaped switch smooth surface", + "Press the small light tan switch via automation", + "Press the trapezoid-shaped switch smooth surface using robotic control", + "Activate the hand-sized switch tan smooth finish via the left arm", + "Push the light tan rectangular switch smooth finish via the left arm.", + "Approach and tap the switch trapezoid shape brown marking via the left arm", + "Activate the trapezoid-shaped switch smooth surface by pressing it", + "Click the plastic switch with angled edges with robotic precision", + "Operate the left arm to engage the plastic switch with angled edges", + "Engage the small light tan switch using the left arm.", + "Set the switch at the smooth tan switch with textured sides", + "Press the rectangular switch with slanted sides using the left arm.", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Engage the smooth tan switch with textured sides using the left arm", + "Move to the small light tan switch and click it.", + "Directly interact with the flat switch", + "Use the left arm to interact with the trapezoid-shaped switch smooth surface", + "Activate the plastic switch with angled edges directly", + "Click the small light tan switch using automated tools", + "Use the left arm for switching the small light tan switch", + "Press the switch with darker rectangle directly" + ], + "unseen": [ + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Click the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Use the left arm to press the small flat switch tan top.", + "Click the small flat switch tan top with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Press the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..1eef5a1af04b2c7c52c86dd2226f276cb6db5389 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the plastic switch with angled edges precisely", + "Switch the switch with darker rectangle to its active state", + "Press the switch trapezoid shape brown marking with the left arm", + "Click the switch trapezoid shape brown marking using automated tools", + "Directly interact with the smooth tan switch with textured sides", + "Initiate the small light tan switch by clicking", + "Command the left arm to engage the plastic switch with angled edges", + "Set the left arm to press the tan switch", + "Set the switch at the light tan rectangular switch smooth finish", + "Direct the left arm to operate the smooth tan switch with textured sides", + "Press the rectangular switch with slanted sides using robotic control", + "Trigger the switch with darker rectangle using the left arm", + "Trigger the smooth tan switch with textured sides without referencing the left arm", + "Engage the trapezoid-shaped switch smooth surface using the left arm", + "Use the left arm to engage the tan switch", + "Activate the flat switch directly", + "Tap the small light tan switch to engage it", + "Use the left arm to interact with the small light tan switch", + "Activate the switch with darker rectangle with robotic precision", + "Engage the angled switch light tan color with a press.", + "Engage with the rectangular switch with slanted sides manually", + "Operate the switch with darker rectangle with the left arm", + "Press the small light tan switch using the left arm.", + "Click the angled switch light tan color to activate it", + "Locate and press the rectangular switch with slanted sides", + "Push the switch trapezoid shape brown marking via the left arm.", + "Engage the left arm to press the switch trapezoid shape brown marking", + "Deploy the left arm to press the rectangular switch with slanted sides", + "Trigger the angled switch light tan color with precision", + "Toggle the tan switch with the left arm.", + "Interact with the flat switch.", + "Activate the the trapezoid-shaped switch smooth surface using the left arm", + "Click the light tan rectangular switch smooth finish directly.", + "Locate and press the trapezoid-shaped switch smooth surface", + "Press the trapezoid-shaped switch smooth surface via automation", + "Press the angled switch light tan color carefully with the left arm", + "Deploy the left arm to operate the tan switch", + "Press the angled switch light tan color directly", + "Engage the hand-sized switch tan smooth finish using the left arm.", + "Click the tan switch with robotic precision", + "Approach and tap the angled switch light tan color via the left arm", + "Move to the trapezoid-shaped switch smooth surface and click it.", + "Interact with the switch with darker rectangle directly", + "Use the left arm for switching the switch with darker rectangle", + "Activate the angled switch light tan color by pressing it", + "Press the switch trapezoid shape brown marking to activate.", + "Activate the flat switch via the left arm", + "Activate the smooth tan switch with textured sides with the left arm.", + "Engage the tan switch using the robotic arm", + "Operate the left arm to engage the smooth tan switch with textured sides", + "Click on the switch with darker rectangle precisely", + "Switch the plastic switch with angled edges to its active state", + "Press the trapezoid-shaped switch smooth surface with the left arm", + "Click the flat switch using automated tools", + "Directly interact with the angled switch light tan color", + "Initiate the tan switch by clicking", + "Command the left arm to engage the switch trapezoid shape brown marking", + "Set the left arm to press the tan switch", + "Set the switch at the small light tan switch", + "Direct the left arm to operate the smooth tan switch with textured sides", + "Press the tan switch using robotic control", + "Trigger the trapezoid-shaped switch smooth surface using the left arm", + "Trigger the trapezoid-shaped switch smooth surface without referencing the left arm", + "Engage the tan switch using the left arm", + "Use the left arm to engage the switch with darker rectangle", + "Activate the light tan rectangular switch smooth finish directly", + "Tap the switch trapezoid shape brown marking to engage it", + "Use the left arm to interact with the rectangular switch with slanted sides", + "Activate the plastic switch with angled edges with robotic precision", + "Engage the small light tan switch with a press.", + "Engage with the switch trapezoid shape brown marking manually", + "Operate the small light tan switch with the left arm", + "Press the smooth tan switch with textured sides using the left arm.", + "Click the hand-sized switch tan smooth finish to activate it", + "Locate and press the hand-sized switch tan smooth finish", + "Push the tan switch via the left arm.", + "Engage the left arm to press the smooth tan switch with textured sides", + "Deploy the left arm to press the small light tan switch", + "Trigger the angled switch light tan color with precision", + "Toggle the angled switch light tan color with the left arm.", + "Interact with the light tan rectangular switch smooth finish.", + "Activate the the small light tan switch using the left arm", + "Click the hand-sized switch tan smooth finish directly.", + "Locate and press the light tan rectangular switch smooth finish", + "Press the hand-sized switch tan smooth finish via automation", + "Press the small light tan switch carefully with the left arm", + "Deploy the left arm to operate the tan switch", + "Press the flat switch directly", + "Engage the angled switch light tan color using the left arm.", + "Click the plastic switch with angled edges with robotic precision", + "Approach and tap the tan switch via the left arm", + "Move to the light tan rectangular switch smooth finish and click it.", + "Interact with the tan switch directly", + "Use the left arm for switching the hand-sized switch tan smooth finish", + "Activate the flat switch by pressing it", + "Press the hand-sized switch tan smooth finish to activate.", + "Activate the flat switch via the left arm", + "Activate the trapezoid-shaped switch smooth surface with the left arm.", + "Engage the small light tan switch using the robotic arm", + "Operate the left arm to engage the switch trapezoid shape brown marking" + ], + "unseen": [ + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the left arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Click the lightweight plastic switch angled edges with the left arm.", + "Use the left arm to press the switch flat tan top brown rectangle", + "Move and click the the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the small flat switch tan top", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle with the left arm.", + "Use the left arm to press the small flat switch tan top", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the left arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the small flat switch tan top", + "Move and click the the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the left arm.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..7a2dd0d69e12f50b7391aef93d99be5ef28b7fab --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Tap the smooth gray switch to engage it", + "Click the switch for electrical control using automated tools", + "Trigger the light gray plastic switch without referencing the right arm", + "Engage the small square switch using the robotic arm", + "Interact with the angled-edge gray square switch directly", + "Press the switch for electrical control directly", + "Engage the right arm to press the square switch with smooth surface", + "Push the light gray plastic switch via the right arm.", + "Press the light gray plastic switch carefully with the right arm", + "Press the small square switch made of plastic using robotic control", + "Use the right arm to interact with the switch with rectangular raised area", + "Click on the light gray plastic switch precisely", + "Engage the light gray plastic switch using the right arm", + "Click the switch with rectangular raised area directly.", + "Switch the angled-edge gray square switch to its active state", + "Press the flat square with raised center with the right arm", + "Click the flat square with raised center to activate it", + "Deploy the right arm to press the square gray switch panel", + "Directly interact with the small square switch", + "Engage with the angled-edge gray square switch manually", + "Use the right arm to engage the switch for electrical control", + "Engage the palm-sized light gray switch with a press.", + "Activate the the switch with rectangular raised area using the right arm", + "Engage the flat square with raised center using the right arm.", + "Deploy the right arm to operate the square switch with smooth surface", + "Activate the switch for electrical control via the right arm", + "Move to the light gray plastic switch and click it.", + "Set the right arm to press the angled-edge gray square switch", + "Activate the switch with rectangular raised area directly", + "Locate and press the square gray switch panel", + "Press the switch with smooth light gray finish using the right arm.", + "Use the right arm for switching the switch with rectangular raised area", + "Activate the small square switch with the right arm.", + "Set the switch at the angled-edge gray square switch", + "Click the small square switch with robotic precision", + "Activate the smooth gray switch by pressing it", + "Interact with the square gray switch panel.", + "Operate the switch for electrical control with the right arm", + "Operate the right arm to engage the light gray plastic switch", + "Locate and press the light gray plastic switch", + "Approach and tap the square switch with smooth surface via the right arm", + "Toggle the small square switch with the right arm.", + "Press the square switch with smooth surface to activate.", + "Activate the small square switch with robotic precision", + "Trigger the small square switch with precision", + "Direct the right arm to operate the light gray plastic switch", + "Initiate the angled-edge gray square switch by clicking", + "Command the right arm to engage the small square switch", + "Trigger the switch with smooth light gray finish using the right arm", + "Press the switch with smooth light gray finish via automation", + "Tap the small square switch made of plastic to engage it", + "Click the square gray switch panel using automated tools", + "Trigger the angled-edge gray square switch without referencing the right arm", + "Engage the angled-edge gray square switch using the robotic arm", + "Interact with the palm-sized light gray switch directly", + "Press the palm-sized light gray switch directly", + "Engage the right arm to press the smooth gray switch", + "Push the switch with smooth light gray finish via the right arm.", + "Press the angled-edge gray square switch carefully with the right arm", + "Press the switch with smooth light gray finish using robotic control", + "Use the right arm to interact with the angled-edge gray square switch", + "Click on the small square switch made of plastic precisely", + "Engage the switch for electrical control using the right arm", + "Click the switch with rectangular raised area directly.", + "Switch the small square switch made of plastic to its active state", + "Press the square gray switch panel with the right arm", + "Click the angled-edge gray square switch to activate it", + "Deploy the right arm to press the switch for electrical control", + "Directly interact with the smooth gray switch", + "Engage with the light gray plastic switch manually", + "Use the right arm to engage the small square switch made of plastic", + "Engage the square switch with smooth surface with a press.", + "Activate the the palm-sized light gray switch using the right arm", + "Engage the switch with smooth light gray finish using the right arm.", + "Deploy the right arm to operate the switch for electrical control", + "Activate the square switch with smooth surface via the right arm", + "Move to the smooth gray switch and click it.", + "Set the right arm to press the switch for electrical control", + "Activate the flat square with raised center directly", + "Locate and press the small square switch made of plastic", + "Press the small square switch made of plastic using the right arm.", + "Use the right arm for switching the switch with rectangular raised area", + "Activate the switch for electrical control with the right arm.", + "Set the switch at the light gray plastic switch", + "Click the light gray plastic switch with robotic precision", + "Activate the light gray plastic switch by pressing it", + "Interact with the small square switch made of plastic.", + "Operate the flat square with raised center with the right arm", + "Operate the right arm to engage the light gray plastic switch", + "Locate and press the small square switch made of plastic", + "Approach and tap the smooth gray switch via the right arm", + "Toggle the small square switch made of plastic with the right arm.", + "Press the switch with smooth light gray finish to activate.", + "Activate the square gray switch panel with robotic precision", + "Trigger the square gray switch panel with precision", + "Direct the right arm to operate the smooth gray switch", + "Initiate the square gray switch panel by clicking", + "Command the right arm to engage the flat square with raised center", + "Trigger the palm-sized light gray switch using the right arm", + "Press the square switch with smooth surface via automation" + ], + "unseen": [ + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges with the right arm", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges.", + "Move and click the the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Move and click the the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Move and click the the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch with the right arm", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the flat gray switch", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the gray switch with slanted sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..2797fd888fae0d0a743a1974b9c1d4893a2230d7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the left arm to press the smooth gray switch", + "Activate the gray base with black buttons via the left arm", + "Set the switch at the two-button gray switch", + "Interact with the switch with trapezoidal base.", + "Activate the two-button gray switch by pressing it", + "Use the left arm to interact with the medium switch with trapezoidal base", + "Press the gray plastic switch with the left arm", + "Press the switch with trapezoidal base using the left arm.", + "Locate and press the medium switch with trapezoidal base", + "Press the electric toggle switch via automation", + "Switch the gray smooth surface switch to its active state", + "Toggle the smooth gray switch with the left arm.", + "Press the trapezoidal base switch carefully with the left arm", + "Press the electric toggle switch to activate.", + "Engage the medium switch with trapezoidal base using the robotic arm", + "Use the left arm for switching the handheld switch", + "Interact with the smooth gray switch directly", + "Deploy the left arm to operate the gray smooth surface switch", + "Click the two-button gray switch directly.", + "Press the smooth gray switch directly", + "Engage the handheld switch using the left arm.", + "Click the medium switch with trapezoidal base with robotic precision", + "Activate the gray smooth surface switch directly", + "Push the handheld switch via the left arm.", + "Engage the left arm to press the gray switch with black buttons", + "Deploy the left arm to press the two-button gray switch", + "Approach and tap the trapezoidal base switch via the left arm", + "Engage the plastic switch with matte buttons using the left arm", + "Activate the gray smooth surface switch with robotic precision", + "Activate the the electric toggle switch using the left arm", + "Direct the left arm to operate the gray smooth surface switch", + "Click on the medium switch with trapezoidal base precisely", + "Click the handheld switch using automated tools", + "Activate the gray base with black buttons with the left arm.", + "Locate and press the handheld switch", + "Trigger the electric toggle switch without referencing the left arm", + "Press the handheld switch using robotic control", + "Command the left arm to engage the gray plastic switch", + "Move to the gray switch with black buttons and click it.", + "Operate the trapezoidal base switch with the left arm", + "Use the left arm to engage the trapezoidal base switch", + "Click the two-button gray switch to activate it", + "Tap the gray plastic switch to engage it", + "Trigger the switch with trapezoidal base with precision", + "Trigger the gray switch with black buttons using the left arm", + "Engage the gray base with black buttons with a press.", + "Directly interact with the plastic switch with matte buttons", + "Operate the left arm to engage the medium switch with trapezoidal base", + "Engage with the smooth gray switch manually", + "Initiate the plastic switch with matte buttons by clicking", + "Set the left arm to press the medium switch with trapezoidal base", + "Activate the electric toggle switch via the left arm", + "Set the switch at the two-button gray switch", + "Interact with the handheld switch.", + "Activate the electric toggle switch by pressing it", + "Use the left arm to interact with the two-button gray switch", + "Press the trapezoidal base switch with the left arm", + "Press the smooth gray switch using the left arm.", + "Locate and press the plastic switch with matte buttons", + "Press the handheld switch via automation", + "Switch the gray switch with black buttons to its active state", + "Toggle the switch with trapezoidal base with the left arm.", + "Press the plastic switch with matte buttons carefully with the left arm", + "Press the handheld switch to activate.", + "Engage the switch with trapezoidal base using the robotic arm", + "Use the left arm for switching the two-button gray switch", + "Interact with the plastic switch with matte buttons directly", + "Deploy the left arm to operate the smooth gray switch", + "Click the gray base with black buttons directly.", + "Press the gray switch with black buttons directly", + "Engage the trapezoidal base switch using the left arm.", + "Click the handheld switch with robotic precision", + "Activate the trapezoidal base switch directly", + "Push the gray base with black buttons via the left arm.", + "Engage the left arm to press the switch with trapezoidal base", + "Deploy the left arm to press the switch with trapezoidal base", + "Approach and tap the medium switch with trapezoidal base via the left arm", + "Engage the handheld switch using the left arm", + "Activate the medium switch with trapezoidal base with robotic precision", + "Activate the the electric toggle switch using the left arm", + "Direct the left arm to operate the medium switch with trapezoidal base", + "Click on the gray smooth surface switch precisely", + "Click the medium switch with trapezoidal base using automated tools", + "Activate the two-button gray switch with the left arm.", + "Locate and press the gray plastic switch", + "Trigger the gray switch with black buttons without referencing the left arm", + "Press the smooth gray switch using robotic control", + "Command the left arm to engage the gray base with black buttons", + "Move to the two-button gray switch and click it.", + "Operate the switch with trapezoidal base with the left arm", + "Use the left arm to engage the handheld switch", + "Click the two-button gray switch to activate it", + "Tap the gray plastic switch to engage it", + "Trigger the gray base with black buttons with precision", + "Trigger the gray switch with black buttons using the left arm", + "Engage the plastic switch with matte buttons with a press.", + "Directly interact with the handheld switch", + "Operate the left arm to engage the handheld switch", + "Engage with the smooth gray switch manually", + "Initiate the gray smooth surface switch by clicking" + ], + "unseen": [ + "Activate the switch at the gray switch", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm.", + "Move and click the the switch with circular black buttons", + "Use the left arm to press the gray switch medium size.", + "Click the gray switch using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm", + "Activate the switch at the gray switch", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch medium size", + "Use the left arm to press the gray switch.", + "Click the switch with circular black buttons using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch with the left arm", + "Press the gray switch medium size using the left arm", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch medium size", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch medium size", + "Use the left arm to press the gray switch medium size.", + "Click the gray switch using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch with the left arm", + "Press the gray switch using the left arm", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch", + "Use the left arm to press the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the switch with circular black buttons", + "Use the left arm to press the gray switch.", + "Click the gray switch medium size using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch with the left arm", + "Press the gray switch medium size using the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the gray switch medium size", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm.", + "Move and click the the gray switch medium size", + "Use the left arm to press the switch with circular black buttons.", + "Click the gray switch using the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the switch with circular black buttons", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm.", + "Move and click the the gray switch medium size", + "Use the left arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons using the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the gray switch medium size", + "Use the left arm to press the gray switch", + "Click the gray switch medium size with the left arm.", + "Move and click the the switch with circular black buttons", + "Use the left arm to press the gray switch.", + "Click the switch with circular black buttons using the left arm", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm", + "Activate the switch at the gray switch medium size", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch", + "Use the left arm to press the gray switch.", + "Click the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch with the left arm", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Use the left arm to press the gray switch medium size", + "Click the gray switch with the left arm.", + "Move and click the the gray switch", + "Use the left arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Press the gray switch using the left arm", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch medium size", + "Use the left arm to press the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Move and click the the gray switch medium size", + "Use the left arm to press the gray switch.", + "Click the gray switch medium size using the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..09a8615cfee54c0ebf457a5d6ecc0048d5655619 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the black switch via the right arm", + "Use the right arm for switching the red-top black switch", + "Initiate the black switch with metallic connectors by clicking", + "Push the plastic switch with metal terminals via the right arm.", + "Press the black base switch with red toggle with the right arm", + "Trigger the rectangular switch with curved lever using the right arm", + "Switch the red-top black switch to its active state", + "Direct the right arm to operate the small switch", + "Engage the red and black switch using the right arm.", + "Locate and press the rectangular black plastic switch", + "Trigger the black switch without referencing the right arm", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Interact with the black base switch with red toggle directly", + "Set the switch at the rectangular switch with curved lever", + "Use the right arm to interact with the black base switch with red toggle", + "Activate the rectangular black plastic switch with the right arm.", + "Click the rectangular switch with curved lever to activate it", + "Click the plastic switch with metal terminals with robotic precision", + "Activate the switch with curved red toggle by pressing it", + "Engage with the rectangular switch with curved lever manually", + "Toggle the rectangular black plastic switch with the right arm.", + "Set the right arm to press the compact switch with toggle on top", + "Operate the right arm to engage the rectangular black plastic switch", + "Click the red-top black switch using automated tools", + "Activate the switch with curved red toggle directly", + "Press the black base switch with red toggle carefully with the right arm", + "Click the small switch directly.", + "Use the right arm to engage the black base switch with red toggle", + "Deploy the right arm to press the red and black switch", + "Press the rectangular switch with curved lever using robotic control", + "Command the right arm to engage the compact switch with toggle on top", + "Activate the rectangular black plastic switch with robotic precision", + "Engage the red-top black switch with a press.", + "Click on the red and black switch precisely", + "Tap the rectangular black plastic switch to engage it", + "Press the plastic switch with metal terminals to activate.", + "Press the black base switch with red toggle using the right arm.", + "Operate the hand-sized switch with connector prongs with the right arm", + "Engage the compact switch with toggle on top using the robotic arm", + "Trigger the switch with curved red toggle with precision", + "Engage the rectangular switch with curved lever using the right arm", + "Activate the the black base switch with red toggle using the right arm", + "Press the switch with curved red toggle via automation", + "Locate and press the small switch", + "Engage the right arm to press the red and black switch", + "Move to the rectangular black plastic switch and click it.", + "Directly interact with the black switch", + "Approach and tap the rectangular switch with curved lever via the right arm", + "Press the plastic switch with metal terminals directly", + "Interact with the compact switch with toggle on top.", + "Activate the hand-sized switch with connector prongs via the right arm", + "Use the right arm for switching the black switch with metallic connectors", + "Initiate the rectangular switch with curved lever by clicking", + "Push the rectangular black plastic switch via the right arm.", + "Press the rectangular black plastic switch with the right arm", + "Trigger the black switch using the right arm", + "Switch the red and black switch to its active state", + "Direct the right arm to operate the black switch", + "Engage the black base switch with red toggle using the right arm.", + "Locate and press the black switch", + "Trigger the small switch without referencing the right arm", + "Deploy the right arm to operate the black switch with metallic connectors", + "Interact with the black switch directly", + "Set the switch at the compact switch with toggle on top", + "Use the right arm to interact with the hand-sized switch with connector prongs", + "Activate the switch with curved red toggle with the right arm.", + "Click the black base switch with red toggle to activate it", + "Click the small switch with robotic precision", + "Activate the red-top black switch by pressing it", + "Engage with the black switch manually", + "Toggle the rectangular switch with curved lever with the right arm.", + "Set the right arm to press the black switch", + "Operate the right arm to engage the switch with curved red toggle", + "Click the red-top black switch using automated tools", + "Activate the black switch directly", + "Press the compact switch with toggle on top carefully with the right arm", + "Click the black base switch with red toggle directly.", + "Use the right arm to engage the rectangular switch with curved lever", + "Deploy the right arm to press the hand-sized switch with connector prongs", + "Press the hand-sized switch with connector prongs using robotic control", + "Command the right arm to engage the rectangular switch with curved lever", + "Activate the red and black switch with robotic precision", + "Engage the small switch with a press.", + "Click on the hand-sized switch with connector prongs precisely", + "Tap the plastic switch with metal terminals to engage it", + "Press the black switch to activate.", + "Press the hand-sized switch with connector prongs using the right arm.", + "Operate the rectangular black plastic switch with the right arm", + "Engage the rectangular black plastic switch using the robotic arm", + "Trigger the rectangular switch with curved lever with precision", + "Engage the hand-sized switch with connector prongs using the right arm", + "Activate the the black switch with metallic connectors using the right arm", + "Press the red and black switch via automation", + "Locate and press the rectangular switch with curved lever", + "Engage the right arm to press the red and black switch", + "Move to the hand-sized switch with connector prongs and click it.", + "Directly interact with the rectangular switch with curved lever", + "Approach and tap the switch with curved red toggle via the right arm", + "Press the compact switch with toggle on top directly", + "Interact with the black switch." + ], + "unseen": [ + "Click the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the simple toggle switch", + "Press the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the simple toggle switch", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..5fcab5a9d3e83de213d929563e6285801d25d5d2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the switch with a smooth top using the right arm", + "Click the light-colored trapezoid-shaped plastic switch directly.", + "Locate and press the switch with a smooth top", + "Tap the switch with a smooth top to engage it", + "Engage the beige switch with smooth finish with a press.", + "Click the switch with rectangular dark button using automated tools", + "Move to the light plastic switch and click it.", + "Press the toggle switch with brown rectangle button directly", + "Command the right arm to engage the tiny matte beige toggle switch", + "Click the small trapezoid switch with robotic precision", + "Engage the switch with brown button using the right arm.", + "Interact with the small trapezoid switch.", + "Press the small trapezoid switch carefully with the right arm", + "Set the switch at the light plastic switch", + "Toggle the switch with brown button with the right arm.", + "Trigger the hand-sized light beige switch with precision", + "Trigger the matte beige switch with flat top using the right arm", + "Interact with the toggle switch with brown rectangle button directly", + "Activate the light plastic switch by pressing it", + "Use the right arm to interact with the small trapezoid switch", + "Push the beige switch via the right arm.", + "Directly interact with the small trapezoid switch", + "Engage the beige switch using the robotic arm", + "Use the right arm to engage the tiny matte beige toggle switch", + "Press the light plastic switch using robotic control", + "Operate the right arm to engage the small trapezoid switch", + "Direct the right arm to operate the matte beige switch with flat top", + "Activate the switch with a smooth top with robotic precision", + "Locate and press the matte beige switch with flat top", + "Engage the right arm to press the tiny matte beige toggle switch", + "Click the hand-sized light beige switch to activate it", + "Click on the hand-sized light beige switch precisely", + "Press the switch with brown button with the right arm", + "Switch the switch with rectangular dark button to its active state", + "Engage with the beige switch with smooth finish manually", + "Set the right arm to press the hand-sized light beige switch", + "Press the hand-sized light beige switch using the right arm.", + "Activate the light plastic switch directly", + "Press the switch with rectangular dark button via automation", + "Approach and tap the toggle switch with brown rectangle button via the right arm", + "Use the right arm for switching the matte beige switch with flat top", + "Deploy the right arm to operate the beige switch with smooth finish", + "Initiate the matte beige switch with flat top by clicking", + "Press the switch with rectangular dark button to activate.", + "Trigger the switch with brown button without referencing the right arm", + "Activate the switch with rectangular dark button with the right arm.", + "Activate the the beige switch with smooth finish using the right arm", + "Deploy the right arm to press the matte beige switch with flat top", + "Activate the switch with brown button via the right arm", + "Operate the switch with a smooth top with the right arm", + "Engage the small trapezoid switch using the right arm", + "Click the light plastic switch directly.", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Tap the switch with a smooth top to engage it", + "Engage the beige switch with a press.", + "Click the hand-sized light beige switch using automated tools", + "Move to the switch with rectangular dark button and click it.", + "Press the switch with brown button directly", + "Command the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Click the switch with rectangular dark button with robotic precision", + "Engage the switch with rectangular dark button using the right arm.", + "Interact with the switch with a smooth top.", + "Press the switch with brown button carefully with the right arm", + "Set the switch at the toggle switch with brown rectangle button", + "Toggle the beige switch with smooth finish with the right arm.", + "Trigger the switch with rectangular dark button with precision", + "Trigger the matte beige switch with flat top using the right arm", + "Interact with the beige switch with smooth finish directly", + "Activate the beige switch by pressing it", + "Use the right arm to interact with the toggle switch with brown rectangle button", + "Push the toggle switch with brown rectangle button via the right arm.", + "Directly interact with the matte beige switch with flat top", + "Engage the beige switch with smooth finish using the robotic arm", + "Use the right arm to engage the matte beige switch with flat top", + "Press the matte beige switch with flat top using robotic control", + "Operate the right arm to engage the light plastic switch", + "Direct the right arm to operate the switch with a smooth top", + "Activate the hand-sized light beige switch with robotic precision", + "Locate and press the beige switch", + "Engage the right arm to press the light-colored trapezoid-shaped plastic switch", + "Click the hand-sized light beige switch to activate it", + "Click on the small trapezoid switch precisely", + "Press the matte beige switch with flat top with the right arm", + "Switch the switch with rectangular dark button to its active state", + "Engage with the tiny matte beige toggle switch manually", + "Set the right arm to press the beige switch", + "Press the light-colored trapezoid-shaped plastic switch using the right arm.", + "Activate the beige switch directly", + "Press the switch with brown button via automation", + "Approach and tap the light-colored trapezoid-shaped plastic switch via the right arm", + "Use the right arm for switching the switch with rectangular dark button", + "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch", + "Initiate the switch with a smooth top by clicking", + "Press the switch with brown button to activate.", + "Trigger the switch with a smooth top without referencing the right arm", + "Activate the toggle switch with brown rectangle button with the right arm.", + "Activate the the switch with brown button using the right arm", + "Deploy the right arm to press the light plastic switch", + "Activate the small trapezoid switch via the right arm", + "Operate the toggle switch with brown rectangle button with the right arm" + ], + "unseen": [ + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Click the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..e9cb91bca0f03d6f27dbe6eb44190b1f9e2ea43e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/franka-panda/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to interact with the black switch with metallic connectors", + "Engage with the hand-sized switch with connector prongs manually", + "Activate the rectangular switch with curved lever by pressing it", + "Tap the switch with curved red toggle to engage it", + "Press the hand-sized switch with connector prongs to activate.", + "Click the red-top black switch using automated tools", + "Press the hand-sized switch with connector prongs using robotic control", + "Activate the hand-sized switch with connector prongs via the right arm", + "Deploy the right arm to operate the black switch with metallic connectors", + "Activate the black switch with metallic connectors directly", + "Switch the black switch with metallic connectors to its active state", + "Initiate the small switch by clicking", + "Use the right arm to engage the hand-sized switch with connector prongs", + "Activate the black switch with metallic connectors with the right arm.", + "Locate and press the plastic switch with metal terminals", + "Move to the compact switch with toggle on top and click it.", + "Set the switch at the black switch", + "Approach and tap the black base switch with red toggle via the right arm", + "Deploy the right arm to press the switch with curved red toggle", + "Push the plastic switch with metal terminals via the right arm.", + "Set the right arm to press the black base switch with red toggle", + "Engage the small switch using the right arm.", + "Click the plastic switch with metal terminals directly.", + "Press the small switch via automation", + "Engage the switch with curved red toggle using the robotic arm", + "Press the red-top black switch using the right arm.", + "Trigger the small switch with precision", + "Engage the right arm to press the hand-sized switch with connector prongs", + "Engage the red and black switch with a press.", + "Activate the the switch with curved red toggle using the right arm", + "Command the right arm to engage the hand-sized switch with connector prongs", + "Interact with the compact switch with toggle on top directly", + "Press the red-top black switch with the right arm", + "Use the right arm for switching the red and black switch", + "Trigger the black switch using the right arm", + "Operate the red-top black switch with the right arm", + "Trigger the hand-sized switch with connector prongs without referencing the right arm", + "Operate the right arm to engage the compact switch with toggle on top", + "Directly interact with the red-top black switch", + "Click on the red and black switch precisely", + "Press the black switch with metallic connectors carefully with the right arm", + "Interact with the small switch.", + "Click the plastic switch with metal terminals to activate it", + "Activate the switch with curved red toggle with robotic precision", + "Press the red-top black switch directly", + "Engage the switch with curved red toggle using the right arm", + "Toggle the rectangular switch with curved lever with the right arm.", + "Direct the right arm to operate the black switch with metallic connectors", + "Click the red-top black switch with robotic precision", + "Locate and press the rectangular switch with curved lever", + "Use the right arm to interact with the compact switch with toggle on top", + "Engage with the black switch manually", + "Activate the red-top black switch by pressing it", + "Tap the black switch with metallic connectors to engage it", + "Press the red and black switch to activate.", + "Click the black switch with metallic connectors using automated tools", + "Press the black base switch with red toggle using robotic control", + "Activate the black switch with metallic connectors via the right arm", + "Deploy the right arm to operate the compact switch with toggle on top", + "Activate the black switch with metallic connectors directly", + "Switch the black switch to its active state", + "Initiate the plastic switch with metal terminals by clicking", + "Use the right arm to engage the switch with curved red toggle", + "Activate the red-top black switch with the right arm.", + "Locate and press the small switch", + "Move to the compact switch with toggle on top and click it.", + "Set the switch at the hand-sized switch with connector prongs", + "Approach and tap the black switch via the right arm", + "Deploy the right arm to press the black base switch with red toggle", + "Push the red-top black switch via the right arm.", + "Set the right arm to press the black switch with metallic connectors", + "Engage the rectangular switch with curved lever using the right arm.", + "Click the small switch directly.", + "Press the hand-sized switch with connector prongs via automation", + "Engage the rectangular switch with curved lever using the robotic arm", + "Press the small switch using the right arm.", + "Trigger the rectangular switch with curved lever with precision", + "Engage the right arm to press the small switch", + "Engage the plastic switch with metal terminals with a press.", + "Activate the the plastic switch with metal terminals using the right arm", + "Command the right arm to engage the black base switch with red toggle", + "Interact with the plastic switch with metal terminals directly", + "Press the hand-sized switch with connector prongs with the right arm", + "Use the right arm for switching the red-top black switch", + "Trigger the rectangular switch with curved lever using the right arm", + "Operate the plastic switch with metal terminals with the right arm", + "Trigger the small switch without referencing the right arm", + "Operate the right arm to engage the compact switch with toggle on top", + "Directly interact with the small switch", + "Click on the compact switch with toggle on top precisely", + "Press the rectangular black plastic switch carefully with the right arm", + "Interact with the hand-sized switch with connector prongs.", + "Click the small switch to activate it", + "Activate the plastic switch with metal terminals with robotic precision", + "Press the hand-sized switch with connector prongs directly", + "Engage the black switch with metallic connectors using the right arm", + "Toggle the red and black switch with the right arm.", + "Direct the right arm to operate the hand-sized switch with connector prongs", + "Click the rectangular switch with curved lever with robotic precision", + "Locate and press the small switch" + ], + "unseen": [ + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Move and click the the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the right arm", + "Press the switch with two metal prongs using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm.", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm", + "Press the smooth black switch with red lever using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Use the right arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the right arm", + "Press the simple toggle switch using the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm" + ] +} \ No newline at end of file diff --git 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a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/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/turn_switch/ur5-wsg/meta/info.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ce5aff546da04919abb6bc799b994b34a6e0d3ab --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "turn_switch", + "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/turn_switch/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..68ffe2e74b965dd1f5fe4c1b04024fb980d0f77d --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the rectangular switch precisely", + "Activate the the switch for turning circuits on off using the right arm", + "Tap the switch with three metal pins to engage it", + "Press the switch with three metal pins with the right arm", + "Directly interact with the tiny rectangular switch", + "Push the two-tone red black switch via the right arm.", + "Switch the smooth red switch with labels to its active state", + "Press the red and black electrical switch using robotic control", + "Engage the right arm to press the tiny rectangular switch", + "Engage the smooth red switch with labels using the right arm", + "Interact with the red and black electrical switch.", + "Trigger the rectangular switch with precision", + "Direct the right arm to operate the plastic switch with metal prongs", + "Activate the two-tone red black switch with the right arm.", + "Set the switch at the metal-pronged black switch", + "Locate and press the switch with three metal pins", + "Engage the switch with three metal pins using the robotic arm", + "Click the two-tone red black switch directly.", + "Activate the metal-pronged black switch with robotic precision", + "Use the right arm to engage the toggle switch with black housing", + "Trigger the black base switch without referencing the right arm", + "Click the metal-pronged black switch to activate it", + "Engage with the switch with three metal pins manually", + "Toggle the red and black electrical switch with the right arm.", + "Activate the switch for turning circuits on off by pressing it", + "Deploy the right arm to operate the switch with three metal pins", + "Press the tiny rectangular switch to activate.", + "Click the red and black electrical switch using automated tools", + "Initiate the smooth red switch with labels by clicking", + "Trigger the two-tone red black switch using the right arm", + "Engage the smooth red switch with labels with a press.", + "Deploy the right arm to press the two-tone red black switch", + "Set the right arm to press the switch with three metal pins", + "Approach and tap the metal-pronged black switch via the right arm", + "Move to the toggle switch with black housing and click it.", + "Operate the right arm to engage the black base switch", + "Locate and press the toggle switch with black housing", + "Press the small switch with red lever carefully with the right arm", + "Command the right arm to engage the rectangular switch", + "Operate the two-tone red black switch with the right arm", + "Press the toggle switch with black housing directly", + "Engage the plastic switch with metal prongs using the right arm.", + "Click the switch for turning circuits on off with robotic precision", + "Activate the switch with three metal pins directly", + "Press the switch for turning circuits on off via automation", + "Use the right arm for switching the black base switch", + "Use the right arm to interact with the tiny rectangular switch", + "Activate the rectangular switch via the right arm", + "Interact with the rectangular switch directly", + "Press the red and black electrical switch using the right arm.", + "Click on the switch for turning circuits on off precisely", + "Activate the the two-tone red black switch using the right arm", + "Tap the metal-pronged black switch to engage it", + "Press the smooth red switch with labels with the right arm", + "Directly interact with the two-tone red black switch", + "Push the small switch with red lever via the right arm.", + "Switch the two-tone red black switch to its active state", + "Press the rectangular switch using robotic control", + "Engage the right arm to press the smooth red switch with labels", + "Engage the switch with three metal pins using the right arm", + "Interact with the two-tone red black switch.", + "Trigger the red and black electrical switch with precision", + "Direct the right arm to operate the rectangular switch", + "Activate the tiny rectangular switch with the right arm.", + "Set the switch at the smooth red switch with labels", + "Locate and press the tiny rectangular switch", + "Engage the rectangular switch using the robotic arm", + "Click the switch for turning circuits on off directly.", + "Activate the two-tone red black switch with robotic precision", + "Use the right arm to engage the toggle switch with black housing", + "Trigger the smooth red switch with labels without referencing the right arm", + "Click the tiny rectangular switch to activate it", + "Engage with the black base switch manually", + "Toggle the tiny rectangular switch with the right arm.", + "Activate the plastic switch with metal prongs by pressing it", + "Deploy the right arm to operate the toggle switch with black housing", + "Press the rectangular switch to activate.", + "Click the switch for turning circuits on off using automated tools", + "Initiate the two-tone red black switch by clicking", + "Trigger the switch with three metal pins using the right arm", + "Engage the smooth red switch with labels with a press.", + "Deploy the right arm to press the switch with three metal pins", + "Set the right arm to press the black base switch", + "Approach and tap the tiny rectangular switch via the right arm", + "Move to the metal-pronged black switch and click it.", + "Operate the right arm to engage the small switch with red lever", + "Locate and press the switch for turning circuits on off", + "Press the toggle switch with black housing carefully with the right arm", + "Command the right arm to engage the black base switch", + "Operate the tiny rectangular switch with the right arm", + "Press the two-tone red black switch directly", + "Engage the small switch with red lever using the right arm.", + "Click the tiny rectangular switch with robotic precision", + "Activate the tiny rectangular switch directly", + "Press the toggle switch with black housing via automation", + "Use the right arm for switching the small switch with red lever", + "Use the right arm to interact with the smooth red switch with labels", + "Activate the rectangular switch via the right arm", + "Interact with the switch with three metal pins directly", + "Press the red and black electrical switch using the right arm." + ], + "unseen": [ + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the red toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the right arm", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Use the right arm to press the curved toggle switch.", + "Press the curved toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the right arm", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Press the curved toggle switch using the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c570bb6561710e77f82aeb164c535377ca99e5 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click the compact switch with toggle on top with robotic precision", + "Engage the rectangular black plastic switch with a press.", + "Activate the hand-sized switch with connector prongs via the right arm", + "Tap the black switch to engage it", + "Set the right arm to press the plastic switch with metal terminals", + "Operate the right arm to engage the hand-sized switch with connector prongs", + "Press the hand-sized switch with connector prongs using the right arm.", + "Set the switch at the rectangular switch with curved lever", + "Activate the black base switch with red toggle directly", + "Press the black base switch with red toggle to activate.", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Trigger the plastic switch with metal terminals using the right arm", + "Deploy the right arm to press the rectangular black plastic switch", + "Locate and press the compact switch with toggle on top", + "Activate the small switch with the right arm.", + "Engage with the black switch manually", + "Interact with the rectangular black plastic switch directly", + "Press the black switch with metallic connectors carefully with the right arm", + "Interact with the compact switch with toggle on top.", + "Initiate the small switch by clicking", + "Activate the the black base switch with red toggle using the right arm", + "Press the plastic switch with metal terminals via automation", + "Operate the black switch with metallic connectors with the right arm", + "Click the compact switch with toggle on top to activate it", + "Move to the red-top black switch and click it.", + "Direct the right arm to operate the rectangular switch with curved lever", + "Engage the black base switch with red toggle using the right arm.", + "Engage the right arm to press the black switch", + "Directly interact with the black base switch with red toggle", + "Press the compact switch with toggle on top with the right arm", + "Deploy the right arm to operate the red and black switch", + "Press the black base switch with red toggle directly", + "Command the right arm to engage the hand-sized switch with connector prongs", + "Switch the black switch to its active state", + "Use the right arm for switching the black switch", + "Locate and press the black switch with metallic connectors", + "Trigger the plastic switch with metal terminals with precision", + "Click on the rectangular switch with curved lever precisely", + "Approach and tap the black base switch with red toggle via the right arm", + "Activate the rectangular switch with curved lever with robotic precision", + "Trigger the switch with curved red toggle without referencing the right arm", + "Use the right arm to interact with the red-top black switch", + "Press the black switch using robotic control", + "Click the rectangular switch with curved lever directly.", + "Toggle the rectangular switch with curved lever with the right arm.", + "Use the right arm to engage the hand-sized switch with connector prongs", + "Activate the hand-sized switch with connector prongs by pressing it", + "Push the compact switch with toggle on top via the right arm.", + "Click the black base switch with red toggle using automated tools", + "Engage the rectangular black plastic switch using the right arm", + "Click the switch with curved red toggle with robotic precision", + "Engage the switch with curved red toggle with a press.", + "Activate the red and black switch via the right arm", + "Tap the rectangular switch with curved lever to engage it", + "Set the right arm to press the rectangular black plastic switch", + "Operate the right arm to engage the black switch with metallic connectors", + "Press the rectangular black plastic switch using the right arm.", + "Set the switch at the black base switch with red toggle", + "Activate the hand-sized switch with connector prongs directly", + "Press the black switch with metallic connectors to activate.", + "Engage the rectangular black plastic switch using the robotic arm", + "Trigger the red and black switch using the right arm", + "Deploy the right arm to press the black switch with metallic connectors", + "Locate and press the compact switch with toggle on top", + "Activate the red-top black switch with the right arm.", + "Engage with the black base switch with red toggle manually", + "Interact with the plastic switch with metal terminals directly", + "Press the plastic switch with metal terminals carefully with the right arm", + "Interact with the rectangular switch with curved lever.", + "Initiate the plastic switch with metal terminals by clicking", + "Activate the the red and black switch using the right arm", + "Press the black switch with metallic connectors via automation", + "Operate the black switch with metallic connectors with the right arm", + "Click the rectangular switch with curved lever to activate it", + "Move to the compact switch with toggle on top and click it.", + "Direct the right arm to operate the black base switch with red toggle", + "Engage the rectangular black plastic switch using the right arm.", + "Engage the right arm to press the hand-sized switch with connector prongs", + "Directly interact with the rectangular black plastic switch", + "Press the rectangular switch with curved lever with the right arm", + "Deploy the right arm to operate the red-top black switch", + "Press the hand-sized switch with connector prongs directly", + "Command the right arm to engage the hand-sized switch with connector prongs", + "Switch the rectangular black plastic switch to its active state", + "Use the right arm for switching the small switch", + "Locate and press the switch with curved red toggle", + "Trigger the red and black switch with precision", + "Click on the switch with curved red toggle precisely", + "Approach and tap the rectangular black plastic switch via the right arm", + "Activate the black base switch with red toggle with robotic precision", + "Trigger the small switch without referencing the right arm", + "Use the right arm to interact with the rectangular black plastic switch", + "Press the hand-sized switch with connector prongs using robotic control", + "Click the rectangular black plastic switch directly.", + "Toggle the red-top black switch with the right arm.", + "Use the right arm to engage the plastic switch with metal terminals", + "Activate the red-top black switch by pressing it", + "Push the black switch via the right arm.", + "Click the black base switch with red toggle using automated tools", + "Engage the black switch with metallic connectors using the right arm" + ], + "unseen": [ + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Move and click the the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Activate the switch at the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..b54f5ca59ac2a928c4ec457d11824f8b8aa24bb4 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to interact with the smooth red switch with labels", + "Activate the tiny rectangular switch with robotic precision", + "Trigger the smooth red switch with labels with precision", + "Command the left arm to engage the tiny rectangular switch", + "Engage the left arm to press the red and black electrical switch", + "Activate the plastic switch with metal prongs by pressing it", + "Directly interact with the small switch with red lever", + "Use the left arm for switching the metal-pronged black switch", + "Interact with the smooth red switch with labels directly", + "Click the toggle switch with black housing with robotic precision", + "Press the black base switch directly", + "Toggle the black base switch with the left arm.", + "Deploy the left arm to press the metal-pronged black switch", + "Operate the left arm to engage the red and black electrical switch", + "Activate the red and black electrical switch via the left arm", + "Set the switch at the smooth red switch with labels", + "Press the red and black electrical switch carefully with the left arm", + "Trigger the rectangular switch without referencing the left arm", + "Interact with the rectangular switch.", + "Click the smooth red switch with labels using automated tools", + "Switch the smooth red switch with labels to its active state", + "Locate and press the two-tone red black switch", + "Approach and tap the toggle switch with black housing via the left arm", + "Initiate the tiny rectangular switch by clicking", + "Direct the left arm to operate the tiny rectangular switch", + "Activate the plastic switch with metal prongs directly", + "Press the toggle switch with black housing with the left arm", + "Press the red and black electrical switch to activate.", + "Push the rectangular switch via the left arm.", + "Click the tiny rectangular switch directly.", + "Trigger the tiny rectangular switch using the left arm", + "Operate the rectangular switch with the left arm", + "Activate the the toggle switch with black housing using the left arm", + "Move to the smooth red switch with labels and click it.", + "Click on the switch for turning circuits on off precisely", + "Press the small switch with red lever using robotic control", + "Engage the toggle switch with black housing with a press.", + "Engage the red and black electrical switch using the left arm", + "Click the small switch with red lever to activate it", + "Press the two-tone red black switch using the left arm.", + "Engage the red and black electrical switch using the left arm.", + "Use the left arm to engage the small switch with red lever", + "Engage with the tiny rectangular switch manually", + "Activate the black base switch with the left arm.", + "Press the metal-pronged black switch via automation", + "Engage the switch for turning circuits on off using the robotic arm", + "Tap the smooth red switch with labels to engage it", + "Deploy the left arm to operate the black base switch", + "Locate and press the tiny rectangular switch", + "Set the left arm to press the tiny rectangular switch", + "Use the left arm to interact with the two-tone red black switch", + "Activate the two-tone red black switch with robotic precision", + "Trigger the black base switch with precision", + "Command the left arm to engage the toggle switch with black housing", + "Engage the left arm to press the metal-pronged black switch", + "Activate the plastic switch with metal prongs by pressing it", + "Directly interact with the two-tone red black switch", + "Use the left arm for switching the black base switch", + "Interact with the switch with three metal pins directly", + "Click the toggle switch with black housing with robotic precision", + "Press the small switch with red lever directly", + "Toggle the red and black electrical switch with the left arm.", + "Deploy the left arm to press the plastic switch with metal prongs", + "Operate the left arm to engage the switch with three metal pins", + "Activate the black base switch via the left arm", + "Set the switch at the small switch with red lever", + "Press the black base switch carefully with the left arm", + "Trigger the tiny rectangular switch without referencing the left arm", + "Interact with the plastic switch with metal prongs.", + "Click the plastic switch with metal prongs using automated tools", + "Switch the switch with three metal pins to its active state", + "Locate and press the black base switch", + "Approach and tap the metal-pronged black switch via the left arm", + "Initiate the black base switch by clicking", + "Direct the left arm to operate the switch for turning circuits on off", + "Activate the smooth red switch with labels directly", + "Press the small switch with red lever with the left arm", + "Press the toggle switch with black housing to activate.", + "Push the tiny rectangular switch via the left arm.", + "Click the metal-pronged black switch directly.", + "Trigger the red and black electrical switch using the left arm", + "Operate the tiny rectangular switch with the left arm", + "Activate the the black base switch using the left arm", + "Move to the two-tone red black switch and click it.", + "Click on the rectangular switch precisely", + "Press the smooth red switch with labels using robotic control", + "Engage the tiny rectangular switch with a press.", + "Engage the switch for turning circuits on off using the left arm", + "Click the switch for turning circuits on off to activate it", + "Press the red and black electrical switch using the left arm.", + "Engage the rectangular switch using the left arm.", + "Use the left arm to engage the switch for turning circuits on off", + "Engage with the black base switch manually", + "Activate the two-tone red black switch with the left arm.", + "Press the switch with three metal pins via automation", + "Engage the plastic switch with metal prongs using the robotic arm", + "Tap the two-tone red black switch to engage it", + "Deploy the left arm to operate the small switch with red lever", + "Locate and press the red and black electrical switch", + "Set the left arm to press the plastic switch with metal prongs" + ], + "unseen": [ + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red toggle switch with the left arm", + "Move and click the the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Click the red toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Move and click the the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the curved toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Move and click the the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the curved toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red ON OFF labeled toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Click the curved toggle switch using the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Move and click the the red toggle switch", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..57cae199c47eb2a03e51c672017113930ff05410 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to interact with the plastic gray body switch", + "Toggle the gray switch with red toggle with the right arm.", + "Switch the square switch with red bar to its active state", + "Activate the red bar switch with the right arm.", + "Trigger the switch with thin red toggle using the right arm", + "Click the light gray square switch directly.", + "Approach and tap the gray switch with red toggle via the right arm", + "Command the right arm to engage the switch with thin red toggle", + "Engage the control switch with red lever with a press.", + "Trigger the light gray square switch without referencing the right arm", + "Click the red bar switch with robotic precision", + "Engage the switch with thin red toggle using the right arm.", + "Trigger the red bar switch with precision", + "Move to the gray switch with red toggle and click it.", + "Operate the switch with the right arm", + "Interact with the switch with thin red toggle.", + "Push the plastic gray body switch via the right arm.", + "Press the switch carefully with the right arm", + "Engage with the switch manually", + "Engage the switch using the right arm", + "Press the electrical switch with protruding toggle using robotic control", + "Press the red bar switch using the right arm.", + "Deploy the right arm to operate the light gray square switch", + "Set the right arm to press the electrical switch with protruding toggle", + "Locate and press the square switch with red bar", + "Activate the switch with thin red toggle with robotic precision", + "Press the toggle switch light gray base to activate.", + "Engage the switch for electrical control using the robotic arm", + "Activate the square switch with red bar via the right arm", + "Click on the square switch with red bar precisely", + "Activate the light gray square switch directly", + "Direct the right arm to operate the control switch with red lever", + "Press the compact switch with flat base via automation", + "Press the toggle switch light gray base with the right arm", + "Press the switch directly", + "Activate the light gray square switch by pressing it", + "Activate the the switch with thin red toggle using the right arm", + "Directly interact with the toggle switch light gray base", + "Use the right arm to engage the toggle switch light gray base", + "Initiate the switch with thin red toggle by clicking", + "Operate the right arm to engage the gray switch with red toggle", + "Click the switch with thin red toggle using automated tools", + "Locate and press the switch with thin red toggle", + "Deploy the right arm to press the light gray square switch", + "Set the switch at the compact switch with flat base", + "Interact with the electrical switch with protruding toggle directly", + "Use the right arm for switching the red bar switch", + "Click the red bar switch to activate it", + "Tap the compact switch with flat base to engage it", + "Engage the right arm to press the switch for electrical control", + "Use the right arm to interact with the toggle switch light gray base", + "Toggle the light gray square switch with the right arm.", + "Switch the plastic gray body switch to its active state", + "Activate the control switch with red lever with the right arm.", + "Trigger the red bar switch using the right arm", + "Click the light gray square switch directly.", + "Approach and tap the toggle switch light gray base via the right arm", + "Command the right arm to engage the square switch with red bar", + "Engage the toggle switch light gray base with a press.", + "Trigger the gray switch with red toggle without referencing the right arm", + "Click the light gray square switch with robotic precision", + "Engage the switch for electrical control using the right arm.", + "Trigger the light gray square switch with precision", + "Move to the switch for electrical control and click it.", + "Operate the switch for electrical control with the right arm", + "Interact with the square switch with red bar.", + "Push the square switch with red bar via the right arm.", + "Press the switch for electrical control carefully with the right arm", + "Engage with the toggle switch light gray base manually", + "Engage the gray switch with red toggle using the right arm", + "Press the toggle switch light gray base using robotic control", + "Press the electrical switch with protruding toggle using the right arm.", + "Deploy the right arm to operate the switch", + "Set the right arm to press the control switch with red lever", + "Locate and press the toggle switch light gray base", + "Activate the plastic gray body switch with robotic precision", + "Press the plastic gray body switch to activate.", + "Engage the toggle switch light gray base using the robotic arm", + "Activate the switch for electrical control via the right arm", + "Click on the control switch with red lever precisely", + "Activate the control switch with red lever directly", + "Direct the right arm to operate the switch", + "Press the gray switch with red toggle via automation", + "Press the plastic gray body switch with the right arm", + "Press the gray switch with red toggle directly", + "Activate the compact switch with flat base by pressing it", + "Activate the the electrical switch with protruding toggle using the right arm", + "Directly interact with the control switch with red lever", + "Use the right arm to engage the gray switch with red toggle", + "Initiate the light gray square switch by clicking", + "Operate the right arm to engage the switch with thin red toggle", + "Click the square switch with red bar using automated tools", + "Locate and press the gray switch with red toggle", + "Deploy the right arm to press the compact switch with flat base", + "Set the switch at the toggle switch light gray base", + "Interact with the gray switch with red toggle directly", + "Use the right arm for switching the gray switch with red toggle", + "Click the switch with thin red toggle to activate it", + "Tap the electrical switch with protruding toggle to engage it", + "Engage the right arm to press the electrical switch with protruding toggle" + ], + "unseen": [ + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch.", + "Move and click the the smooth gray base switch", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the smooth gray base switch.", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Move and click the the flat square gray switch", + "Click the flat square gray switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Press the flat square gray switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the flat square gray switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the flat square gray switch.", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the smooth gray base switch.", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch.", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Press the hand-sized square electrical switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the flat square gray switch.", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the flat square gray switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch.", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch using the right arm", + "Use the right arm to press the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the smooth gray base switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch.", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch using the right arm", + "Use the right arm to press the smooth gray base switch", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Press the flat square gray switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..e8076c0dc579f63771022bf3fa5470ccd26aa57d --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Directly interact with the flat switch", + "Activate the tan switch with robotic precision", + "Interact with the flat switch.", + "Press the tan switch via automation", + "Click the trapezoid-shaped switch smooth surface to activate it", + "Press the light tan rectangular switch smooth finish using the left arm.", + "Click the small light tan switch with robotic precision", + "Engage the switch with darker rectangle using the left arm", + "Press the rectangular switch with slanted sides to activate.", + "Use the left arm for switching the switch with darker rectangle", + "Engage the rectangular switch with slanted sides using the left arm.", + "Activate the switch trapezoid shape brown marking by pressing it", + "Push the angled switch light tan color via the left arm.", + "Click the angled switch light tan color directly.", + "Toggle the switch trapezoid shape brown marking with the left arm.", + "Press the angled switch light tan color with the left arm", + "Activate the the switch trapezoid shape brown marking using the left arm", + "Set the left arm to press the angled switch light tan color", + "Press the flat switch using robotic control", + "Activate the tan switch directly", + "Command the left arm to engage the flat switch", + "Interact with the plastic switch with angled edges directly", + "Press the hand-sized switch tan smooth finish carefully with the left arm", + "Engage with the tan switch manually", + "Deploy the left arm to operate the angled switch light tan color", + "Engage the plastic switch with angled edges using the robotic arm", + "Move to the rectangular switch with slanted sides and click it.", + "Trigger the small light tan switch using the left arm", + "Click on the light tan rectangular switch smooth finish precisely", + "Approach and tap the flat switch via the left arm", + "Operate the trapezoid-shaped switch smooth surface with the left arm", + "Operate the left arm to engage the flat switch", + "Use the left arm to interact with the switch with darker rectangle", + "Engage the hand-sized switch tan smooth finish with a press.", + "Use the left arm to engage the tan switch", + "Trigger the smooth tan switch with textured sides without referencing the left arm", + "Initiate the plastic switch with angled edges by clicking", + "Trigger the rectangular switch with slanted sides with precision", + "Engage the left arm to press the small light tan switch", + "Click the hand-sized switch tan smooth finish using automated tools", + "Press the plastic switch with angled edges directly", + "Deploy the left arm to press the plastic switch with angled edges", + "Activate the rectangular switch with slanted sides with the left arm.", + "Direct the left arm to operate the smooth tan switch with textured sides", + "Switch the switch trapezoid shape brown marking to its active state", + "Activate the trapezoid-shaped switch smooth surface via the left arm", + "Tap the smooth tan switch with textured sides to engage it", + "Locate and press the angled switch light tan color", + "Set the switch at the rectangular switch with slanted sides", + "Locate and press the tan switch", + "Directly interact with the angled switch light tan color", + "Activate the hand-sized switch tan smooth finish with robotic precision", + "Interact with the plastic switch with angled edges.", + "Press the hand-sized switch tan smooth finish via automation", + "Click the light tan rectangular switch smooth finish to activate it", + "Press the switch trapezoid shape brown marking using the left arm.", + "Click the smooth tan switch with textured sides with robotic precision", + "Engage the angled switch light tan color using the left arm", + "Press the tan switch to activate.", + "Use the left arm for switching the flat switch", + "Engage the flat switch using the left arm.", + "Activate the light tan rectangular switch smooth finish by pressing it", + "Push the smooth tan switch with textured sides via the left arm.", + "Click the hand-sized switch tan smooth finish directly.", + "Toggle the flat switch with the left arm.", + "Press the plastic switch with angled edges with the left arm", + "Activate the the flat switch using the left arm", + "Set the left arm to press the switch with darker rectangle", + "Press the tan switch using robotic control", + "Activate the small light tan switch directly", + "Command the left arm to engage the light tan rectangular switch smooth finish", + "Interact with the switch with darker rectangle directly", + "Press the smooth tan switch with textured sides carefully with the left arm", + "Engage with the switch trapezoid shape brown marking manually", + "Deploy the left arm to operate the switch with darker rectangle", + "Engage the switch with darker rectangle using the robotic arm", + "Move to the small light tan switch and click it.", + "Trigger the trapezoid-shaped switch smooth surface using the left arm", + "Click on the angled switch light tan color precisely", + "Approach and tap the switch trapezoid shape brown marking via the left arm", + "Operate the small light tan switch with the left arm", + "Operate the left arm to engage the switch with darker rectangle", + "Use the left arm to interact with the smooth tan switch with textured sides", + "Engage the switch with darker rectangle with a press.", + "Use the left arm to engage the hand-sized switch tan smooth finish", + "Trigger the smooth tan switch with textured sides without referencing the left arm", + "Initiate the hand-sized switch tan smooth finish by clicking", + "Trigger the light tan rectangular switch smooth finish with precision", + "Engage the left arm to press the switch trapezoid shape brown marking", + "Click the rectangular switch with slanted sides using automated tools", + "Press the flat switch directly", + "Deploy the left arm to press the trapezoid-shaped switch smooth surface", + "Activate the rectangular switch with slanted sides with the left arm.", + "Direct the left arm to operate the small light tan switch", + "Switch the angled switch light tan color to its active state", + "Activate the hand-sized switch tan smooth finish via the left arm", + "Tap the angled switch light tan color to engage it", + "Locate and press the angled switch light tan color", + "Set the switch at the light tan rectangular switch smooth finish", + "Locate and press the switch trapezoid shape brown marking" + ], + "unseen": [ + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges", + "Use the left arm to press the small flat switch tan top.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Use the left arm to press the small flat switch tan top", + "Use the left arm to press the small flat switch tan top.", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle using the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the small flat switch tan top using the left arm", + "Click the small flat switch tan top using the left arm", + "Move and click the the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Press the small flat switch tan top using the left arm", + "Click the small flat switch tan top using the left arm", + "Move and click the the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..e9994ad189298b8cf18daa455f5b7c73e952cdca --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the right arm to operate the medium switch with trapezoidal base", + "Click the two-button gray switch using automated tools", + "Activate the handheld switch via the right arm", + "Set the right arm to press the gray smooth surface switch", + "Press the medium switch with trapezoidal base via automation", + "Toggle the two-button gray switch with the right arm.", + "Move to the gray smooth surface switch and click it.", + "Trigger the medium switch with trapezoidal base with precision", + "Locate and press the gray base with black buttons", + "Press the gray smooth surface switch using the right arm.", + "Tap the handheld switch to engage it", + "Click the electric toggle switch with robotic precision", + "Use the right arm for switching the two-button gray switch", + "Press the gray switch with black buttons to activate.", + "Trigger the plastic switch with matte buttons without referencing the right arm", + "Use the right arm to engage the trapezoidal base switch", + "Activate the gray base with black buttons by pressing it", + "Engage the electric toggle switch using the robotic arm", + "Activate the the electric toggle switch using the right arm", + "Directly interact with the gray base with black buttons", + "Approach and tap the electric toggle switch via the right arm", + "Engage the right arm to press the plastic switch with matte buttons", + "Interact with the gray base with black buttons directly", + "Deploy the right arm to press the smooth gray switch", + "Activate the smooth gray switch with robotic precision", + "Set the switch at the gray smooth surface switch", + "Engage the plastic switch with matte buttons using the right arm.", + "Activate the gray plastic switch with the right arm.", + "Activate the medium switch with trapezoidal base directly", + "Direct the right arm to operate the gray smooth surface switch", + "Use the right arm to interact with the plastic switch with matte buttons", + "Click the plastic switch with matte buttons to activate it", + "Click on the electric toggle switch precisely", + "Initiate the gray switch with black buttons by clicking", + "Press the gray plastic switch with the right arm", + "Click the gray plastic switch directly.", + "Press the gray plastic switch using robotic control", + "Interact with the switch with trapezoidal base.", + "Engage the gray plastic switch using the right arm", + "Engage the electric toggle switch with a press.", + "Press the plastic switch with matte buttons directly", + "Operate the gray switch with black buttons with the right arm", + "Press the smooth gray switch carefully with the right arm", + "Locate and press the gray plastic switch", + "Command the right arm to engage the electric toggle switch", + "Engage with the two-button gray switch manually", + "Push the handheld switch via the right arm.", + "Trigger the medium switch with trapezoidal base using the right arm", + "Switch the gray smooth surface switch to its active state", + "Operate the right arm to engage the gray plastic switch", + "Deploy the right arm to operate the gray smooth surface switch", + "Click the gray base with black buttons using automated tools", + "Activate the trapezoidal base switch via the right arm", + "Set the right arm to press the gray smooth surface switch", + "Press the two-button gray switch via automation", + "Toggle the medium switch with trapezoidal base with the right arm.", + "Move to the gray switch with black buttons and click it.", + "Trigger the handheld switch with precision", + "Locate and press the switch with trapezoidal base", + "Press the handheld switch using the right arm.", + "Tap the gray switch with black buttons to engage it", + "Click the two-button gray switch with robotic precision", + "Use the right arm for switching the two-button gray switch", + "Press the electric toggle switch to activate.", + "Trigger the gray plastic switch without referencing the right arm", + "Use the right arm to engage the gray switch with black buttons", + "Activate the gray smooth surface switch by pressing it", + "Engage the gray plastic switch using the robotic arm", + "Activate the the gray switch with black buttons using the right arm", + "Directly interact with the gray switch with black buttons", + "Approach and tap the plastic switch with matte buttons via the right arm", + "Engage the right arm to press the medium switch with trapezoidal base", + "Interact with the smooth gray switch directly", + "Deploy the right arm to press the gray switch with black buttons", + "Activate the medium switch with trapezoidal base with robotic precision", + "Set the switch at the plastic switch with matte buttons", + "Engage the medium switch with trapezoidal base using the right arm.", + "Activate the gray smooth surface switch with the right arm.", + "Activate the gray switch with black buttons directly", + "Direct the right arm to operate the smooth gray switch", + "Use the right arm to interact with the gray switch with black buttons", + "Click the gray switch with black buttons to activate it", + "Click on the gray smooth surface switch precisely", + "Initiate the medium switch with trapezoidal base by clicking", + "Press the trapezoidal base switch with the right arm", + "Click the electric toggle switch directly.", + "Press the gray smooth surface switch using robotic control", + "Interact with the gray smooth surface switch.", + "Engage the handheld switch using the right arm", + "Engage the gray switch with black buttons with a press.", + "Press the gray smooth surface switch directly", + "Operate the gray switch with black buttons with the right arm", + "Press the electric toggle switch carefully with the right arm", + "Locate and press the two-button gray switch", + "Command the right arm to engage the medium switch with trapezoidal base", + "Engage with the trapezoidal base switch manually", + "Push the handheld switch via the right arm.", + "Trigger the medium switch with trapezoidal base using the right arm", + "Switch the electric toggle switch to its active state", + "Operate the right arm to engage the plastic switch with matte buttons" + ], + "unseen": [ + "Click the gray switch using the right arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch medium size.", + "Move and click the the gray switch", + "Click the gray switch with the right arm.", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Press the gray switch using the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch", + "Click the gray switch with the right arm.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Press the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Move and click the the gray switch medium size", + "Click the gray switch with the right arm.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Press the gray switch using the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm", + "Press the gray switch using the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm.", + "Click the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the right arm", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the right arm", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch using the right arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the right arm", + "Press the gray switch medium size using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch medium size", + "Use the right arm to press the gray switch medium size.", + "Move and click the the gray switch medium size", + "Click the gray switch with the right arm.", + "Click the gray switch using the right arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Press the gray switch using the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..b0533d434ba51f0294a67f262e9ab14e9a5ac722 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to interact with the red and black switch", + "Initiate the rectangular switch with curved lever by clicking", + "Activate the black switch by pressing it", + "Engage the red-top black switch with a press.", + "Press the small switch via automation", + "Use the left arm to engage the black switch", + "Direct the left arm to operate the compact switch with toggle on top", + "Press the red-top black switch using the left arm.", + "Directly interact with the black base switch with red toggle", + "Engage the black switch with metallic connectors using the left arm", + "Activate the switch with curved red toggle via the left arm", + "Press the black switch with metallic connectors with the left arm", + "Tap the black switch to engage it", + "Engage the left arm to press the red-top black switch", + "Activate the red and black switch with the left arm.", + "Switch the red and black switch to its active state", + "Activate the black switch with metallic connectors with robotic precision", + "Command the left arm to engage the switch with curved red toggle", + "Interact with the compact switch with toggle on top directly", + "Operate the rectangular black plastic switch with the left arm", + "Press the plastic switch with metal terminals carefully with the left arm", + "Engage the black switch using the left arm.", + "Trigger the switch with curved red toggle with precision", + "Set the switch at the switch with curved red toggle", + "Click the black switch to activate it", + "Set the left arm to press the hand-sized switch with connector prongs", + "Push the rectangular black plastic switch via the left arm.", + "Toggle the compact switch with toggle on top with the left arm.", + "Click on the black switch precisely", + "Use the left arm for switching the red-top black switch", + "Press the black base switch with red toggle using robotic control", + "Click the black switch with robotic precision", + "Trigger the hand-sized switch with connector prongs using the left arm", + "Approach and tap the small switch via the left arm", + "Operate the left arm to engage the rectangular black plastic switch", + "Engage with the compact switch with toggle on top manually", + "Activate the red-top black switch directly", + "Deploy the left arm to press the switch with curved red toggle", + "Engage the hand-sized switch with connector prongs using the robotic arm", + "Trigger the black switch with metallic connectors without referencing the left arm", + "Locate and press the small switch", + "Locate and press the rectangular switch with curved lever", + "Click the black switch directly.", + "Press the plastic switch with metal terminals directly", + "Move to the compact switch with toggle on top and click it.", + "Press the black switch with metallic connectors to activate.", + "Click the rectangular switch with curved lever using automated tools", + "Deploy the left arm to operate the black base switch with red toggle", + "Interact with the compact switch with toggle on top.", + "Activate the the hand-sized switch with connector prongs using the left arm", + "Use the left arm to interact with the rectangular black plastic switch", + "Initiate the black switch with metallic connectors by clicking", + "Activate the hand-sized switch with connector prongs by pressing it", + "Engage the red and black switch with a press.", + "Press the small switch via automation", + "Use the left arm to engage the hand-sized switch with connector prongs", + "Direct the left arm to operate the red-top black switch", + "Press the red and black switch using the left arm.", + "Directly interact with the hand-sized switch with connector prongs", + "Engage the small switch using the left arm", + "Activate the black base switch with red toggle via the left arm", + "Press the compact switch with toggle on top with the left arm", + "Tap the black switch to engage it", + "Engage the left arm to press the black base switch with red toggle", + "Activate the plastic switch with metal terminals with the left arm.", + "Switch the black switch to its active state", + "Activate the rectangular black plastic switch with robotic precision", + "Command the left arm to engage the black base switch with red toggle", + "Interact with the black switch directly", + "Operate the compact switch with toggle on top with the left arm", + "Press the red-top black switch carefully with the left arm", + "Engage the switch with curved red toggle using the left arm.", + "Trigger the rectangular switch with curved lever with precision", + "Set the switch at the black base switch with red toggle", + "Click the black base switch with red toggle to activate it", + "Set the left arm to press the red and black switch", + "Push the rectangular switch with curved lever via the left arm.", + "Toggle the switch with curved red toggle with the left arm.", + "Click on the black switch with metallic connectors precisely", + "Use the left arm for switching the black switch with metallic connectors", + "Press the black switch using robotic control", + "Click the red-top black switch with robotic precision", + "Trigger the hand-sized switch with connector prongs using the left arm", + "Approach and tap the hand-sized switch with connector prongs via the left arm", + "Operate the left arm to engage the plastic switch with metal terminals", + "Engage with the small switch manually", + "Activate the black switch directly", + "Deploy the left arm to press the plastic switch with metal terminals", + "Engage the plastic switch with metal terminals using the robotic arm", + "Trigger the small switch without referencing the left arm", + "Locate and press the compact switch with toggle on top", + "Locate and press the small switch", + "Click the red and black switch directly.", + "Press the black switch directly", + "Move to the black switch with metallic connectors and click it.", + "Press the small switch to activate.", + "Click the compact switch with toggle on top using automated tools", + "Deploy the left arm to operate the plastic switch with metal terminals", + "Interact with the black base switch with red toggle.", + "Activate the the plastic switch with metal terminals using the left arm" + ], + "unseen": [ + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm.", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Activate the switch at the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm.", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm.", + "Direct the left arm to click the switch with two metal prongs" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..d0f1d29ec115200fcf2eef193060ba6e8b9e6618 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the left arm to press the black base switch with red toggle", + "Press the black base switch with red toggle carefully with the left arm", + "Press the black switch via automation", + "Click on the rectangular black plastic switch precisely", + "Press the red and black switch using the left arm.", + "Push the switch with curved red toggle via the left arm.", + "Toggle the black switch with metallic connectors with the left arm.", + "Locate and press the rectangular switch with curved lever", + "Click the compact switch with toggle on top to activate it", + "Click the black switch with metallic connectors using automated tools", + "Use the left arm to engage the red-top black switch", + "Operate the black base switch with red toggle with the left arm", + "Activate the hand-sized switch with connector prongs with the left arm.", + "Directly interact with the black switch with metallic connectors", + "Click the plastic switch with metal terminals directly.", + "Deploy the left arm to press the rectangular black plastic switch", + "Trigger the rectangular switch with curved lever with precision", + "Engage the compact switch with toggle on top with a press.", + "Command the left arm to engage the plastic switch with metal terminals", + "Activate the black switch via the left arm", + "Set the switch at the black base switch with red toggle", + "Move to the black switch and click it.", + "Engage with the black switch with metallic connectors manually", + "Tap the small switch to engage it", + "Operate the left arm to engage the black switch", + "Click the black switch with robotic precision", + "Press the plastic switch with metal terminals to activate.", + "Press the black base switch with red toggle directly", + "Direct the left arm to operate the black switch", + "Set the left arm to press the black switch", + "Interact with the switch with curved red toggle directly", + "Engage the red-top black switch using the left arm.", + "Activate the black switch with metallic connectors by pressing it", + "Trigger the switch with curved red toggle without referencing the left arm", + "Activate the black base switch with red toggle with robotic precision", + "Engage the red and black switch using the left arm", + "Use the left arm to interact with the plastic switch with metal terminals", + "Press the compact switch with toggle on top using robotic control", + "Locate and press the plastic switch with metal terminals", + "Switch the black switch to its active state", + "Press the black base switch with red toggle with the left arm", + "Interact with the black switch with metallic connectors.", + "Deploy the left arm to operate the red and black switch", + "Initiate the hand-sized switch with connector prongs by clicking", + "Activate the hand-sized switch with connector prongs directly", + "Approach and tap the small switch via the left arm", + "Activate the the rectangular switch with curved lever using the left arm", + "Trigger the switch with curved red toggle using the left arm", + "Use the left arm for switching the black switch with metallic connectors", + "Engage the red and black switch using the robotic arm", + "Engage the left arm to press the hand-sized switch with connector prongs", + "Press the plastic switch with metal terminals carefully with the left arm", + "Press the rectangular black plastic switch via automation", + "Click on the red and black switch precisely", + "Press the black base switch with red toggle using the left arm.", + "Push the red and black switch via the left arm.", + "Toggle the red-top black switch with the left arm.", + "Locate and press the red and black switch", + "Click the black base switch with red toggle to activate it", + "Click the switch with curved red toggle using automated tools", + "Use the left arm to engage the hand-sized switch with connector prongs", + "Operate the black base switch with red toggle with the left arm", + "Activate the black base switch with red toggle with the left arm.", + "Directly interact with the black switch", + "Click the rectangular black plastic switch directly.", + "Deploy the left arm to press the black switch", + "Trigger the rectangular switch with curved lever with precision", + "Engage the rectangular black plastic switch with a press.", + "Command the left arm to engage the black switch with metallic connectors", + "Activate the switch with curved red toggle via the left arm", + "Set the switch at the compact switch with toggle on top", + "Move to the hand-sized switch with connector prongs and click it.", + "Engage with the small switch manually", + "Tap the red-top black switch to engage it", + "Operate the left arm to engage the compact switch with toggle on top", + "Click the plastic switch with metal terminals with robotic precision", + "Press the compact switch with toggle on top to activate.", + "Press the compact switch with toggle on top directly", + "Direct the left arm to operate the black base switch with red toggle", + "Set the left arm to press the red-top black switch", + "Interact with the small switch directly", + "Engage the rectangular black plastic switch using the left arm.", + "Activate the hand-sized switch with connector prongs by pressing it", + "Trigger the black switch without referencing the left arm", + "Activate the black switch with metallic connectors with robotic precision", + "Engage the compact switch with toggle on top using the left arm", + "Use the left arm to interact with the small switch", + "Press the switch with curved red toggle using robotic control", + "Locate and press the compact switch with toggle on top", + "Switch the rectangular black plastic switch to its active state", + "Press the red-top black switch with the left arm", + "Interact with the hand-sized switch with connector prongs.", + "Deploy the left arm to operate the rectangular black plastic switch", + "Initiate the small switch by clicking", + "Activate the black switch directly", + "Approach and tap the rectangular switch with curved lever via the left arm", + "Activate the the black base switch with red toggle using the left arm", + "Trigger the black switch with metallic connectors using the left arm", + "Use the left arm for switching the plastic switch with metal terminals", + "Engage the black base switch with red toggle using the robotic arm" + ], + "unseen": [ + "Move and click the the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Click the smooth black switch with red lever with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the smooth black switch with red lever with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the simple toggle switch", + "Press the simple toggle switch using the left arm", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch.", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Move and click the the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Press the smooth black switch with red lever using the left arm", + "Use the left arm to press the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the left arm.", + "Click the simple toggle switch with the left arm", + "Move and click the the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Press the switch with two metal prongs using the left arm", + "Use the left arm to press the simple toggle switch", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..45a4fb2e4fdc71504a4d001b2732ffe383c263a8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the left arm to operate the rectangular black plastic switch", + "Press the black switch carefully with the left arm", + "Activate the plastic switch with metal terminals with the left arm.", + "Activate the black switch with metallic connectors directly", + "Initiate the small switch by clicking", + "Move to the compact switch with toggle on top and click it.", + "Use the left arm to interact with the compact switch with toggle on top", + "Press the black switch with the left arm", + "Toggle the black switch with the left arm.", + "Interact with the red and black switch directly", + "Direct the left arm to operate the black switch with metallic connectors", + "Deploy the left arm to press the rectangular black plastic switch", + "Command the left arm to engage the black switch", + "Click on the compact switch with toggle on top precisely", + "Press the red-top black switch to activate.", + "Trigger the compact switch with toggle on top using the left arm", + "Tap the black base switch with red toggle to engage it", + "Press the hand-sized switch with connector prongs using the left arm.", + "Trigger the small switch with precision", + "Press the black base switch with red toggle directly", + "Engage the plastic switch with metal terminals using the left arm.", + "Operate the hand-sized switch with connector prongs with the left arm", + "Operate the left arm to engage the hand-sized switch with connector prongs", + "Click the hand-sized switch with connector prongs using automated tools", + "Engage the switch with curved red toggle with a press.", + "Engage the red and black switch using the robotic arm", + "Press the switch with curved red toggle using robotic control", + "Push the black switch with metallic connectors via the left arm.", + "Activate the red and black switch with robotic precision", + "Activate the compact switch with toggle on top by pressing it", + "Use the left arm to engage the small switch", + "Use the left arm for switching the plastic switch with metal terminals", + "Locate and press the rectangular black plastic switch", + "Click the small switch with robotic precision", + "Click the hand-sized switch with connector prongs to activate it", + "Directly interact with the switch with curved red toggle", + "Activate the rectangular switch with curved lever via the left arm", + "Approach and tap the switch with curved red toggle via the left arm", + "Click the plastic switch with metal terminals directly.", + "Trigger the hand-sized switch with connector prongs without referencing the left arm", + "Switch the black switch to its active state", + "Set the left arm to press the rectangular black plastic switch", + "Set the switch at the black base switch with red toggle", + "Engage the rectangular switch with curved lever using the left arm", + "Activate the the switch with curved red toggle using the left arm", + "Locate and press the compact switch with toggle on top", + "Press the compact switch with toggle on top via automation", + "Interact with the rectangular switch with curved lever.", + "Engage the left arm to press the black base switch with red toggle", + "Engage with the black switch manually", + "Deploy the left arm to operate the switch with curved red toggle", + "Press the black switch with metallic connectors carefully with the left arm", + "Activate the rectangular black plastic switch with the left arm.", + "Activate the black switch with metallic connectors directly", + "Initiate the switch with curved red toggle by clicking", + "Move to the hand-sized switch with connector prongs and click it.", + "Use the left arm to interact with the plastic switch with metal terminals", + "Press the switch with curved red toggle with the left arm", + "Toggle the black base switch with red toggle with the left arm.", + "Interact with the rectangular black plastic switch directly", + "Direct the left arm to operate the compact switch with toggle on top", + "Deploy the left arm to press the hand-sized switch with connector prongs", + "Command the left arm to engage the small switch", + "Click on the red-top black switch precisely", + "Press the black base switch with red toggle to activate.", + "Trigger the red-top black switch using the left arm", + "Tap the black base switch with red toggle to engage it", + "Press the switch with curved red toggle using the left arm.", + "Trigger the black base switch with red toggle with precision", + "Press the small switch directly", + "Engage the hand-sized switch with connector prongs using the left arm.", + "Operate the rectangular switch with curved lever with the left arm", + "Operate the left arm to engage the plastic switch with metal terminals", + "Click the hand-sized switch with connector prongs using automated tools", + "Engage the rectangular switch with curved lever with a press.", + "Engage the rectangular black plastic switch using the robotic arm", + "Press the red-top black switch using robotic control", + "Push the red-top black switch via the left arm.", + "Activate the switch with curved red toggle with robotic precision", + "Activate the compact switch with toggle on top by pressing it", + "Use the left arm to engage the switch with curved red toggle", + "Use the left arm for switching the black switch", + "Locate and press the rectangular black plastic switch", + "Click the red-top black switch with robotic precision", + "Click the red and black switch to activate it", + "Directly interact with the red and black switch", + "Activate the rectangular switch with curved lever via the left arm", + "Approach and tap the small switch via the left arm", + "Click the plastic switch with metal terminals directly.", + "Trigger the black switch with metallic connectors without referencing the left arm", + "Switch the switch with curved red toggle to its active state", + "Set the left arm to press the small switch", + "Set the switch at the rectangular switch with curved lever", + "Engage the small switch using the left arm", + "Activate the the black base switch with red toggle using the left arm", + "Locate and press the black base switch with red toggle", + "Press the compact switch with toggle on top via automation", + "Interact with the red and black switch.", + "Engage the left arm to press the hand-sized switch with connector prongs", + "Engage with the rectangular black plastic switch manually" + ], + "unseen": [ + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Click the smooth black switch with red lever using the left arm", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Press the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch", + "Click the simple toggle switch using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the switch with two metal prongs", + "Click the switch with two metal prongs using the left arm", + "Press the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Click the simple toggle switch using the left arm", + "Press the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs using the left arm", + "Press the simple toggle switch using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7f65f00eece64e210611ff11987ea1176b9e5e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm for switching the light gray plastic switch", + "Deploy the right arm to press the flat square with raised center", + "Directly interact with the smooth gray switch", + "Activate the the small square switch using the right arm", + "Use the right arm to interact with the switch with smooth light gray finish", + "Move to the small square switch made of plastic and click it.", + "Switch the switch for electrical control to its active state", + "Interact with the switch for electrical control.", + "Activate the square gray switch panel with the right arm.", + "Engage the right arm to press the switch with rectangular raised area", + "Tap the switch for electrical control to engage it", + "Locate and press the smooth gray switch", + "Press the flat square with raised center carefully with the right arm", + "Press the switch with smooth light gray finish directly", + "Operate the square switch with smooth surface with the right arm", + "Press the switch with rectangular raised area using the right arm.", + "Trigger the square switch with smooth surface without referencing the right arm", + "Activate the switch with rectangular raised area with robotic precision", + "Click the square gray switch panel using automated tools", + "Interact with the light gray plastic switch directly", + "Activate the switch for electrical control via the right arm", + "Activate the square switch with smooth surface by pressing it", + "Press the light gray plastic switch to activate.", + "Press the switch for electrical control with the right arm", + "Push the flat square with raised center via the right arm.", + "Engage the light gray plastic switch using the right arm", + "Press the angled-edge gray square switch via automation", + "Engage the flat square with raised center with a press.", + "Click the switch for electrical control with robotic precision", + "Direct the right arm to operate the flat square with raised center", + "Click the square switch with smooth surface to activate it", + "Locate and press the small square switch made of plastic", + "Activate the angled-edge gray square switch directly", + "Set the switch at the switch with rectangular raised area", + "Approach and tap the light gray plastic switch via the right arm", + "Engage the smooth gray switch using the robotic arm", + "Operate the right arm to engage the switch with rectangular raised area", + "Command the right arm to engage the square switch with smooth surface", + "Deploy the right arm to operate the switch with rectangular raised area", + "Engage the small square switch using the right arm.", + "Press the flat square with raised center using robotic control", + "Set the right arm to press the smooth gray switch", + "Trigger the switch for electrical control using the right arm", + "Click on the angled-edge gray square switch precisely", + "Toggle the light gray plastic switch with the right arm.", + "Engage with the light gray plastic switch manually", + "Trigger the square switch with smooth surface with precision", + "Use the right arm to engage the light gray plastic switch", + "Click the switch with smooth light gray finish directly.", + "Initiate the palm-sized light gray switch by clicking", + "Use the right arm for switching the light gray plastic switch", + "Deploy the right arm to press the switch with smooth light gray finish", + "Directly interact with the switch with rectangular raised area", + "Activate the the switch with smooth light gray finish using the right arm", + "Use the right arm to interact with the flat square with raised center", + "Move to the smooth gray switch and click it.", + "Switch the flat square with raised center to its active state", + "Interact with the small square switch.", + "Activate the square gray switch panel with the right arm.", + "Engage the right arm to press the light gray plastic switch", + "Tap the small square switch to engage it", + "Locate and press the flat square with raised center", + "Press the palm-sized light gray switch carefully with the right arm", + "Press the light gray plastic switch directly", + "Operate the light gray plastic switch with the right arm", + "Press the switch for electrical control using the right arm.", + "Trigger the flat square with raised center without referencing the right arm", + "Activate the switch for electrical control with robotic precision", + "Click the flat square with raised center using automated tools", + "Interact with the small square switch made of plastic directly", + "Activate the switch for electrical control via the right arm", + "Activate the light gray plastic switch by pressing it", + "Press the smooth gray switch to activate.", + "Press the small square switch made of plastic with the right arm", + "Push the switch with rectangular raised area via the right arm.", + "Engage the light gray plastic switch using the right arm", + "Press the switch for electrical control via automation", + "Engage the switch for electrical control with a press.", + "Click the small square switch with robotic precision", + "Direct the right arm to operate the flat square with raised center", + "Click the switch for electrical control to activate it", + "Locate and press the light gray plastic switch", + "Activate the palm-sized light gray switch directly", + "Set the switch at the small square switch", + "Approach and tap the small square switch made of plastic via the right arm", + "Engage the palm-sized light gray switch using the robotic arm", + "Operate the right arm to engage the flat square with raised center", + "Command the right arm to engage the square switch with smooth surface", + "Deploy the right arm to operate the light gray plastic switch", + "Engage the palm-sized light gray switch using the right arm.", + "Press the square gray switch panel using robotic control", + "Set the right arm to press the angled-edge gray square switch", + "Trigger the flat square with raised center using the right arm", + "Click on the small square switch made of plastic precisely", + "Toggle the small square switch made of plastic with the right arm.", + "Engage with the switch for electrical control manually", + "Trigger the switch with smooth light gray finish with precision", + "Use the right arm to engage the angled-edge gray square switch", + "Click the switch with smooth light gray finish directly.", + "Initiate the small square switch made of plastic by clicking" + ], + "unseen": [ + "Click the flat gray switch with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the flat gray switch", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the flat gray switch", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the switch with angled edges", + "Press the flat gray switch using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the switch with angled edges", + "Press the switch with angled edges using the right arm", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Move and click the the switch with angled edges", + "Click the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Click the flat gray switch with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Activate the switch at the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..36d2e56eb84385073879254f1d50e750f03bc0da --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Interact with the trapezoid-shaped switch smooth surface.", + "Click the hand-sized switch tan smooth finish to activate it", + "Activate the tan switch via the left arm", + "Engage the angled switch light tan color with a press.", + "Trigger the tan switch using the left arm", + "Press the plastic switch with angled edges to activate.", + "Engage with the trapezoid-shaped switch smooth surface manually", + "Tap the flat switch to engage it", + "Press the tan switch via automation", + "Use the left arm to interact with the hand-sized switch tan smooth finish", + "Engage the light tan rectangular switch smooth finish using the left arm", + "Locate and press the rectangular switch with slanted sides", + "Activate the light tan rectangular switch smooth finish directly", + "Approach and tap the smooth tan switch with textured sides via the left arm", + "Activate the the switch with darker rectangle using the left arm", + "Engage the flat switch using the left arm.", + "Engage the rectangular switch with slanted sides using the robotic arm", + "Move to the switch with darker rectangle and click it.", + "Engage the left arm to press the small light tan switch", + "Press the flat switch using robotic control", + "Command the left arm to engage the flat switch", + "Activate the rectangular switch with slanted sides with robotic precision", + "Press the rectangular switch with slanted sides using the left arm.", + "Activate the trapezoid-shaped switch smooth surface with the left arm.", + "Use the left arm to engage the angled switch light tan color", + "Trigger the switch trapezoid shape brown marking with precision", + "Deploy the left arm to press the small light tan switch", + "Use the left arm for switching the tan switch", + "Click on the smooth tan switch with textured sides precisely", + "Click the rectangular switch with slanted sides using automated tools", + "Activate the flat switch by pressing it", + "Press the switch trapezoid shape brown marking carefully with the left arm", + "Toggle the switch with darker rectangle with the left arm.", + "Switch the switch with darker rectangle to its active state", + "Operate the small light tan switch with the left arm", + "Set the switch at the hand-sized switch tan smooth finish", + "Direct the left arm to operate the small light tan switch", + "Click the switch with darker rectangle with robotic precision", + "Click the flat switch directly.", + "Press the light tan rectangular switch smooth finish with the left arm", + "Push the hand-sized switch tan smooth finish via the left arm.", + "Press the switch trapezoid shape brown marking directly", + "Locate and press the switch with darker rectangle", + "Initiate the small light tan switch by clicking", + "Trigger the hand-sized switch tan smooth finish without referencing the left arm", + "Interact with the flat switch directly", + "Set the left arm to press the plastic switch with angled edges", + "Deploy the left arm to operate the small light tan switch", + "Directly interact with the switch trapezoid shape brown marking", + "Operate the left arm to engage the small light tan switch", + "Interact with the switch with darker rectangle.", + "Click the flat switch to activate it", + "Activate the flat switch via the left arm", + "Engage the rectangular switch with slanted sides with a press.", + "Trigger the switch with darker rectangle using the left arm", + "Press the flat switch to activate.", + "Engage with the switch trapezoid shape brown marking manually", + "Tap the switch trapezoid shape brown marking to engage it", + "Press the switch trapezoid shape brown marking via automation", + "Use the left arm to interact with the trapezoid-shaped switch smooth surface", + "Engage the smooth tan switch with textured sides using the left arm", + "Locate and press the rectangular switch with slanted sides", + "Activate the rectangular switch with slanted sides directly", + "Approach and tap the tan switch via the left arm", + "Activate the the plastic switch with angled edges using the left arm", + "Engage the flat switch using the left arm.", + "Engage the smooth tan switch with textured sides using the robotic arm", + "Move to the trapezoid-shaped switch smooth surface and click it.", + "Engage the left arm to press the smooth tan switch with textured sides", + "Press the small light tan switch using robotic control", + "Command the left arm to engage the flat switch", + "Activate the small light tan switch with robotic precision", + "Press the tan switch using the left arm.", + "Activate the flat switch with the left arm.", + "Use the left arm to engage the flat switch", + "Trigger the rectangular switch with slanted sides with precision", + "Deploy the left arm to press the hand-sized switch tan smooth finish", + "Use the left arm for switching the smooth tan switch with textured sides", + "Click on the plastic switch with angled edges precisely", + "Click the switch with darker rectangle using automated tools", + "Activate the hand-sized switch tan smooth finish by pressing it", + "Press the small light tan switch carefully with the left arm", + "Toggle the light tan rectangular switch smooth finish with the left arm.", + "Switch the rectangular switch with slanted sides to its active state", + "Operate the trapezoid-shaped switch smooth surface with the left arm", + "Set the switch at the tan switch", + "Direct the left arm to operate the light tan rectangular switch smooth finish", + "Click the hand-sized switch tan smooth finish with robotic precision", + "Click the switch with darker rectangle directly.", + "Press the flat switch with the left arm", + "Push the tan switch via the left arm.", + "Press the plastic switch with angled edges directly", + "Locate and press the trapezoid-shaped switch smooth surface", + "Initiate the small light tan switch by clicking", + "Trigger the trapezoid-shaped switch smooth surface without referencing the left arm", + "Interact with the hand-sized switch tan smooth finish directly", + "Set the left arm to press the plastic switch with angled edges", + "Deploy the left arm to operate the flat switch", + "Directly interact with the light tan rectangular switch smooth finish", + "Operate the left arm to engage the plastic switch with angled edges" + ], + "unseen": [ + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the small flat switch tan top using the left arm", + "Click the small flat switch tan top with the left arm", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the small flat switch tan top", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Click the small flat switch tan top with the left arm.", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the small flat switch tan top.", + "Click the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the switch flat tan top brown rectangle with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Click the lightweight plastic switch angled edges with the left arm.", + "Direct the left arm to click the small flat switch tan top", + "Use the left arm to press the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the lightweight plastic switch angled edges with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..db18d6b49cac9ed974285a4d99a0f4d1f90b66c7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Command the right arm to engage the light plastic switch", + "Use the right arm to interact with the beige switch with smooth finish", + "Press the switch with brown button directly", + "Activate the beige switch with smooth finish directly", + "Trigger the light plastic switch with precision", + "Press the hand-sized light beige switch using robotic control", + "Engage the switch with brown button using the right arm.", + "Press the switch with rectangular dark button carefully with the right arm", + "Activate the matte beige switch with flat top with the right arm.", + "Trigger the hand-sized light beige switch without referencing the right arm", + "Direct the right arm to operate the light-colored trapezoid-shaped plastic switch", + "Use the right arm for switching the small trapezoid switch", + "Toggle the light plastic switch with the right arm.", + "Approach and tap the toggle switch with brown rectangle button via the right arm", + "Activate the the beige switch using the right arm", + "Interact with the beige switch with smooth finish.", + "Press the small trapezoid switch using the right arm.", + "Use the right arm to engage the matte beige switch with flat top", + "Engage the right arm to press the toggle switch with brown rectangle button", + "Set the right arm to press the switch with a smooth top", + "Engage the hand-sized light beige switch with a press.", + "Click the switch with a smooth top to activate it", + "Click on the light plastic switch precisely", + "Set the switch at the toggle switch with brown rectangle button", + "Press the light plastic switch to activate.", + "Directly interact with the light plastic switch", + "Activate the light-colored trapezoid-shaped plastic switch with robotic precision", + "Click the switch with rectangular dark button using automated tools", + "Engage the tiny matte beige toggle switch using the robotic arm", + "Move to the beige switch and click it.", + "Engage with the matte beige switch with flat top manually", + "Activate the switch with rectangular dark button by pressing it", + "Operate the switch with rectangular dark button with the right arm", + "Locate and press the switch with brown button", + "Switch the beige switch with smooth finish to its active state", + "Press the switch with rectangular dark button with the right arm", + "Operate the right arm to engage the beige switch", + "Locate and press the beige switch", + "Push the light plastic switch via the right arm.", + "Deploy the right arm to operate the switch with brown button", + "Interact with the tiny matte beige toggle switch directly", + "Initiate the beige switch with smooth finish by clicking", + "Click the small trapezoid switch directly.", + "Engage the hand-sized light beige switch using the right arm", + "Deploy the right arm to press the small trapezoid switch", + "Press the light-colored trapezoid-shaped plastic switch via automation", + "Trigger the tiny matte beige toggle switch using the right arm", + "Tap the hand-sized light beige switch to engage it", + "Click the beige switch with robotic precision", + "Activate the light plastic switch via the right arm", + "Command the right arm to engage the beige switch with smooth finish", + "Use the right arm to interact with the beige switch with smooth finish", + "Press the beige switch directly", + "Activate the switch with a smooth top directly", + "Trigger the small trapezoid switch with precision", + "Press the beige switch using robotic control", + "Engage the light-colored trapezoid-shaped plastic switch using the right arm.", + "Press the tiny matte beige toggle switch carefully with the right arm", + "Activate the matte beige switch with flat top with the right arm.", + "Trigger the small trapezoid switch without referencing the right arm", + "Direct the right arm to operate the switch with a smooth top", + "Use the right arm for switching the beige switch", + "Toggle the switch with a smooth top with the right arm.", + "Approach and tap the switch with brown button via the right arm", + "Activate the the tiny matte beige toggle switch using the right arm", + "Interact with the small trapezoid switch.", + "Press the beige switch using the right arm.", + "Use the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Engage the right arm to press the hand-sized light beige switch", + "Set the right arm to press the toggle switch with brown rectangle button", + "Engage the switch with brown button with a press.", + "Click the beige switch to activate it", + "Click on the beige switch precisely", + "Set the switch at the light-colored trapezoid-shaped plastic switch", + "Press the hand-sized light beige switch to activate.", + "Directly interact with the toggle switch with brown rectangle button", + "Activate the hand-sized light beige switch with robotic precision", + "Click the toggle switch with brown rectangle button using automated tools", + "Engage the beige switch using the robotic arm", + "Move to the switch with rectangular dark button and click it.", + "Engage with the toggle switch with brown rectangle button manually", + "Activate the switch with rectangular dark button by pressing it", + "Operate the beige switch with the right arm", + "Locate and press the hand-sized light beige switch", + "Switch the switch with rectangular dark button to its active state", + "Press the light plastic switch with the right arm", + "Operate the right arm to engage the toggle switch with brown rectangle button", + "Locate and press the light plastic switch", + "Push the light plastic switch via the right arm.", + "Deploy the right arm to operate the matte beige switch with flat top", + "Interact with the switch with rectangular dark button directly", + "Initiate the tiny matte beige toggle switch by clicking", + "Click the switch with rectangular dark button directly.", + "Engage the hand-sized light beige switch using the right arm", + "Deploy the right arm to press the toggle switch with brown rectangle button", + "Press the switch with a smooth top via automation", + "Trigger the switch with a smooth top using the right arm", + "Tap the beige switch with smooth finish to engage it", + "Click the tiny matte beige toggle switch with robotic precision", + "Activate the light plastic switch via the right arm" + ], + "unseen": [ + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the beige switch with darker brown top.", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the small beige switch with angular sides.", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the small beige switch with angular sides.", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the rectangular button switch on beige base.", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the small beige switch with angular sides.", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the beige switch with darker brown top.", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the beige switch with darker brown top.", + "Move and click the the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Use the right arm to press the small beige switch with angular sides.", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the small beige switch with angular sides.", + "Move and click the the small beige switch with angular sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..60c7652dd3af4e7929f75e15a4dd4da781dd4330 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the flat square with raised center with the left arm", + "Direct the left arm to operate the switch with rectangular raised area", + "Engage with the small square switch made of plastic manually", + "Click the small square switch made of plastic to activate it", + "Press the angled-edge gray square switch to activate.", + "Command the left arm to engage the smooth gray switch", + "Toggle the square switch with smooth surface with the left arm.", + "Interact with the small square switch made of plastic.", + "Activate the palm-sized light gray switch via the left arm", + "Push the small square switch made of plastic via the left arm.", + "Activate the flat square with raised center directly", + "Set the switch at the angled-edge gray square switch", + "Activate the flat square with raised center with robotic precision", + "Interact with the switch with smooth light gray finish directly", + "Set the left arm to press the palm-sized light gray switch", + "Deploy the left arm to press the switch for electrical control", + "Click the flat square with raised center with robotic precision", + "Trigger the small square switch using the left arm", + "Trigger the switch for electrical control with precision", + "Press the smooth gray switch with the left arm", + "Use the left arm to engage the light gray plastic switch", + "Press the square gray switch panel using the left arm.", + "Activate the square switch with smooth surface with the left arm.", + "Trigger the smooth gray switch without referencing the left arm", + "Locate and press the switch for electrical control", + "Engage the palm-sized light gray switch using the left arm", + "Click on the switch for electrical control precisely", + "Engage the square gray switch panel using the left arm.", + "Activate the the small square switch made of plastic using the left arm", + "Engage the switch for electrical control with a press.", + "Press the square switch with smooth surface using robotic control", + "Switch the flat square with raised center to its active state", + "Use the left arm to interact with the switch for electrical control", + "Approach and tap the light gray plastic switch via the left arm", + "Press the small square switch made of plastic directly", + "Click the switch with rectangular raised area directly.", + "Initiate the light gray plastic switch by clicking", + "Activate the switch with rectangular raised area by pressing it", + "Use the left arm for switching the switch with rectangular raised area", + "Locate and press the switch with smooth light gray finish", + "Deploy the left arm to operate the light gray plastic switch", + "Press the switch with smooth light gray finish via automation", + "Move to the small square switch and click it.", + "Engage the left arm to press the angled-edge gray square switch", + "Click the small square switch made of plastic using automated tools", + "Engage the small square switch using the robotic arm", + "Tap the small square switch made of plastic to engage it", + "Press the palm-sized light gray switch carefully with the left arm", + "Operate the left arm to engage the small square switch made of plastic", + "Directly interact with the switch with smooth light gray finish", + "Operate the square gray switch panel with the left arm", + "Direct the left arm to operate the square gray switch panel", + "Engage with the small square switch made of plastic manually", + "Click the switch with rectangular raised area to activate it", + "Press the small square switch made of plastic to activate.", + "Command the left arm to engage the square switch with smooth surface", + "Toggle the light gray plastic switch with the left arm.", + "Interact with the square gray switch panel.", + "Activate the square gray switch panel via the left arm", + "Push the flat square with raised center via the left arm.", + "Activate the smooth gray switch directly", + "Set the switch at the switch for electrical control", + "Activate the flat square with raised center with robotic precision", + "Interact with the angled-edge gray square switch directly", + "Set the left arm to press the flat square with raised center", + "Deploy the left arm to press the square gray switch panel", + "Click the square gray switch panel with robotic precision", + "Trigger the switch with rectangular raised area using the left arm", + "Trigger the switch with rectangular raised area with precision", + "Press the small square switch with the left arm", + "Use the left arm to engage the square gray switch panel", + "Press the light gray plastic switch using the left arm.", + "Activate the light gray plastic switch with the left arm.", + "Trigger the flat square with raised center without referencing the left arm", + "Locate and press the switch for electrical control", + "Engage the light gray plastic switch using the left arm", + "Click on the small square switch made of plastic precisely", + "Engage the square switch with smooth surface using the left arm.", + "Activate the the switch with rectangular raised area using the left arm", + "Engage the square switch with smooth surface with a press.", + "Press the smooth gray switch using robotic control", + "Switch the palm-sized light gray switch to its active state", + "Use the left arm to interact with the smooth gray switch", + "Approach and tap the switch for electrical control via the left arm", + "Press the smooth gray switch directly", + "Click the small square switch directly.", + "Initiate the switch for electrical control by clicking", + "Activate the switch with smooth light gray finish by pressing it", + "Use the left arm for switching the square gray switch panel", + "Locate and press the light gray plastic switch", + "Deploy the left arm to operate the angled-edge gray square switch", + "Press the square gray switch panel via automation", + "Move to the flat square with raised center and click it.", + "Engage the left arm to press the switch for electrical control", + "Click the switch for electrical control using automated tools", + "Engage the light gray plastic switch using the robotic arm", + "Tap the square gray switch panel to engage it", + "Press the angled-edge gray square switch carefully with the left arm", + "Operate the left arm to engage the small square switch made of plastic", + "Directly interact with the switch with rectangular raised area" + ], + "unseen": [ + "Click the flat gray switch with the left arm", + "Use the left arm to press the switch with angled edges", + "Move and click the the switch with angled edges", + "Click the flat gray switch using the left arm", + "Press the switch with angled edges using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the switch with angled edges", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the left arm", + "Press the flat gray switch using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the gray switch with slanted sides", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the flat gray switch.", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides using the left arm", + "Press the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm", + "Direct the left arm to click the switch with angled edges", + "Click the gray switch with slanted sides with the left arm.", + "Use the left arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the left arm", + "Use the left arm to press the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Press the switch with angled edges using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the gray switch with slanted sides", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the flat gray switch.", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the switch with angled edges", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch using the left arm", + "Press the flat gray switch using the left arm", + "Click the switch with angled edges with the left arm", + "Direct the left arm to click the gray switch with slanted sides", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the left arm", + "Use the left arm to press the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the left arm", + "Press the switch with angled edges using the left arm", + "Click the gray switch with slanted sides with the left arm", + "Direct the left arm to click the gray switch with slanted sides", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the left arm", + "Use the left arm to press the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the left arm", + "Press the flat gray switch using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the flat gray switch", + "Click the gray switch with slanted sides with the left arm.", + "Use the left arm to press the flat gray switch.", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the flat gray switch using the left arm", + "Press the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the flat gray switch", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the switch with angled edges.", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the left arm", + "Use the left arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the flat gray switch using the left arm", + "Press the gray switch with slanted sides using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the gray switch with slanted sides", + "Click the switch with angled edges with the left arm.", + "Use the left arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges", + "Click the switch with angled edges with the left arm", + "Use the left arm to press the switch with angled edges", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges using the left arm", + "Press the flat gray switch using the left arm", + "Click the flat gray switch with the left arm", + "Direct the left arm to click the gray switch with slanted sides", + "Click the flat gray switch with the left arm.", + "Use the left arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..0487ded5bc2a045a41ff35b925c1743c754c36c0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Locate and press the switch with three metal pins", + "Press the switch with three metal pins directly", + "Use the left arm for switching the red and black electrical switch", + "Engage the two-tone red black switch using the left arm", + "Click the small switch with red lever to activate it", + "Use the left arm to interact with the small switch with red lever", + "Locate and press the toggle switch with black housing", + "Trigger the black base switch with precision", + "Engage the black base switch with a press.", + "Deploy the left arm to operate the metal-pronged black switch", + "Initiate the smooth red switch with labels by clicking", + "Click on the red and black electrical switch precisely", + "Move to the switch for turning circuits on off and click it.", + "Directly interact with the small switch with red lever", + "Activate the switch with three metal pins with the left arm.", + "Click the metal-pronged black switch with robotic precision", + "Deploy the left arm to press the red and black electrical switch", + "Trigger the black base switch without referencing the left arm", + "Engage the left arm to press the switch with three metal pins", + "Set the left arm to press the small switch with red lever", + "Press the switch with three metal pins using robotic control", + "Operate the toggle switch with black housing with the left arm", + "Toggle the tiny rectangular switch with the left arm.", + "Activate the smooth red switch with labels with robotic precision", + "Press the switch with three metal pins carefully with the left arm", + "Set the switch at the plastic switch with metal prongs", + "Activate the the red and black electrical switch using the left arm", + "Press the switch with three metal pins using the left arm.", + "Approach and tap the switch for turning circuits on off via the left arm", + "Switch the switch for turning circuits on off to its active state", + "Interact with the switch with three metal pins.", + "Direct the left arm to operate the plastic switch with metal prongs", + "Trigger the tiny rectangular switch using the left arm", + "Engage the two-tone red black switch using the robotic arm", + "Press the switch with three metal pins via automation", + "Activate the red and black electrical switch by pressing it", + "Engage with the toggle switch with black housing manually", + "Click the tiny rectangular switch using automated tools", + "Use the left arm to engage the red and black electrical switch", + "Activate the two-tone red black switch directly", + "Press the switch with three metal pins to activate.", + "Command the left arm to engage the small switch with red lever", + "Click the small switch with red lever directly.", + "Push the plastic switch with metal prongs via the left arm.", + "Interact with the rectangular switch directly", + "Tap the switch with three metal pins to engage it", + "Activate the two-tone red black switch via the left arm", + "Engage the two-tone red black switch using the left arm.", + "Press the smooth red switch with labels with the left arm", + "Operate the left arm to engage the smooth red switch with labels", + "Locate and press the two-tone red black switch", + "Press the black base switch directly", + "Use the left arm for switching the small switch with red lever", + "Engage the metal-pronged black switch using the left arm", + "Click the rectangular switch to activate it", + "Use the left arm to interact with the toggle switch with black housing", + "Locate and press the tiny rectangular switch", + "Trigger the small switch with red lever with precision", + "Engage the switch with three metal pins with a press.", + "Deploy the left arm to operate the red and black electrical switch", + "Initiate the switch with three metal pins by clicking", + "Click on the metal-pronged black switch precisely", + "Move to the black base switch and click it.", + "Directly interact with the two-tone red black switch", + "Activate the plastic switch with metal prongs with the left arm.", + "Click the two-tone red black switch with robotic precision", + "Deploy the left arm to press the rectangular switch", + "Trigger the plastic switch with metal prongs without referencing the left arm", + "Engage the left arm to press the tiny rectangular switch", + "Set the left arm to press the switch for turning circuits on off", + "Press the rectangular switch using robotic control", + "Operate the black base switch with the left arm", + "Toggle the toggle switch with black housing with the left arm.", + "Activate the switch with three metal pins with robotic precision", + "Press the small switch with red lever carefully with the left arm", + "Set the switch at the toggle switch with black housing", + "Activate the the two-tone red black switch using the left arm", + "Press the toggle switch with black housing using the left arm.", + "Approach and tap the tiny rectangular switch via the left arm", + "Switch the plastic switch with metal prongs to its active state", + "Interact with the switch with three metal pins.", + "Direct the left arm to operate the small switch with red lever", + "Trigger the toggle switch with black housing using the left arm", + "Engage the small switch with red lever using the robotic arm", + "Press the plastic switch with metal prongs via automation", + "Activate the smooth red switch with labels by pressing it", + "Engage with the switch with three metal pins manually", + "Click the tiny rectangular switch using automated tools", + "Use the left arm to engage the rectangular switch", + "Activate the switch for turning circuits on off directly", + "Press the toggle switch with black housing to activate.", + "Command the left arm to engage the rectangular switch", + "Click the switch with three metal pins directly.", + "Push the rectangular switch via the left arm.", + "Interact with the small switch with red lever directly", + "Tap the metal-pronged black switch to engage it", + "Activate the red and black electrical switch via the left arm", + "Engage the red and black electrical switch using the left arm.", + "Press the small switch with red lever with the left arm", + "Operate the left arm to engage the tiny rectangular switch" + ], + "unseen": [ + "Click the red toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch.", + "Press the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red toggle switch.", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Activate the switch at the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the curved toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch.", + "Press the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm", + "Use the left arm to press the red toggle switch", + "Direct the left arm to click the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the curved toggle switch.", + "Press the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Direct the left arm to click the curved toggle switch", + "Move and click the the red toggle switch", + "Activate the switch at the curved toggle switch", + "Use the left arm to press the curved toggle switch.", + "Press the curved toggle switch using the left arm", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Click the curved toggle switch with the left arm", + "Click the red toggle switch using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..91446c0f8c3d3adf2571bbc5ff35658d3b3cfa8f --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the handheld switch", + "Click the switch with trapezoidal base with robotic precision", + "Trigger the medium switch with trapezoidal base without referencing the right arm", + "Initiate the gray plastic switch by clicking", + "Press the gray switch with black buttons carefully with the right arm", + "Click the gray switch with black buttons directly.", + "Locate and press the gray switch with black buttons", + "Activate the plastic switch with matte buttons directly", + "Activate the handheld switch by pressing it", + "Activate the gray plastic switch with robotic precision", + "Deploy the right arm to press the smooth gray switch", + "Click the two-button gray switch to activate it", + "Engage the gray switch with black buttons using the right arm.", + "Set the right arm to press the trapezoidal base switch", + "Press the smooth gray switch using the right arm.", + "Interact with the gray switch with black buttons.", + "Trigger the two-button gray switch with precision", + "Click on the medium switch with trapezoidal base precisely", + "Switch the gray plastic switch to its active state", + "Push the gray smooth surface switch via the right arm.", + "Interact with the gray base with black buttons directly", + "Operate the right arm to engage the handheld switch", + "Press the switch with trapezoidal base directly", + "Engage the two-button gray switch using the right arm", + "Click the trapezoidal base switch using automated tools", + "Locate and press the electric toggle switch", + "Use the right arm to interact with the two-button gray switch", + "Use the right arm to engage the switch with trapezoidal base", + "Toggle the smooth gray switch with the right arm.", + "Press the plastic switch with matte buttons to activate.", + "Directly interact with the handheld switch", + "Press the two-button gray switch via automation", + "Deploy the right arm to operate the two-button gray switch", + "Activate the the gray base with black buttons using the right arm", + "Press the two-button gray switch with the right arm", + "Use the right arm for switching the switch with trapezoidal base", + "Approach and tap the two-button gray switch via the right arm", + "Engage the two-button gray switch using the robotic arm", + "Direct the right arm to operate the gray base with black buttons", + "Command the right arm to engage the two-button gray switch", + "Activate the plastic switch with matte buttons with the right arm.", + "Tap the plastic switch with matte buttons to engage it", + "Move to the switch with trapezoidal base and click it.", + "Engage with the gray switch with black buttons manually", + "Press the electric toggle switch using robotic control", + "Trigger the electric toggle switch using the right arm", + "Activate the trapezoidal base switch via the right arm", + "Engage the smooth gray switch with a press.", + "Operate the medium switch with trapezoidal base with the right arm", + "Set the switch at the medium switch with trapezoidal base", + "Engage the right arm to press the gray plastic switch", + "Click the smooth gray switch with robotic precision", + "Trigger the switch with trapezoidal base without referencing the right arm", + "Initiate the gray base with black buttons by clicking", + "Press the gray plastic switch carefully with the right arm", + "Click the switch with trapezoidal base directly.", + "Locate and press the two-button gray switch", + "Activate the switch with trapezoidal base directly", + "Activate the plastic switch with matte buttons by pressing it", + "Activate the gray switch with black buttons with robotic precision", + "Deploy the right arm to press the switch with trapezoidal base", + "Click the handheld switch to activate it", + "Engage the gray plastic switch using the right arm.", + "Set the right arm to press the switch with trapezoidal base", + "Press the gray plastic switch using the right arm.", + "Interact with the handheld switch.", + "Trigger the two-button gray switch with precision", + "Click on the gray plastic switch precisely", + "Switch the gray plastic switch to its active state", + "Push the handheld switch via the right arm.", + "Interact with the handheld switch directly", + "Operate the right arm to engage the plastic switch with matte buttons", + "Press the switch with trapezoidal base directly", + "Engage the medium switch with trapezoidal base using the right arm", + "Click the handheld switch using automated tools", + "Locate and press the two-button gray switch", + "Use the right arm to interact with the gray plastic switch", + "Use the right arm to engage the gray switch with black buttons", + "Toggle the two-button gray switch with the right arm.", + "Press the electric toggle switch to activate.", + "Directly interact with the gray base with black buttons", + "Press the plastic switch with matte buttons via automation", + "Deploy the right arm to operate the gray smooth surface switch", + "Activate the the two-button gray switch using the right arm", + "Press the gray plastic switch with the right arm", + "Use the right arm for switching the gray plastic switch", + "Approach and tap the medium switch with trapezoidal base via the right arm", + "Engage the handheld switch using the robotic arm", + "Direct the right arm to operate the plastic switch with matte buttons", + "Command the right arm to engage the gray plastic switch", + "Activate the gray plastic switch with the right arm.", + "Tap the gray base with black buttons to engage it", + "Move to the medium switch with trapezoidal base and click it.", + "Engage with the gray smooth surface switch manually", + "Press the gray smooth surface switch using robotic control", + "Trigger the switch with trapezoidal base using the right arm", + "Activate the smooth gray switch via the right arm", + "Engage the electric toggle switch with a press.", + "Operate the two-button gray switch with the right arm", + "Set the switch at the gray smooth surface switch" + ], + "unseen": [ + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch.", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Direct the right arm to click the gray switch", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the gray switch medium size", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the right arm.", + "Direct the right arm to click the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch.", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Direct the right arm to click the switch with circular black buttons", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Click the gray switch with the right arm.", + "Direct the right arm to click the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the right arm.", + "Direct the right arm to click the gray switch medium size", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Direct the right arm to click the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch.", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size with the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Direct the right arm to click the switch with circular black buttons", + "Press the gray switch using the right arm", + "Activate the switch at the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size using the right arm", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm.", + "Direct the right arm to click the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch.", + "Use the right arm to press the gray switch medium size", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons with the right arm.", + "Direct the right arm to click the gray switch", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch", + "Use the right arm to press the gray switch medium size.", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Direct the right arm to click the switch with circular black buttons" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..344ddd055104fb8c42af9339c8aa7190dcd8b8ee --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the black switch with metallic connectors with the right arm", + "Press the switch with curved red toggle via automation", + "Press the black base switch with red toggle using the right arm.", + "Press the black base switch with red toggle carefully with the right arm", + "Trigger the small switch using the right arm", + "Activate the black switch with metallic connectors with the right arm.", + "Press the hand-sized switch with connector prongs using robotic control", + "Deploy the right arm to operate the small switch", + "Engage the black base switch with red toggle using the robotic arm", + "Engage the plastic switch with metal terminals using the right arm.", + "Locate and press the black base switch with red toggle", + "Locate and press the rectangular black plastic switch", + "Operate the right arm to engage the rectangular black plastic switch", + "Use the right arm to interact with the switch with curved red toggle", + "Operate the rectangular switch with curved lever with the right arm", + "Activate the red and black switch by pressing it", + "Click the black switch with robotic precision", + "Trigger the black switch with metallic connectors without referencing the right arm", + "Trigger the black switch with metallic connectors with precision", + "Tap the switch with curved red toggle to engage it", + "Click on the switch with curved red toggle precisely", + "Engage with the small switch manually", + "Push the black switch with metallic connectors via the right arm.", + "Directly interact with the small switch", + "Interact with the black base switch with red toggle directly", + "Engage the plastic switch with metal terminals with a press.", + "Engage the hand-sized switch with connector prongs using the right arm", + "Activate the the black base switch with red toggle using the right arm", + "Approach and tap the small switch via the right arm", + "Press the switch with curved red toggle to activate.", + "Toggle the small switch with the right arm.", + "Set the right arm to press the hand-sized switch with connector prongs", + "Switch the red-top black switch to its active state", + "Engage the right arm to press the black base switch with red toggle", + "Activate the red-top black switch directly", + "Activate the black switch with metallic connectors with robotic precision", + "Direct the right arm to operate the hand-sized switch with connector prongs", + "Activate the black switch via the right arm", + "Click the small switch using automated tools", + "Command the right arm to engage the rectangular black plastic switch", + "Press the small switch directly", + "Click the rectangular switch with curved lever directly.", + "Move to the red-top black switch and click it.", + "Use the right arm for switching the compact switch with toggle on top", + "Set the switch at the black switch with metallic connectors", + "Initiate the switch with curved red toggle by clicking", + "Click the small switch to activate it", + "Use the right arm to engage the rectangular switch with curved lever", + "Interact with the red-top black switch.", + "Deploy the right arm to press the plastic switch with metal terminals", + "Press the black base switch with red toggle with the right arm", + "Press the red and black switch via automation", + "Press the red and black switch using the right arm.", + "Press the black switch carefully with the right arm", + "Trigger the red and black switch using the right arm", + "Activate the black switch with the right arm.", + "Press the black switch with metallic connectors using robotic control", + "Deploy the right arm to operate the compact switch with toggle on top", + "Engage the red and black switch using the robotic arm", + "Engage the red and black switch using the right arm.", + "Locate and press the black switch", + "Locate and press the plastic switch with metal terminals", + "Operate the right arm to engage the switch with curved red toggle", + "Use the right arm to interact with the small switch", + "Operate the black base switch with red toggle with the right arm", + "Activate the red and black switch by pressing it", + "Click the black base switch with red toggle with robotic precision", + "Trigger the switch with curved red toggle without referencing the right arm", + "Trigger the black switch with precision", + "Tap the black switch to engage it", + "Click on the small switch precisely", + "Engage with the compact switch with toggle on top manually", + "Push the rectangular black plastic switch via the right arm.", + "Directly interact with the hand-sized switch with connector prongs", + "Interact with the red-top black switch directly", + "Engage the switch with curved red toggle with a press.", + "Engage the red-top black switch using the right arm", + "Activate the the black switch with metallic connectors using the right arm", + "Approach and tap the hand-sized switch with connector prongs via the right arm", + "Press the rectangular switch with curved lever to activate.", + "Toggle the black switch with the right arm.", + "Set the right arm to press the small switch", + "Switch the compact switch with toggle on top to its active state", + "Engage the right arm to press the plastic switch with metal terminals", + "Activate the rectangular black plastic switch directly", + "Activate the rectangular switch with curved lever with robotic precision", + "Direct the right arm to operate the small switch", + "Activate the rectangular switch with curved lever via the right arm", + "Click the switch with curved red toggle using automated tools", + "Command the right arm to engage the small switch", + "Press the black switch with metallic connectors directly", + "Click the switch with curved red toggle directly.", + "Move to the black base switch with red toggle and click it.", + "Use the right arm for switching the black base switch with red toggle", + "Set the switch at the black switch with metallic connectors", + "Initiate the plastic switch with metal terminals by clicking", + "Click the red and black switch to activate it", + "Use the right arm to engage the black switch", + "Interact with the red and black switch.", + "Deploy the right arm to press the black switch with metallic connectors" + ], + "unseen": [ + "Use the right arm to press the simple toggle switch", + "Move and click the the simple toggle switch", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch.", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Press the simple toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..5bc0f9741cafdfa5d40ba91393feeded0a30bd78 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the switch for turning circuits on off directly", + "Locate and press the toggle switch with black housing", + "Engage with the tiny rectangular switch manually", + "Locate and press the toggle switch with black housing", + "Approach and tap the toggle switch with black housing via the left arm", + "Click the tiny rectangular switch using automated tools", + "Directly interact with the red and black electrical switch", + "Set the left arm to press the smooth red switch with labels", + "Initiate the rectangular switch by clicking", + "Press the smooth red switch with labels carefully with the left arm", + "Activate the smooth red switch with labels with the left arm.", + "Engage the small switch with red lever with a press.", + "Command the left arm to engage the black base switch", + "Press the switch with three metal pins with the left arm", + "Click the small switch with red lever with robotic precision", + "Toggle the metal-pronged black switch with the left arm.", + "Direct the left arm to operate the rectangular switch", + "Activate the the black base switch using the left arm", + "Engage the smooth red switch with labels using the left arm", + "Push the tiny rectangular switch via the left arm.", + "Operate the black base switch with the left arm", + "Trigger the black base switch with precision", + "Engage the smooth red switch with labels using the left arm.", + "Press the plastic switch with metal prongs using robotic control", + "Use the left arm to interact with the two-tone red black switch", + "Use the left arm for switching the metal-pronged black switch", + "Click on the small switch with red lever precisely", + "Use the left arm to engage the plastic switch with metal prongs", + "Press the toggle switch with black housing directly", + "Switch the switch with three metal pins to its active state", + "Activate the black base switch by pressing it", + "Trigger the black base switch using the left arm", + "Move to the plastic switch with metal prongs and click it.", + "Operate the left arm to engage the metal-pronged black switch", + "Engage the small switch with red lever using the robotic arm", + "Deploy the left arm to press the smooth red switch with labels", + "Activate the rectangular switch via the left arm", + "Click the rectangular switch to activate it", + "Engage the left arm to press the two-tone red black switch", + "Interact with the plastic switch with metal prongs.", + "Press the metal-pronged black switch to activate.", + "Tap the plastic switch with metal prongs to engage it", + "Set the switch at the switch for turning circuits on off", + "Trigger the toggle switch with black housing without referencing the left arm", + "Click the switch with three metal pins directly.", + "Interact with the switch for turning circuits on off directly", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the switch for turning circuits on off via automation", + "Activate the metal-pronged black switch with robotic precision", + "Press the plastic switch with metal prongs using the left arm.", + "Activate the tiny rectangular switch directly", + "Locate and press the red and black electrical switch", + "Engage with the tiny rectangular switch manually", + "Locate and press the switch with three metal pins", + "Approach and tap the switch for turning circuits on off via the left arm", + "Click the black base switch using automated tools", + "Directly interact with the toggle switch with black housing", + "Set the left arm to press the plastic switch with metal prongs", + "Initiate the toggle switch with black housing by clicking", + "Press the smooth red switch with labels carefully with the left arm", + "Activate the rectangular switch with the left arm.", + "Engage the switch with three metal pins with a press.", + "Command the left arm to engage the metal-pronged black switch", + "Press the switch for turning circuits on off with the left arm", + "Click the red and black electrical switch with robotic precision", + "Toggle the rectangular switch with the left arm.", + "Direct the left arm to operate the toggle switch with black housing", + "Activate the the switch for turning circuits on off using the left arm", + "Engage the red and black electrical switch using the left arm", + "Push the two-tone red black switch via the left arm.", + "Operate the tiny rectangular switch with the left arm", + "Trigger the smooth red switch with labels with precision", + "Engage the switch for turning circuits on off using the left arm.", + "Press the switch with three metal pins using robotic control", + "Use the left arm to interact with the switch with three metal pins", + "Use the left arm for switching the metal-pronged black switch", + "Click on the black base switch precisely", + "Use the left arm to engage the switch for turning circuits on off", + "Press the two-tone red black switch directly", + "Switch the rectangular switch to its active state", + "Activate the red and black electrical switch by pressing it", + "Trigger the small switch with red lever using the left arm", + "Move to the small switch with red lever and click it.", + "Operate the left arm to engage the toggle switch with black housing", + "Engage the tiny rectangular switch using the robotic arm", + "Deploy the left arm to press the switch for turning circuits on off", + "Activate the toggle switch with black housing via the left arm", + "Click the black base switch to activate it", + "Engage the left arm to press the toggle switch with black housing", + "Interact with the rectangular switch.", + "Press the tiny rectangular switch to activate.", + "Tap the toggle switch with black housing to engage it", + "Set the switch at the red and black electrical switch", + "Trigger the plastic switch with metal prongs without referencing the left arm", + "Click the two-tone red black switch directly.", + "Interact with the smooth red switch with labels directly", + "Deploy the left arm to operate the small switch with red lever", + "Press the plastic switch with metal prongs via automation", + "Activate the switch for turning circuits on off with robotic precision", + "Press the two-tone red black switch using the left arm." + ], + "unseen": [ + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Click the red toggle switch using the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the red toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch using the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch using the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Activate the switch at the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch using the left arm", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the red ON OFF labeled toggle switch with the left arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch using the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the curved toggle switch with the left arm", + "Activate the switch at the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Use the left arm to press the curved toggle switch.", + "Click the curved toggle switch with the left arm", + "Activate the switch at the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the left arm", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Use the left arm to press the red toggle switch.", + "Click the red toggle switch with the left arm", + "Activate the switch at the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch using the left arm", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..77ec109293c9dfa0aefb6250ac597eb5cff64c8b --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Directly interact with the black switch", + "Press the black switch using robotic control", + "Approach and tap the black switch with metallic connectors via the right arm", + "Press the red and black switch directly", + "Set the right arm to press the switch with curved red toggle", + "Trigger the red-top black switch with precision", + "Activate the small switch via the right arm", + "Press the rectangular black plastic switch carefully with the right arm", + "Use the right arm to engage the black switch", + "Locate and press the rectangular switch with curved lever", + "Interact with the compact switch with toggle on top.", + "Press the black switch with the right arm", + "Activate the black switch with metallic connectors directly", + "Push the rectangular black plastic switch via the right arm.", + "Operate the plastic switch with metal terminals with the right arm", + "Locate and press the rectangular switch with curved lever", + "Tap the switch with curved red toggle to engage it", + "Use the right arm to interact with the red and black switch", + "Direct the right arm to operate the black switch", + "Engage the right arm to press the small switch", + "Press the hand-sized switch with connector prongs via automation", + "Trigger the rectangular black plastic switch using the right arm", + "Activate the red-top black switch by pressing it", + "Click the switch with curved red toggle using automated tools", + "Set the switch at the black base switch with red toggle", + "Move to the compact switch with toggle on top and click it.", + "Engage the black base switch with red toggle using the robotic arm", + "Press the rectangular switch with curved lever to activate.", + "Initiate the small switch by clicking", + "Activate the small switch with the right arm.", + "Activate the hand-sized switch with connector prongs with robotic precision", + "Deploy the right arm to operate the red and black switch", + "Click the red and black switch with robotic precision", + "Click the small switch directly.", + "Toggle the hand-sized switch with connector prongs with the right arm.", + "Deploy the right arm to press the compact switch with toggle on top", + "Press the black switch using the right arm.", + "Click on the rectangular black plastic switch precisely", + "Click the black switch with metallic connectors to activate it", + "Use the right arm for switching the red-top black switch", + "Engage the compact switch with toggle on top using the right arm.", + "Command the right arm to engage the black switch with metallic connectors", + "Engage the rectangular black plastic switch using the right arm", + "Switch the black switch with metallic connectors to its active state", + "Operate the right arm to engage the switch with curved red toggle", + "Activate the the rectangular black plastic switch using the right arm", + "Interact with the rectangular switch with curved lever directly", + "Engage the red-top black switch with a press.", + "Engage with the rectangular switch with curved lever manually", + "Trigger the compact switch with toggle on top without referencing the right arm", + "Directly interact with the black switch with metallic connectors", + "Press the small switch using robotic control", + "Approach and tap the red and black switch via the right arm", + "Press the black switch directly", + "Set the right arm to press the rectangular black plastic switch", + "Trigger the plastic switch with metal terminals with precision", + "Activate the rectangular switch with curved lever via the right arm", + "Press the compact switch with toggle on top carefully with the right arm", + "Use the right arm to engage the small switch", + "Locate and press the black switch with metallic connectors", + "Interact with the black switch.", + "Press the compact switch with toggle on top with the right arm", + "Activate the red and black switch directly", + "Push the black base switch with red toggle via the right arm.", + "Operate the rectangular switch with curved lever with the right arm", + "Locate and press the rectangular black plastic switch", + "Tap the black base switch with red toggle to engage it", + "Use the right arm to interact with the hand-sized switch with connector prongs", + "Direct the right arm to operate the red and black switch", + "Engage the right arm to press the small switch", + "Press the rectangular switch with curved lever via automation", + "Trigger the black switch with metallic connectors using the right arm", + "Activate the switch with curved red toggle by pressing it", + "Click the black base switch with red toggle using automated tools", + "Set the switch at the hand-sized switch with connector prongs", + "Move to the red and black switch and click it.", + "Engage the plastic switch with metal terminals using the robotic arm", + "Press the black switch with metallic connectors to activate.", + "Initiate the red and black switch by clicking", + "Activate the switch with curved red toggle with the right arm.", + "Activate the black switch with metallic connectors with robotic precision", + "Deploy the right arm to operate the compact switch with toggle on top", + "Click the red and black switch with robotic precision", + "Click the rectangular switch with curved lever directly.", + "Toggle the black switch with metallic connectors with the right arm.", + "Deploy the right arm to press the hand-sized switch with connector prongs", + "Press the switch with curved red toggle using the right arm.", + "Click on the rectangular black plastic switch precisely", + "Click the black switch with metallic connectors to activate it", + "Use the right arm for switching the small switch", + "Engage the red-top black switch using the right arm.", + "Command the right arm to engage the small switch", + "Engage the rectangular switch with curved lever using the right arm", + "Switch the black switch with metallic connectors to its active state", + "Operate the right arm to engage the black switch", + "Activate the the red-top black switch using the right arm", + "Interact with the black switch directly", + "Engage the black base switch with red toggle with a press.", + "Engage with the switch with curved red toggle manually", + "Trigger the black switch with metallic connectors without referencing the right arm" + ], + "unseen": [ + "Move and click the the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the simple toggle switch.", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch with the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the simple toggle switch using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the simple toggle switch.", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Move and click the the simple toggle switch", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch with the right arm", + "Move and click the the switch with two metal prongs", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the smooth black switch with red lever", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Use the right arm to press the smooth black switch with red lever", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Move and click the the simple toggle switch", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bf67c227f430f2ba93da3cdb013f19a30571a8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the light-colored trapezoid-shaped plastic switch with a press.", + "Approach and tap the hand-sized light beige switch via the right arm", + "Press the switch with a smooth top using robotic control", + "Trigger the beige switch with smooth finish with precision", + "Use the right arm to interact with the beige switch with smooth finish", + "Command the right arm to engage the switch with brown button", + "Initiate the switch with brown button by clicking", + "Press the light plastic switch to activate.", + "Press the matte beige switch with flat top with the right arm", + "Click the beige switch directly.", + "Activate the the toggle switch with brown rectangle button using the right arm", + "Tap the light-colored trapezoid-shaped plastic switch to engage it", + "Operate the right arm to engage the toggle switch with brown rectangle button", + "Use the right arm to engage the matte beige switch with flat top", + "Trigger the matte beige switch with flat top using the right arm", + "Engage the right arm to press the beige switch", + "Click the toggle switch with brown rectangle button using automated tools", + "Interact with the small trapezoid switch directly", + "Operate the beige switch with the right arm", + "Press the switch with rectangular dark button directly", + "Switch the switch with rectangular dark button to its active state", + "Activate the matte beige switch with flat top by pressing it", + "Activate the switch with a smooth top via the right arm", + "Engage the beige switch using the right arm.", + "Engage with the small trapezoid switch manually", + "Push the switch with rectangular dark button via the right arm.", + "Press the light-colored trapezoid-shaped plastic switch using the right arm.", + "Engage the switch with brown button using the right arm", + "Activate the tiny matte beige toggle switch with the right arm.", + "Use the right arm for switching the toggle switch with brown rectangle button", + "Deploy the right arm to operate the small trapezoid switch", + "Set the right arm to press the switch with brown button", + "Activate the light-colored trapezoid-shaped plastic switch directly", + "Locate and press the light plastic switch", + "Click the switch with brown button with robotic precision", + "Toggle the light plastic switch with the right arm.", + "Set the switch at the switch with brown button", + "Click the switch with rectangular dark button to activate it", + "Trigger the hand-sized light beige switch without referencing the right arm", + "Activate the beige switch with robotic precision", + "Interact with the beige switch with smooth finish.", + "Move to the small trapezoid switch and click it.", + "Press the switch with rectangular dark button carefully with the right arm", + "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm", + "Deploy the right arm to press the light plastic switch", + "Direct the right arm to operate the toggle switch with brown rectangle button", + "Press the switch with a smooth top via automation", + "Locate and press the matte beige switch with flat top", + "Click on the light plastic switch precisely", + "Directly interact with the beige switch", + "Engage the switch with rectangular dark button with a press.", + "Approach and tap the light-colored trapezoid-shaped plastic switch via the right arm", + "Press the matte beige switch with flat top using robotic control", + "Trigger the switch with a smooth top with precision", + "Use the right arm to interact with the tiny matte beige toggle switch", + "Command the right arm to engage the toggle switch with brown rectangle button", + "Initiate the switch with a smooth top by clicking", + "Press the beige switch with smooth finish to activate.", + "Press the matte beige switch with flat top with the right arm", + "Click the hand-sized light beige switch directly.", + "Activate the the light plastic switch using the right arm", + "Tap the light-colored trapezoid-shaped plastic switch to engage it", + "Operate the right arm to engage the matte beige switch with flat top", + "Use the right arm to engage the tiny matte beige toggle switch", + "Trigger the hand-sized light beige switch using the right arm", + "Engage the right arm to press the beige switch", + "Click the matte beige switch with flat top using automated tools", + "Interact with the matte beige switch with flat top directly", + "Operate the light plastic switch with the right arm", + "Press the small trapezoid switch directly", + "Switch the light plastic switch to its active state", + "Activate the matte beige switch with flat top by pressing it", + "Activate the beige switch via the right arm", + "Engage the small trapezoid switch using the right arm.", + "Engage with the beige switch with smooth finish manually", + "Push the toggle switch with brown rectangle button via the right arm.", + "Press the toggle switch with brown rectangle button using the right arm.", + "Engage the switch with a smooth top using the right arm", + "Activate the light plastic switch with the right arm.", + "Use the right arm for switching the beige switch with smooth finish", + "Deploy the right arm to operate the switch with rectangular dark button", + "Set the right arm to press the toggle switch with brown rectangle button", + "Activate the light-colored trapezoid-shaped plastic switch directly", + "Locate and press the light plastic switch", + "Click the switch with rectangular dark button with robotic precision", + "Toggle the light plastic switch with the right arm.", + "Set the switch at the tiny matte beige toggle switch", + "Click the switch with a smooth top to activate it", + "Trigger the switch with rectangular dark button without referencing the right arm", + "Activate the beige switch with smooth finish with robotic precision", + "Interact with the switch with a smooth top.", + "Move to the small trapezoid switch and click it.", + "Press the small trapezoid switch carefully with the right arm", + "Engage the tiny matte beige toggle switch using the robotic arm", + "Deploy the right arm to press the switch with a smooth top", + "Direct the right arm to operate the switch with rectangular dark button", + "Press the toggle switch with brown rectangle button via automation", + "Locate and press the beige switch", + "Click on the beige switch precisely", + "Directly interact with the light-colored trapezoid-shaped plastic switch" + ], + "unseen": [ + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm.", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Press the rectangular button switch on beige base using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm.", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Press the beige switch with darker brown top using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top.", + "Click the beige switch with darker brown top with the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Use the right arm to press the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Press the small beige switch with angular sides using the right arm", + "Activate the switch at the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..c8eea3b05d70ae1348f13cd3cd2ad4cc4817ddf8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the switch at the hand-sized switch tan smooth finish", + "Activate the switch with darker rectangle directly", + "Locate and press the rectangular switch with slanted sides", + "Activate the the tan switch using the right arm", + "Operate the smooth tan switch with textured sides with the right arm", + "Use the right arm to interact with the small light tan switch", + "Activate the tan switch via the right arm", + "Click the switch trapezoid shape brown marking to activate it", + "Move to the switch trapezoid shape brown marking and click it.", + "Deploy the right arm to operate the flat switch", + "Press the rectangular switch with slanted sides directly", + "Activate the switch trapezoid shape brown marking by pressing it", + "Deploy the right arm to press the trapezoid-shaped switch smooth surface", + "Click on the switch with darker rectangle precisely", + "Use the right arm to engage the flat switch", + "Activate the light tan rectangular switch smooth finish with the right arm.", + "Click the tan switch directly.", + "Initiate the flat switch by clicking", + "Press the hand-sized switch tan smooth finish using robotic control", + "Approach and tap the light tan rectangular switch smooth finish via the right arm", + "Press the tan switch carefully with the right arm", + "Operate the right arm to engage the flat switch", + "Click the small light tan switch with robotic precision", + "Engage the smooth tan switch with textured sides using the right arm.", + "Tap the rectangular switch with slanted sides to engage it", + "Press the rectangular switch with slanted sides to activate.", + "Press the switch with darker rectangle with the right arm", + "Engage the flat switch with a press.", + "Activate the plastic switch with angled edges with robotic precision", + "Push the switch trapezoid shape brown marking via the right arm.", + "Engage the light tan rectangular switch smooth finish using the right arm", + "Direct the right arm to operate the tan switch", + "Trigger the flat switch using the right arm", + "Engage the plastic switch with angled edges using the robotic arm", + "Click the light tan rectangular switch smooth finish using automated tools", + "Press the switch with darker rectangle using the right arm.", + "Interact with the switch trapezoid shape brown marking directly", + "Directly interact with the flat switch", + "Engage the right arm to press the hand-sized switch tan smooth finish", + "Locate and press the hand-sized switch tan smooth finish", + "Trigger the smooth tan switch with textured sides without referencing the right arm", + "Engage with the plastic switch with angled edges manually", + "Interact with the angled switch light tan color.", + "Press the flat switch via automation", + "Switch the rectangular switch with slanted sides to its active state", + "Toggle the plastic switch with angled edges with the right arm.", + "Trigger the rectangular switch with slanted sides with precision", + "Set the right arm to press the flat switch", + "Use the right arm for switching the switch with darker rectangle", + "Command the right arm to engage the flat switch", + "Set the switch at the switch trapezoid shape brown marking", + "Activate the rectangular switch with slanted sides directly", + "Locate and press the light tan rectangular switch smooth finish", + "Activate the the tan switch using the right arm", + "Operate the plastic switch with angled edges with the right arm", + "Use the right arm to interact with the flat switch", + "Activate the angled switch light tan color via the right arm", + "Click the rectangular switch with slanted sides to activate it", + "Move to the trapezoid-shaped switch smooth surface and click it.", + "Deploy the right arm to operate the small light tan switch", + "Press the smooth tan switch with textured sides directly", + "Activate the tan switch by pressing it", + "Deploy the right arm to press the flat switch", + "Click on the light tan rectangular switch smooth finish precisely", + "Use the right arm to engage the angled switch light tan color", + "Activate the tan switch with the right arm.", + "Click the flat switch directly.", + "Initiate the rectangular switch with slanted sides by clicking", + "Press the rectangular switch with slanted sides using robotic control", + "Approach and tap the trapezoid-shaped switch smooth surface via the right arm", + "Press the flat switch carefully with the right arm", + "Operate the right arm to engage the switch trapezoid shape brown marking", + "Click the light tan rectangular switch smooth finish with robotic precision", + "Engage the hand-sized switch tan smooth finish using the right arm.", + "Tap the switch trapezoid shape brown marking to engage it", + "Press the tan switch to activate.", + "Press the flat switch with the right arm", + "Engage the flat switch with a press.", + "Activate the rectangular switch with slanted sides with robotic precision", + "Push the smooth tan switch with textured sides via the right arm.", + "Engage the hand-sized switch tan smooth finish using the right arm", + "Direct the right arm to operate the switch trapezoid shape brown marking", + "Trigger the small light tan switch using the right arm", + "Engage the smooth tan switch with textured sides using the robotic arm", + "Click the light tan rectangular switch smooth finish using automated tools", + "Press the tan switch using the right arm.", + "Interact with the hand-sized switch tan smooth finish directly", + "Directly interact with the trapezoid-shaped switch smooth surface", + "Engage the right arm to press the switch with darker rectangle", + "Locate and press the rectangular switch with slanted sides", + "Trigger the switch with darker rectangle without referencing the right arm", + "Engage with the tan switch manually", + "Interact with the plastic switch with angled edges.", + "Press the smooth tan switch with textured sides via automation", + "Switch the switch trapezoid shape brown marking to its active state", + "Toggle the switch trapezoid shape brown marking with the right arm.", + "Trigger the angled switch light tan color with precision", + "Set the right arm to press the small light tan switch", + "Use the right arm for switching the angled switch light tan color", + "Command the right arm to engage the switch trapezoid shape brown marking" + ], + "unseen": [ + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the small flat switch tan top using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the small flat switch tan top with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the small flat switch tan top", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Use the right arm to press the small flat switch tan top.", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the switch flat tan top brown rectangle using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Direct the right arm to click the small flat switch tan top", + "Use the right arm to press the small flat switch tan top.", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the lightweight plastic switch angled edges using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges", + "Press the small flat switch tan top using the right arm", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the switch flat tan top brown rectangle with the right arm", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm.", + "Click the small flat switch tan top using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..200db987490a4c9077ae706c6af7271a4cb91514 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the compact switch with toggle on top by pressing it", + "Move to the black base switch with red toggle and click it.", + "Set the switch at the switch with curved red toggle", + "Click the black base switch with red toggle directly.", + "Press the red-top black switch using robotic control", + "Click the red-top black switch using automated tools", + "Directly interact with the red-top black switch", + "Push the rectangular switch with curved lever via the left arm.", + "Trigger the black switch with precision", + "Click the black switch with metallic connectors with robotic precision", + "Click on the plastic switch with metal terminals precisely", + "Command the left arm to engage the rectangular black plastic switch", + "Activate the black base switch with red toggle directly", + "Use the left arm to engage the red-top black switch", + "Use the left arm for switching the compact switch with toggle on top", + "Press the red and black switch directly", + "Press the black base switch with red toggle via automation", + "Operate the switch with curved red toggle with the left arm", + "Engage with the small switch manually", + "Deploy the left arm to press the black switch", + "Trigger the compact switch with toggle on top using the left arm", + "Press the red-top black switch using the left arm.", + "Interact with the hand-sized switch with connector prongs directly", + "Engage the small switch using the left arm", + "Direct the left arm to operate the black switch with metallic connectors", + "Engage the black switch with metallic connectors with a press.", + "Activate the the switch with curved red toggle using the left arm", + "Engage the red-top black switch using the left arm.", + "Tap the red-top black switch to engage it", + "Approach and tap the small switch via the left arm", + "Use the left arm to interact with the red-top black switch", + "Activate the small switch with the left arm.", + "Press the switch with curved red toggle to activate.", + "Activate the red-top black switch with robotic precision", + "Interact with the compact switch with toggle on top.", + "Deploy the left arm to operate the black base switch with red toggle", + "Trigger the black switch with metallic connectors without referencing the left arm", + "Operate the left arm to engage the plastic switch with metal terminals", + "Engage the small switch using the robotic arm", + "Click the hand-sized switch with connector prongs to activate it", + "Toggle the black base switch with red toggle with the left arm.", + "Locate and press the red-top black switch", + "Locate and press the hand-sized switch with connector prongs", + "Press the black base switch with red toggle with the left arm", + "Engage the left arm to press the switch with curved red toggle", + "Initiate the hand-sized switch with connector prongs by clicking", + "Switch the rectangular switch with curved lever to its active state", + "Press the rectangular switch with curved lever carefully with the left arm", + "Activate the plastic switch with metal terminals via the left arm", + "Set the left arm to press the compact switch with toggle on top", + "Activate the black switch with metallic connectors by pressing it", + "Move to the black switch and click it.", + "Set the switch at the rectangular switch with curved lever", + "Click the black switch directly.", + "Press the black switch using robotic control", + "Click the black base switch with red toggle using automated tools", + "Directly interact with the switch with curved red toggle", + "Push the hand-sized switch with connector prongs via the left arm.", + "Trigger the black switch with metallic connectors with precision", + "Click the black base switch with red toggle with robotic precision", + "Click on the red and black switch precisely", + "Command the left arm to engage the switch with curved red toggle", + "Activate the small switch directly", + "Use the left arm to engage the switch with curved red toggle", + "Use the left arm for switching the rectangular black plastic switch", + "Press the rectangular black plastic switch directly", + "Press the red-top black switch via automation", + "Operate the hand-sized switch with connector prongs with the left arm", + "Engage with the red-top black switch manually", + "Deploy the left arm to press the black base switch with red toggle", + "Trigger the rectangular black plastic switch using the left arm", + "Press the rectangular black plastic switch using the left arm.", + "Interact with the black switch with metallic connectors directly", + "Engage the red-top black switch using the left arm", + "Direct the left arm to operate the black switch with metallic connectors", + "Engage the red and black switch with a press.", + "Activate the the red and black switch using the left arm", + "Engage the black switch with metallic connectors using the left arm.", + "Tap the red and black switch to engage it", + "Approach and tap the black switch via the left arm", + "Use the left arm to interact with the rectangular black plastic switch", + "Activate the black base switch with red toggle with the left arm.", + "Press the rectangular switch with curved lever to activate.", + "Activate the compact switch with toggle on top with robotic precision", + "Interact with the hand-sized switch with connector prongs.", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Trigger the rectangular black plastic switch without referencing the left arm", + "Operate the left arm to engage the rectangular black plastic switch", + "Engage the black switch with metallic connectors using the robotic arm", + "Click the hand-sized switch with connector prongs to activate it", + "Toggle the rectangular black plastic switch with the left arm.", + "Locate and press the black switch", + "Locate and press the black base switch with red toggle", + "Press the rectangular switch with curved lever with the left arm", + "Engage the left arm to press the switch with curved red toggle", + "Initiate the rectangular black plastic switch by clicking", + "Switch the black base switch with red toggle to its active state", + "Press the black base switch with red toggle carefully with the left arm", + "Activate the black switch with metallic connectors via the left arm", + "Set the left arm to press the plastic switch with metal terminals" + ], + "unseen": [ + "Click the simple toggle switch with the left arm.", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the smooth black switch with red lever with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm.", + "Press the switch with two metal prongs using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the switch with two metal prongs", + "Click the simple toggle switch with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch with the left arm.", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the simple toggle switch", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch with the left arm.", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Use the left arm to press the simple toggle switch.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch using the left arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs with the left arm.", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever using the left arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever with the left arm.", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Use the left arm to press the smooth black switch with red lever.", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs using the left arm", + "Activate the switch at the simple toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..0b8cdcf0334285d10ec78ae130bef53a43e41581 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the gray smooth surface switch with the right arm", + "Engage the medium switch with trapezoidal base using the right arm", + "Engage the gray base with black buttons using the robotic arm", + "Switch the electric toggle switch to its active state", + "Press the gray switch with black buttons via automation", + "Tap the switch with trapezoidal base to engage it", + "Trigger the handheld switch without referencing the right arm", + "Set the switch at the gray switch with black buttons", + "Click on the gray plastic switch precisely", + "Press the smooth gray switch using robotic control", + "Activate the smooth gray switch with the right arm.", + "Press the switch with trapezoidal base to activate.", + "Engage the gray switch with black buttons using the right arm.", + "Set the right arm to press the handheld switch", + "Press the plastic switch with matte buttons directly", + "Engage the trapezoidal base switch with a press.", + "Activate the electric toggle switch by pressing it", + "Click the switch with trapezoidal base to activate it", + "Toggle the plastic switch with matte buttons with the right arm.", + "Deploy the right arm to operate the handheld switch", + "Command the right arm to engage the electric toggle switch", + "Move to the handheld switch and click it.", + "Interact with the switch with trapezoidal base directly", + "Press the trapezoidal base switch carefully with the right arm", + "Press the medium switch with trapezoidal base using the right arm.", + "Use the right arm to interact with the gray plastic switch", + "Click the gray base with black buttons with robotic precision", + "Approach and tap the gray plastic switch via the right arm", + "Direct the right arm to operate the switch with trapezoidal base", + "Use the right arm to engage the smooth gray switch", + "Engage with the gray base with black buttons manually", + "Operate the right arm to engage the trapezoidal base switch", + "Click the smooth gray switch using automated tools", + "Activate the medium switch with trapezoidal base with robotic precision", + "Activate the gray plastic switch directly", + "Trigger the gray plastic switch using the right arm", + "Directly interact with the two-button gray switch", + "Use the right arm for switching the handheld switch", + "Initiate the handheld switch by clicking", + "Deploy the right arm to press the smooth gray switch", + "Interact with the electric toggle switch.", + "Click the handheld switch directly.", + "Engage the right arm to press the switch with trapezoidal base", + "Locate and press the handheld switch", + "Locate and press the gray plastic switch", + "Press the medium switch with trapezoidal base with the right arm", + "Activate the gray switch with black buttons via the right arm", + "Push the two-button gray switch via the right arm.", + "Activate the the smooth gray switch using the right arm", + "Trigger the gray smooth surface switch with precision", + "Operate the plastic switch with matte buttons with the right arm", + "Engage the electric toggle switch using the right arm", + "Engage the gray switch with black buttons using the robotic arm", + "Switch the electric toggle switch to its active state", + "Press the smooth gray switch via automation", + "Tap the electric toggle switch to engage it", + "Trigger the gray plastic switch without referencing the right arm", + "Set the switch at the medium switch with trapezoidal base", + "Click on the gray smooth surface switch precisely", + "Press the electric toggle switch using robotic control", + "Activate the smooth gray switch with the right arm.", + "Press the electric toggle switch to activate.", + "Engage the two-button gray switch using the right arm.", + "Set the right arm to press the trapezoidal base switch", + "Press the handheld switch directly", + "Engage the smooth gray switch with a press.", + "Activate the gray base with black buttons by pressing it", + "Click the electric toggle switch to activate it", + "Toggle the gray plastic switch with the right arm.", + "Deploy the right arm to operate the two-button gray switch", + "Command the right arm to engage the switch with trapezoidal base", + "Move to the plastic switch with matte buttons and click it.", + "Interact with the gray base with black buttons directly", + "Press the gray switch with black buttons carefully with the right arm", + "Press the medium switch with trapezoidal base using the right arm.", + "Use the right arm to interact with the gray switch with black buttons", + "Click the handheld switch with robotic precision", + "Approach and tap the handheld switch via the right arm", + "Direct the right arm to operate the gray base with black buttons", + "Use the right arm to engage the two-button gray switch", + "Engage with the gray smooth surface switch manually", + "Operate the right arm to engage the switch with trapezoidal base", + "Click the gray base with black buttons using automated tools", + "Activate the gray smooth surface switch with robotic precision", + "Activate the gray base with black buttons directly", + "Trigger the switch with trapezoidal base using the right arm", + "Directly interact with the gray base with black buttons", + "Use the right arm for switching the electric toggle switch", + "Initiate the plastic switch with matte buttons by clicking", + "Deploy the right arm to press the two-button gray switch", + "Interact with the trapezoidal base switch.", + "Click the gray plastic switch directly.", + "Engage the right arm to press the switch with trapezoidal base", + "Locate and press the gray plastic switch", + "Locate and press the plastic switch with matte buttons", + "Press the switch with trapezoidal base with the right arm", + "Activate the gray plastic switch via the right arm", + "Push the gray smooth surface switch via the right arm.", + "Activate the the gray base with black buttons using the right arm", + "Trigger the gray base with black buttons with precision" + ], + "unseen": [ + "Activate the switch at the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch with the right arm.", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Click the gray switch using the right arm", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Move and click the the gray switch", + "Click the gray switch medium size with the right arm.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size using the right arm", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch with the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch", + "Direct the right arm to click the gray switch medium size", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch using the right arm", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the right arm", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch using the right arm", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Direct the right arm to click the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Click the gray switch using the right arm", + "Press the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the right arm.", + "Click the gray switch medium size with the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch medium size", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons using the right arm", + "Press the gray switch using the right arm", + "Activate the switch at the gray switch", + "Move and click the the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch.", + "Click the gray switch using the right arm", + "Press the gray switch medium size using the right arm", + "Activate the switch at the gray switch", + "Move and click the the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch medium size", + "Direct the right arm to click the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons using the right arm", + "Press the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Move and click the the gray switch", + "Click the gray switch with the right arm.", + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size", + "Direct the right arm to click the gray switch", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch using the right arm", + "Press the gray switch medium size using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..95523f7c3a08583a7fa05b73de5503f6b8900bd9 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the toggle switch with black housing with the right arm.", + "Switch the black base switch to its active state", + "Engage the right arm to press the switch with three metal pins", + "Activate the two-tone red black switch by pressing it", + "Initiate the switch for turning circuits on off by clicking", + "Press the switch for turning circuits on off with the right arm", + "Toggle the small switch with red lever with the right arm.", + "Engage the tiny rectangular switch using the robotic arm", + "Trigger the red and black electrical switch using the right arm", + "Engage the switch with three metal pins using the right arm.", + "Activate the the metal-pronged black switch using the right arm", + "Set the right arm to press the black base switch", + "Press the red and black electrical switch via automation", + "Use the right arm for switching the red and black electrical switch", + "Click the switch for turning circuits on off to activate it", + "Click the black base switch directly.", + "Direct the right arm to operate the smooth red switch with labels", + "Tap the plastic switch with metal prongs to engage it", + "Use the right arm to engage the plastic switch with metal prongs", + "Move to the toggle switch with black housing and click it.", + "Activate the metal-pronged black switch with robotic precision", + "Click the plastic switch with metal prongs with robotic precision", + "Click the metal-pronged black switch using automated tools", + "Press the switch for turning circuits on off using the right arm.", + "Interact with the switch with three metal pins directly", + "Trigger the switch with three metal pins with precision", + "Click on the toggle switch with black housing precisely", + "Push the plastic switch with metal prongs via the right arm.", + "Approach and tap the plastic switch with metal prongs via the right arm", + "Use the right arm to interact with the metal-pronged black switch", + "Press the black base switch carefully with the right arm", + "Operate the red and black electrical switch with the right arm", + "Locate and press the switch with three metal pins", + "Directly interact with the black base switch", + "Press the tiny rectangular switch using robotic control", + "Engage with the rectangular switch manually", + "Activate the switch with three metal pins via the right arm", + "Activate the plastic switch with metal prongs directly", + "Set the switch at the metal-pronged black switch", + "Deploy the right arm to operate the two-tone red black switch", + "Press the two-tone red black switch to activate.", + "Engage the switch for turning circuits on off with a press.", + "Operate the right arm to engage the two-tone red black switch", + "Locate and press the red and black electrical switch", + "Command the right arm to engage the small switch with red lever", + "Deploy the right arm to press the metal-pronged black switch", + "Interact with the two-tone red black switch.", + "Press the switch for turning circuits on off directly", + "Engage the switch with three metal pins using the right arm", + "Trigger the switch for turning circuits on off without referencing the right arm", + "Activate the toggle switch with black housing with the right arm.", + "Switch the switch with three metal pins to its active state", + "Engage the right arm to press the metal-pronged black switch", + "Activate the red and black electrical switch by pressing it", + "Initiate the two-tone red black switch by clicking", + "Press the red and black electrical switch with the right arm", + "Toggle the switch for turning circuits on off with the right arm.", + "Engage the smooth red switch with labels using the robotic arm", + "Trigger the small switch with red lever using the right arm", + "Engage the metal-pronged black switch using the right arm.", + "Activate the the toggle switch with black housing using the right arm", + "Set the right arm to press the two-tone red black switch", + "Press the toggle switch with black housing via automation", + "Use the right arm for switching the metal-pronged black switch", + "Click the metal-pronged black switch to activate it", + "Click the tiny rectangular switch directly.", + "Direct the right arm to operate the metal-pronged black switch", + "Tap the metal-pronged black switch to engage it", + "Use the right arm to engage the small switch with red lever", + "Move to the smooth red switch with labels and click it.", + "Activate the switch with three metal pins with robotic precision", + "Click the switch with three metal pins with robotic precision", + "Click the rectangular switch using automated tools", + "Press the switch with three metal pins using the right arm.", + "Interact with the switch for turning circuits on off directly", + "Trigger the switch for turning circuits on off with precision", + "Click on the switch for turning circuits on off precisely", + "Push the red and black electrical switch via the right arm.", + "Approach and tap the toggle switch with black housing via the right arm", + "Use the right arm to interact with the toggle switch with black housing", + "Press the switch with three metal pins carefully with the right arm", + "Operate the black base switch with the right arm", + "Locate and press the red and black electrical switch", + "Directly interact with the red and black electrical switch", + "Press the rectangular switch using robotic control", + "Engage with the smooth red switch with labels manually", + "Activate the plastic switch with metal prongs via the right arm", + "Activate the switch with three metal pins directly", + "Set the switch at the tiny rectangular switch", + "Deploy the right arm to operate the plastic switch with metal prongs", + "Press the tiny rectangular switch to activate.", + "Engage the metal-pronged black switch with a press.", + "Operate the right arm to engage the rectangular switch", + "Locate and press the tiny rectangular switch", + "Command the right arm to engage the tiny rectangular switch", + "Deploy the right arm to press the switch with three metal pins", + "Interact with the smooth red switch with labels.", + "Press the rectangular switch directly", + "Engage the plastic switch with metal prongs using the right arm", + "Trigger the switch for turning circuits on off without referencing the right arm" + ], + "unseen": [ + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Use the right arm to press the curved toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Click the red toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red toggle switch", + "Click the red toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red toggle switch", + "Press the curved toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch with the right arm", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red toggle switch", + "Click the curved toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Click the red toggle switch with the right arm", + "Direct the right arm to click the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch using the right arm", + "Use the right arm to press the red toggle switch", + "Move and click the the curved toggle switch", + "Use the right arm to press the red toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Click the curved toggle switch with the right arm", + "Click the curved toggle switch with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..32a53db8777dbcf91977bd1594e771364968f7bb --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the switch with brown button with a press.", + "Press the switch with a smooth top carefully with the right arm", + "Use the right arm for switching the hand-sized light beige switch", + "Direct the right arm to operate the tiny matte beige toggle switch", + "Press the switch with rectangular dark button via automation", + "Activate the hand-sized light beige switch directly", + "Use the right arm to interact with the tiny matte beige toggle switch", + "Set the right arm to press the toggle switch with brown rectangle button", + "Trigger the switch with a smooth top using the right arm", + "Directly interact with the small trapezoid switch", + "Activate the switch with rectangular dark button by pressing it", + "Activate the matte beige switch with flat top with robotic precision", + "Press the small trapezoid switch directly", + "Command the right arm to engage the switch with rectangular dark button", + "Engage the right arm to press the hand-sized light beige switch", + "Click the matte beige switch with flat top using automated tools", + "Tap the switch with a smooth top to engage it", + "Locate and press the switch with rectangular dark button", + "Trigger the tiny matte beige toggle switch without referencing the right arm", + "Engage the switch with rectangular dark button using the right arm", + "Click on the beige switch with smooth finish precisely", + "Approach and tap the switch with a smooth top via the right arm", + "Interact with the switch with rectangular dark button directly", + "Deploy the right arm to operate the beige switch", + "Toggle the toggle switch with brown rectangle button with the right arm.", + "Operate the right arm to engage the beige switch", + "Use the right arm to engage the hand-sized light beige switch", + "Engage the toggle switch with brown rectangle button using the right arm.", + "Click the switch with a smooth top to activate it", + "Press the matte beige switch with flat top using the right arm.", + "Deploy the right arm to press the hand-sized light beige switch", + "Activate the switch with a smooth top with the right arm.", + "Click the switch with brown button directly.", + "Press the switch with rectangular dark button with the right arm", + "Press the tiny matte beige toggle switch to activate.", + "Engage with the tiny matte beige toggle switch manually", + "Locate and press the toggle switch with brown rectangle button", + "Move to the light-colored trapezoid-shaped plastic switch and click it.", + "Click the switch with a smooth top with robotic precision", + "Set the switch at the matte beige switch with flat top", + "Push the switch with brown button via the right arm.", + "Activate the small trapezoid switch via the right arm", + "Activate the the light plastic switch using the right arm", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Trigger the beige switch with smooth finish with precision", + "Switch the toggle switch with brown rectangle button to its active state", + "Operate the light-colored trapezoid-shaped plastic switch with the right arm", + "Engage the small trapezoid switch using the robotic arm", + "Initiate the beige switch with smooth finish by clicking", + "Press the tiny matte beige toggle switch using robotic control", + "Engage the switch with brown button with a press.", + "Press the beige switch with smooth finish carefully with the right arm", + "Use the right arm for switching the beige switch", + "Direct the right arm to operate the hand-sized light beige switch", + "Press the light-colored trapezoid-shaped plastic switch via automation", + "Activate the light plastic switch directly", + "Use the right arm to interact with the light plastic switch", + "Set the right arm to press the small trapezoid switch", + "Trigger the small trapezoid switch using the right arm", + "Directly interact with the tiny matte beige toggle switch", + "Activate the beige switch by pressing it", + "Activate the beige switch with robotic precision", + "Press the switch with brown button directly", + "Command the right arm to engage the hand-sized light beige switch", + "Engage the right arm to press the hand-sized light beige switch", + "Click the light-colored trapezoid-shaped plastic switch using automated tools", + "Tap the switch with a smooth top to engage it", + "Locate and press the small trapezoid switch", + "Trigger the small trapezoid switch without referencing the right arm", + "Engage the switch with a smooth top using the right arm", + "Click on the switch with a smooth top precisely", + "Approach and tap the hand-sized light beige switch via the right arm", + "Interact with the tiny matte beige toggle switch directly", + "Deploy the right arm to operate the small trapezoid switch", + "Toggle the beige switch with smooth finish with the right arm.", + "Operate the right arm to engage the beige switch", + "Use the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Engage the switch with rectangular dark button using the right arm.", + "Click the tiny matte beige toggle switch to activate it", + "Press the small trapezoid switch using the right arm.", + "Deploy the right arm to press the switch with rectangular dark button", + "Activate the switch with brown button with the right arm.", + "Click the light-colored trapezoid-shaped plastic switch directly.", + "Press the beige switch with smooth finish with the right arm", + "Press the matte beige switch with flat top to activate.", + "Engage with the small trapezoid switch manually", + "Locate and press the switch with rectangular dark button", + "Move to the light plastic switch and click it.", + "Click the beige switch with smooth finish with robotic precision", + "Set the switch at the switch with a smooth top", + "Push the beige switch with smooth finish via the right arm.", + "Activate the tiny matte beige toggle switch via the right arm", + "Activate the the toggle switch with brown rectangle button using the right arm", + "Interact with the matte beige switch with flat top.", + "Trigger the beige switch with smooth finish with precision", + "Switch the toggle switch with brown rectangle button to its active state", + "Operate the switch with brown button with the right arm", + "Engage the light-colored trapezoid-shaped plastic switch using the robotic arm", + "Initiate the switch with brown button by clicking", + "Press the beige switch using robotic control" + ], + "unseen": [ + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Use the right arm to press the beige switch with darker brown top", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm.", + "Press the small beige switch with angular sides using the right arm", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm.", + "Press the beige switch with darker brown top using the right arm", + "Direct the right arm to click the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Use the right arm to press the rectangular button switch on beige base", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm.", + "Press the rectangular button switch on beige base using the right arm", + "Direct the right arm to click the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Use the right arm to press the small beige switch with angular sides", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..f5165d4741e82f76512e04c06ba01b3f452453b7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the beige switch precisely", + "Click the switch with brown button directly.", + "Engage the switch with brown button using the robotic arm", + "Initiate the switch with a smooth top by clicking", + "Engage the left arm to press the beige switch", + "Click the beige switch using automated tools", + "Engage with the toggle switch with brown rectangle button manually", + "Interact with the switch with rectangular dark button directly", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Move to the hand-sized light beige switch and click it.", + "Activate the tiny matte beige toggle switch directly", + "Deploy the left arm to operate the switch with rectangular dark button", + "Set the left arm to press the small trapezoid switch", + "Switch the toggle switch with brown rectangle button to its active state", + "Press the switch with a smooth top via automation", + "Press the beige switch with smooth finish to activate.", + "Trigger the beige switch with smooth finish without referencing the left arm", + "Activate the switch with rectangular dark button via the left arm", + "Activate the beige switch with smooth finish by pressing it", + "Directly interact with the switch with a smooth top", + "Activate the light plastic switch with robotic precision", + "Activate the the beige switch using the left arm", + "Approach and tap the beige switch with smooth finish via the left arm", + "Use the left arm to interact with the tiny matte beige toggle switch", + "Engage the beige switch with a press.", + "Operate the left arm to engage the hand-sized light beige switch", + "Command the left arm to engage the light-colored trapezoid-shaped plastic switch", + "Direct the left arm to operate the switch with brown button", + "Tap the light plastic switch to engage it", + "Use the left arm to engage the matte beige switch with flat top", + "Set the switch at the tiny matte beige toggle switch", + "Engage the switch with brown button using the left arm", + "Deploy the left arm to press the toggle switch with brown rectangle button", + "Trigger the tiny matte beige toggle switch using the left arm", + "Press the hand-sized light beige switch with the left arm", + "Activate the light plastic switch with the left arm.", + "Click the switch with a smooth top to activate it", + "Engage the tiny matte beige toggle switch using the left arm.", + "Press the beige switch carefully with the left arm", + "Click the switch with brown button with robotic precision", + "Locate and press the beige switch with smooth finish", + "Operate the light-colored trapezoid-shaped plastic switch with the left arm", + "Trigger the light plastic switch with precision", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Press the hand-sized light beige switch directly", + "Toggle the switch with a smooth top with the left arm.", + "Use the left arm for switching the toggle switch with brown rectangle button", + "Push the hand-sized light beige switch via the left arm.", + "Press the small trapezoid switch using the left arm.", + "Press the small trapezoid switch using robotic control", + "Click on the beige switch with smooth finish precisely", + "Click the switch with a smooth top directly.", + "Engage the switch with rectangular dark button using the robotic arm", + "Initiate the matte beige switch with flat top by clicking", + "Engage the left arm to press the light-colored trapezoid-shaped plastic switch", + "Click the matte beige switch with flat top using automated tools", + "Engage with the tiny matte beige toggle switch manually", + "Interact with the tiny matte beige toggle switch directly", + "Locate and press the beige switch", + "Move to the hand-sized light beige switch and click it.", + "Activate the light plastic switch directly", + "Deploy the left arm to operate the matte beige switch with flat top", + "Set the left arm to press the hand-sized light beige switch", + "Switch the switch with rectangular dark button to its active state", + "Press the hand-sized light beige switch via automation", + "Press the light-colored trapezoid-shaped plastic switch to activate.", + "Trigger the switch with rectangular dark button without referencing the left arm", + "Activate the switch with rectangular dark button via the left arm", + "Activate the toggle switch with brown rectangle button by pressing it", + "Directly interact with the hand-sized light beige switch", + "Activate the small trapezoid switch with robotic precision", + "Activate the the switch with rectangular dark button using the left arm", + "Approach and tap the switch with brown button via the left arm", + "Use the left arm to interact with the switch with brown button", + "Engage the tiny matte beige toggle switch with a press.", + "Operate the left arm to engage the light-colored trapezoid-shaped plastic switch", + "Command the left arm to engage the light-colored trapezoid-shaped plastic switch", + "Direct the left arm to operate the beige switch with smooth finish", + "Tap the switch with brown button to engage it", + "Use the left arm to engage the hand-sized light beige switch", + "Set the switch at the beige switch", + "Engage the matte beige switch with flat top using the left arm", + "Deploy the left arm to press the beige switch with smooth finish", + "Trigger the toggle switch with brown rectangle button using the left arm", + "Press the light plastic switch with the left arm", + "Activate the tiny matte beige toggle switch with the left arm.", + "Click the toggle switch with brown rectangle button to activate it", + "Engage the toggle switch with brown rectangle button using the left arm.", + "Press the toggle switch with brown rectangle button carefully with the left arm", + "Click the beige switch with robotic precision", + "Locate and press the switch with rectangular dark button", + "Operate the switch with a smooth top with the left arm", + "Trigger the switch with a smooth top with precision", + "Interact with the matte beige switch with flat top.", + "Press the switch with a smooth top directly", + "Toggle the switch with a smooth top with the left arm.", + "Use the left arm for switching the tiny matte beige toggle switch", + "Push the switch with brown button via the left arm.", + "Press the light-colored trapezoid-shaped plastic switch using the left arm.", + "Press the switch with brown button using robotic control" + ], + "unseen": [ + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Activate the switch at the small beige switch with angular sides", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Click the small beige switch with angular sides using the left arm", + "Move and click the the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Activate the switch at the small beige switch with angular sides", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the rectangular button switch on beige base with the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Click the small beige switch with angular sides using the left arm", + "Move and click the the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Move and click the the beige switch with darker brown top", + "Click the small beige switch with angular sides with the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top.", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Move and click the the beige switch with darker brown top", + "Click the beige switch with darker brown top with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the beige switch with darker brown top with the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the rectangular button switch on beige base with the left arm.", + "Click the beige switch with darker brown top using the left arm", + "Move and click the the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the left arm", + "Activate the switch at the rectangular button switch on beige base", + "Use the left arm to press the rectangular button switch on beige base", + "Use the left arm to press the small beige switch with angular sides.", + "Click the beige switch with darker brown top with the left arm", + "Direct the left arm to click the beige switch with darker brown top", + "Press the beige switch with darker brown top using the left arm", + "Click the beige switch with darker brown top with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Move and click the the beige switch with darker brown top", + "Click the rectangular button switch on beige base with the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the small beige switch with angular sides.", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the small beige switch with angular sides", + "Press the small beige switch with angular sides using the left arm", + "Click the small beige switch with angular sides with the left arm.", + "Click the rectangular button switch on beige base using the left arm", + "Move and click the the small beige switch with angular sides", + "Click the beige switch with darker brown top with the left arm", + "Activate the switch at the beige switch with darker brown top", + "Use the left arm to press the beige switch with darker brown top", + "Use the left arm to press the rectangular button switch on beige base.", + "Click the small beige switch with angular sides with the left arm", + "Direct the left arm to click the small beige switch with angular sides" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..7b235b40d23de9dd15eb23f2ab6761382d3f51c9 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Trigger the matte beige switch with flat top without referencing the right arm", + "Press the small trapezoid switch using robotic control", + "Operate the beige switch with smooth finish with the right arm", + "Click the switch with brown button using automated tools", + "Locate and press the small trapezoid switch", + "Engage the hand-sized light beige switch with a press.", + "Directly interact with the beige switch with smooth finish", + "Activate the toggle switch with brown rectangle button directly", + "Engage the beige switch using the right arm.", + "Set the right arm to press the switch with brown button", + "Trigger the small trapezoid switch with precision", + "Use the right arm to engage the small trapezoid switch", + "Press the matte beige switch with flat top directly", + "Press the small trapezoid switch carefully with the right arm", + "Activate the light-colored trapezoid-shaped plastic switch via the right arm", + "Command the right arm to engage the toggle switch with brown rectangle button", + "Toggle the beige switch with the right arm.", + "Push the beige switch via the right arm.", + "Press the hand-sized light beige switch with the right arm", + "Use the right arm for switching the tiny matte beige toggle switch", + "Move to the switch with a smooth top and click it.", + "Engage the right arm to press the tiny matte beige toggle switch", + "Operate the right arm to engage the toggle switch with brown rectangle button", + "Click the hand-sized light beige switch to activate it", + "Interact with the tiny matte beige toggle switch.", + "Set the switch at the light plastic switch", + "Direct the right arm to operate the toggle switch with brown rectangle button", + "Approach and tap the small trapezoid switch via the right arm", + "Initiate the beige switch by clicking", + "Tap the light plastic switch to engage it", + "Activate the tiny matte beige toggle switch with robotic precision", + "Trigger the switch with rectangular dark button using the right arm", + "Interact with the small trapezoid switch directly", + "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch", + "Click the beige switch directly.", + "Deploy the right arm to press the small trapezoid switch", + "Activate the the light plastic switch using the right arm", + "Engage with the switch with brown button manually", + "Press the toggle switch with brown rectangle button using the right arm.", + "Use the right arm to interact with the switch with rectangular dark button", + "Engage the toggle switch with brown rectangle button using the robotic arm", + "Activate the switch with a smooth top by pressing it", + "Click the beige switch with robotic precision", + "Switch the hand-sized light beige switch to its active state", + "Locate and press the beige switch with smooth finish", + "Activate the switch with rectangular dark button with the right arm.", + "Press the switch with a smooth top via automation", + "Engage the light plastic switch using the right arm", + "Click on the toggle switch with brown rectangle button precisely", + "Press the toggle switch with brown rectangle button to activate.", + "Trigger the light-colored trapezoid-shaped plastic switch without referencing the right arm", + "Press the switch with brown button using robotic control", + "Operate the tiny matte beige toggle switch with the right arm", + "Click the beige switch using automated tools", + "Locate and press the toggle switch with brown rectangle button", + "Engage the toggle switch with brown rectangle button with a press.", + "Directly interact with the light-colored trapezoid-shaped plastic switch", + "Activate the switch with rectangular dark button directly", + "Engage the matte beige switch with flat top using the right arm.", + "Set the right arm to press the tiny matte beige toggle switch", + "Trigger the beige switch with precision", + "Use the right arm to engage the light-colored trapezoid-shaped plastic switch", + "Press the beige switch with smooth finish directly", + "Press the hand-sized light beige switch carefully with the right arm", + "Activate the light plastic switch via the right arm", + "Command the right arm to engage the matte beige switch with flat top", + "Toggle the switch with brown button with the right arm.", + "Push the switch with brown button via the right arm.", + "Press the hand-sized light beige switch with the right arm", + "Use the right arm for switching the switch with brown button", + "Move to the small trapezoid switch and click it.", + "Engage the right arm to press the switch with a smooth top", + "Operate the right arm to engage the switch with a smooth top", + "Click the tiny matte beige toggle switch to activate it", + "Interact with the beige switch.", + "Set the switch at the tiny matte beige toggle switch", + "Direct the right arm to operate the tiny matte beige toggle switch", + "Approach and tap the small trapezoid switch via the right arm", + "Initiate the beige switch by clicking", + "Tap the switch with a smooth top to engage it", + "Activate the matte beige switch with flat top with robotic precision", + "Trigger the small trapezoid switch using the right arm", + "Interact with the toggle switch with brown rectangle button directly", + "Deploy the right arm to operate the toggle switch with brown rectangle button", + "Click the switch with brown button directly.", + "Deploy the right arm to press the switch with a smooth top", + "Activate the the switch with a smooth top using the right arm", + "Engage with the beige switch manually", + "Press the switch with a smooth top using the right arm.", + "Use the right arm to interact with the light-colored trapezoid-shaped plastic switch", + "Engage the beige switch with smooth finish using the robotic arm", + "Activate the toggle switch with brown rectangle button by pressing it", + "Click the beige switch with smooth finish with robotic precision", + "Switch the hand-sized light beige switch to its active state", + "Locate and press the small trapezoid switch", + "Activate the small trapezoid switch with the right arm.", + "Press the beige switch via automation", + "Engage the beige switch with smooth finish using the right arm", + "Click on the light plastic switch precisely", + "Press the switch with a smooth top to activate." + ], + "unseen": [ + "Click the small beige switch with angular sides with the right arm.", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the beige switch with darker brown top", + "Direct the right arm to click the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Direct the right arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the beige switch with darker brown top", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Press the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Use the right arm to press the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Activate the switch at the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Activate the switch at the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the small beige switch with angular sides", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the beige switch with darker brown top", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Press the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the small beige switch with angular sides", + "Direct the right arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the rectangular button switch on beige base", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Click the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Use the right arm to press the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the beige switch with darker brown top", + "Press the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Use the right arm to press the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Activate the switch at the small beige switch with angular sides", + "Press the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..c250fc80f25c897b9eea92ebe771204611c64cab --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the gray smooth surface switch with the right arm", + "Engage with the gray smooth surface switch manually", + "Activate the electric toggle switch via the right arm", + "Locate and press the switch with trapezoidal base", + "Command the right arm to engage the gray base with black buttons", + "Press the plastic switch with matte buttons via automation", + "Operate the gray base with black buttons with the right arm", + "Use the right arm to engage the gray base with black buttons", + "Operate the right arm to engage the handheld switch", + "Engage the electric toggle switch using the right arm", + "Engage the electric toggle switch using the robotic arm", + "Activate the gray plastic switch with robotic precision", + "Activate the handheld switch directly", + "Click the gray plastic switch directly.", + "Set the switch at the smooth gray switch", + "Engage the handheld switch with a press.", + "Set the right arm to press the electric toggle switch", + "Press the two-button gray switch carefully with the right arm", + "Directly interact with the switch with trapezoidal base", + "Approach and tap the handheld switch via the right arm", + "Trigger the gray switch with black buttons without referencing the right arm", + "Click the gray smooth surface switch with robotic precision", + "Activate the gray plastic switch with the right arm.", + "Toggle the gray plastic switch with the right arm.", + "Activate the the electric toggle switch using the right arm", + "Interact with the gray plastic switch directly", + "Engage the smooth gray switch using the right arm.", + "Click the gray switch with black buttons using automated tools", + "Activate the two-button gray switch by pressing it", + "Push the electric toggle switch via the right arm.", + "Deploy the right arm to operate the gray smooth surface switch", + "Tap the plastic switch with matte buttons to engage it", + "Interact with the gray plastic switch.", + "Engage the right arm to press the handheld switch", + "Press the gray smooth surface switch to activate.", + "Use the right arm to interact with the electric toggle switch", + "Direct the right arm to operate the gray base with black buttons", + "Use the right arm for switching the trapezoidal base switch", + "Locate and press the medium switch with trapezoidal base", + "Trigger the gray smooth surface switch using the right arm", + "Press the handheld switch using the right arm.", + "Deploy the right arm to press the medium switch with trapezoidal base", + "Initiate the gray switch with black buttons by clicking", + "Switch the gray plastic switch to its active state", + "Click the plastic switch with matte buttons to activate it", + "Click on the handheld switch precisely", + "Press the gray smooth surface switch directly", + "Trigger the trapezoidal base switch with precision", + "Move to the gray base with black buttons and click it.", + "Press the gray switch with black buttons using robotic control", + "Press the gray base with black buttons with the right arm", + "Engage with the medium switch with trapezoidal base manually", + "Activate the gray switch with black buttons via the right arm", + "Locate and press the trapezoidal base switch", + "Command the right arm to engage the gray smooth surface switch", + "Press the handheld switch via automation", + "Operate the switch with trapezoidal base with the right arm", + "Use the right arm to engage the plastic switch with matte buttons", + "Operate the right arm to engage the switch with trapezoidal base", + "Engage the plastic switch with matte buttons using the right arm", + "Engage the gray plastic switch using the robotic arm", + "Activate the gray smooth surface switch with robotic precision", + "Activate the gray plastic switch directly", + "Click the electric toggle switch directly.", + "Set the switch at the smooth gray switch", + "Engage the trapezoidal base switch with a press.", + "Set the right arm to press the gray smooth surface switch", + "Press the switch with trapezoidal base carefully with the right arm", + "Directly interact with the electric toggle switch", + "Approach and tap the plastic switch with matte buttons via the right arm", + "Trigger the electric toggle switch without referencing the right arm", + "Click the gray base with black buttons with robotic precision", + "Activate the switch with trapezoidal base with the right arm.", + "Toggle the two-button gray switch with the right arm.", + "Activate the the medium switch with trapezoidal base using the right arm", + "Interact with the gray base with black buttons directly", + "Engage the gray plastic switch using the right arm.", + "Click the trapezoidal base switch using automated tools", + "Activate the two-button gray switch by pressing it", + "Push the handheld switch via the right arm.", + "Deploy the right arm to operate the smooth gray switch", + "Tap the smooth gray switch to engage it", + "Interact with the gray switch with black buttons.", + "Engage the right arm to press the smooth gray switch", + "Press the plastic switch with matte buttons to activate.", + "Use the right arm to interact with the smooth gray switch", + "Direct the right arm to operate the trapezoidal base switch", + "Use the right arm for switching the smooth gray switch", + "Locate and press the trapezoidal base switch", + "Trigger the medium switch with trapezoidal base using the right arm", + "Press the trapezoidal base switch using the right arm.", + "Deploy the right arm to press the two-button gray switch", + "Initiate the electric toggle switch by clicking", + "Switch the plastic switch with matte buttons to its active state", + "Click the plastic switch with matte buttons to activate it", + "Click on the gray plastic switch precisely", + "Press the medium switch with trapezoidal base directly", + "Trigger the electric toggle switch with precision", + "Move to the gray switch with black buttons and click it.", + "Press the gray plastic switch using robotic control" + ], + "unseen": [ + "Click the gray switch medium size with the right arm", + "Click the gray switch with the right arm.", + "Use the right arm to press the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch using the right arm", + "Direct the right arm to click the gray switch medium size", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch with the right arm", + "Click the gray switch with the right arm.", + "Use the right arm to press the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch medium size", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch with the right arm.", + "Use the right arm to press the gray switch", + "Press the switch with circular black buttons using the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch.", + "Click the gray switch with the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch medium size", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size with the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Move and click the the gray switch medium size", + "Click the gray switch using the right arm", + "Direct the right arm to click the gray switch medium size", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch medium size", + "Press the gray switch using the right arm", + "Move and click the the gray switch", + "Click the gray switch medium size using the right arm", + "Direct the right arm to click the gray switch medium size", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch.", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Move and click the the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Activate the switch at the gray switch", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size.", + "Click the switch with circular black buttons with the right arm", + "Click the switch with circular black buttons with the right arm.", + "Use the right arm to press the gray switch", + "Press the gray switch using the right arm", + "Move and click the the gray switch", + "Click the switch with circular black buttons using the right arm", + "Direct the right arm to click the gray switch", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Click the gray switch medium size with the right arm.", + "Use the right arm to press the gray switch", + "Press the gray switch using the right arm", + "Move and click the the switch with circular black buttons", + "Click the gray switch using the right arm", + "Direct the right arm to click the gray switch medium size", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd77abe76194debbf3644fecfcc7dcc71edcf55 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Direct the right arm to operate the metal-pronged black switch", + "Activate the the small switch with red lever using the right arm", + "Press the plastic switch with metal prongs with the right arm", + "Click the tiny rectangular switch directly.", + "Trigger the black base switch using the right arm", + "Press the rectangular switch using the right arm.", + "Directly interact with the switch for turning circuits on off", + "Engage the smooth red switch with labels using the right arm", + "Engage with the small switch with red lever manually", + "Press the plastic switch with metal prongs directly", + "Use the right arm for switching the rectangular switch", + "Deploy the right arm to press the two-tone red black switch", + "Click the rectangular switch with robotic precision", + "Interact with the plastic switch with metal prongs.", + "Press the black base switch carefully with the right arm", + "Set the switch at the tiny rectangular switch", + "Engage the tiny rectangular switch using the robotic arm", + "Set the right arm to press the metal-pronged black switch", + "Toggle the toggle switch with black housing with the right arm.", + "Trigger the toggle switch with black housing without referencing the right arm", + "Operate the right arm to engage the metal-pronged black switch", + "Engage the tiny rectangular switch using the right arm.", + "Click the switch for turning circuits on off to activate it", + "Locate and press the two-tone red black switch", + "Push the metal-pronged black switch via the right arm.", + "Locate and press the toggle switch with black housing", + "Press the rectangular switch via automation", + "Approach and tap the plastic switch with metal prongs via the right arm", + "Trigger the metal-pronged black switch with precision", + "Command the right arm to engage the tiny rectangular switch", + "Use the right arm to engage the switch for turning circuits on off", + "Click on the toggle switch with black housing precisely", + "Press the black base switch using robotic control", + "Engage the toggle switch with black housing with a press.", + "Click the switch for turning circuits on off using automated tools", + "Tap the metal-pronged black switch to engage it", + "Activate the tiny rectangular switch with the right arm.", + "Activate the switch for turning circuits on off by pressing it", + "Use the right arm to interact with the switch with three metal pins", + "Activate the metal-pronged black switch with robotic precision", + "Activate the small switch with red lever via the right arm", + "Interact with the small switch with red lever directly", + "Press the plastic switch with metal prongs to activate.", + "Deploy the right arm to operate the red and black electrical switch", + "Initiate the red and black electrical switch by clicking", + "Move to the switch for turning circuits on off and click it.", + "Operate the smooth red switch with labels with the right arm", + "Switch the black base switch to its active state", + "Activate the small switch with red lever directly", + "Engage the right arm to press the toggle switch with black housing", + "Direct the right arm to operate the smooth red switch with labels", + "Activate the the rectangular switch using the right arm", + "Press the rectangular switch with the right arm", + "Click the small switch with red lever directly.", + "Trigger the toggle switch with black housing using the right arm", + "Press the rectangular switch using the right arm.", + "Directly interact with the toggle switch with black housing", + "Engage the red and black electrical switch using the right arm", + "Engage with the plastic switch with metal prongs manually", + "Press the rectangular switch directly", + "Use the right arm for switching the switch for turning circuits on off", + "Deploy the right arm to press the two-tone red black switch", + "Click the switch for turning circuits on off with robotic precision", + "Interact with the small switch with red lever.", + "Press the black base switch carefully with the right arm", + "Set the switch at the rectangular switch", + "Engage the switch for turning circuits on off using the robotic arm", + "Set the right arm to press the metal-pronged black switch", + "Toggle the switch for turning circuits on off with the right arm.", + "Trigger the red and black electrical switch without referencing the right arm", + "Operate the right arm to engage the two-tone red black switch", + "Engage the switch for turning circuits on off using the right arm.", + "Click the switch with three metal pins to activate it", + "Locate and press the black base switch", + "Push the tiny rectangular switch via the right arm.", + "Locate and press the switch for turning circuits on off", + "Press the two-tone red black switch via automation", + "Approach and tap the smooth red switch with labels via the right arm", + "Trigger the toggle switch with black housing with precision", + "Command the right arm to engage the switch for turning circuits on off", + "Use the right arm to engage the tiny rectangular switch", + "Click on the red and black electrical switch precisely", + "Press the smooth red switch with labels using robotic control", + "Engage the switch for turning circuits on off with a press.", + "Click the small switch with red lever using automated tools", + "Tap the switch for turning circuits on off to engage it", + "Activate the two-tone red black switch with the right arm.", + "Activate the two-tone red black switch by pressing it", + "Use the right arm to interact with the smooth red switch with labels", + "Activate the tiny rectangular switch with robotic precision", + "Activate the two-tone red black switch via the right arm", + "Interact with the red and black electrical switch directly", + "Press the metal-pronged black switch to activate.", + "Deploy the right arm to operate the tiny rectangular switch", + "Initiate the red and black electrical switch by clicking", + "Move to the black base switch and click it.", + "Operate the toggle switch with black housing with the right arm", + "Switch the rectangular switch to its active state", + "Activate the rectangular switch directly", + "Engage the right arm to press the switch with three metal pins" + ], + "unseen": [ + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Click the red toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red toggle switch with the right arm", + "Move and click the the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Use the right arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the red ON OFF labeled toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch", + "Click the red toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the red toggle switch with the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Use the right arm to press the curved toggle switch", + "Click the curved toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Move and click the the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Click the red toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Click the curved toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm.", + "Press the red toggle switch using the right arm", + "Activate the switch at the curved toggle switch", + "Use the right arm to press the curved toggle switch.", + "Click the curved toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Use the right arm to press the red toggle switch", + "Click the curved toggle switch using the right arm", + "Click the curved toggle switch with the right arm.", + "Press the red ON OFF labeled toggle switch using the right arm", + "Activate the switch at the red toggle switch", + "Use the right arm to press the red toggle switch.", + "Click the red toggle switch with the right arm", + "Move and click the the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Use the right arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Press the curved toggle switch using the right arm", + "Activate the switch at the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1fdd13d521c2204b9c3532473c4ecafd3636ba --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the slanted-edge plastic black switch using the right arm", + "Initiate the medium-sized black rectangular switch by clicking", + "Interact with the medium-sized black rectangular switch.", + "Trigger the switch with slanted sides using the right arm", + "Click the medium-sized black rectangular switch with robotic precision", + "Trigger the sleek black rectangular switch with precision", + "Deploy the right arm to operate the black switch", + "Activate the the control switch using the right arm", + "Push the black rectangular control switch via the right arm.", + "Approach and tap the compact rectangular black switch via the right arm", + "Locate and press the compact rectangular black switch", + "Click the rectangular switch with smooth surface to activate it", + "Press the black switch with slim profile carefully with the right arm", + "Use the right arm for switching the rectangular switch with smooth surface", + "Toggle the rectangular switch with smooth surface with the right arm.", + "Activate the rectangular switch with smooth surface via the right arm", + "Engage the black switch with slim profile using the right arm.", + "Command the right arm to engage the slanted-edge plastic black switch", + "Engage the switch with slanted sides using the robotic arm", + "Press the sleek black rectangular switch using the right arm.", + "Activate the switch with slanted sides with the right arm.", + "Click the switch with slanted sides using automated tools", + "Use the right arm to interact with the black switch with slim profile", + "Activate the rectangular switch with smooth surface with robotic precision", + "Use the right arm to engage the sleek black rectangular switch", + "Engage the right arm to press the black switch with slim profile", + "Interact with the black rectangular control switch directly", + "Press the slanted-edge plastic black switch directly", + "Locate and press the black switch with matte coating", + "Set the right arm to press the black switch with slim profile", + "Trigger the slanted-edge plastic black switch without referencing the right arm", + "Press the rectangular switch with smooth surface via automation", + "Operate the right arm to engage the compact rectangular black switch", + "Engage the black rectangular control switch with a press.", + "Press the compact rectangular black switch to activate.", + "Deploy the right arm to press the black switch with slim profile", + "Directly interact with the black switch with matte coating", + "Tap the black switch with matte coating to engage it", + "Move to the compact rectangular black switch and click it.", + "Direct the right arm to operate the medium-sized black rectangular switch", + "Activate the black switch by pressing it", + "Switch the black switch with slim profile to its active state", + "Click the black switch with slim profile directly.", + "Press the rectangular switch with smooth surface using robotic control", + "Click on the control switch precisely", + "Operate the switch with slanted sides with the right arm", + "Set the switch at the black switch", + "Activate the black switch directly", + "Engage with the black switch manually", + "Press the slanted-edge plastic black switch with the right arm", + "Engage the black switch using the right arm", + "Initiate the switch with slanted sides by clicking", + "Interact with the switch with slanted sides.", + "Trigger the rectangular switch with smooth surface using the right arm", + "Click the slanted-edge plastic black switch with robotic precision", + "Trigger the sleek black rectangular switch with precision", + "Deploy the right arm to operate the black switch with matte coating", + "Activate the the control switch using the right arm", + "Push the control switch via the right arm.", + "Approach and tap the slanted-edge plastic black switch via the right arm", + "Locate and press the medium-sized black rectangular switch", + "Click the black switch to activate it", + "Press the compact rectangular black switch carefully with the right arm", + "Use the right arm for switching the medium-sized black rectangular switch", + "Toggle the medium-sized black rectangular switch with the right arm.", + "Activate the rectangular switch with smooth surface via the right arm", + "Engage the black switch with matte coating using the right arm.", + "Command the right arm to engage the sleek black rectangular switch", + "Engage the switch with slanted sides using the robotic arm", + "Press the black switch with slim profile using the right arm.", + "Activate the compact rectangular black switch with the right arm.", + "Click the control switch using automated tools", + "Use the right arm to interact with the black switch with matte coating", + "Activate the palm-sized black switch with robotic precision", + "Use the right arm to engage the control switch", + "Engage the right arm to press the black switch with matte coating", + "Interact with the rectangular switch with smooth surface directly", + "Press the medium-sized black rectangular switch directly", + "Locate and press the black switch", + "Set the right arm to press the medium-sized black rectangular switch", + "Trigger the black switch with matte coating without referencing the right arm", + "Press the slanted-edge plastic black switch via automation", + "Operate the right arm to engage the palm-sized black switch", + "Engage the black rectangular control switch with a press.", + "Press the palm-sized black switch to activate.", + "Deploy the right arm to press the black rectangular control switch", + "Directly interact with the switch with slanted sides", + "Tap the compact rectangular black switch to engage it", + "Move to the control switch and click it.", + "Direct the right arm to operate the rectangular switch with smooth surface", + "Activate the sleek black rectangular switch by pressing it", + "Switch the switch with slanted sides to its active state", + "Click the black switch with matte coating directly.", + "Press the rectangular switch with smooth surface using robotic control", + "Click on the black switch with matte coating precisely", + "Operate the control switch with the right arm", + "Set the switch at the rectangular switch with smooth surface", + "Activate the control switch directly", + "Engage with the compact rectangular black switch manually", + "Press the black switch with the right arm" + ], + "unseen": [ + "Use the right arm to press the rectangular black switch.", + "Move and click the the matte black plastic switch", + "Click the rectangular black switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm", + "Use the right arm to press the rectangular black switch", + "Click the smooth black switch with the right arm.", + "Press the matte black plastic switch using the right arm", + "Direct the right arm to click the rectangular black switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the smooth black switch.", + "Move and click the the smooth black switch", + "Click the smooth black switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the rectangular black switch", + "Click the matte black plastic switch with the right arm.", + "Press the rectangular black switch using the right arm", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the matte black plastic switch", + "Use the right arm to press the matte black plastic switch.", + "Move and click the the smooth black switch", + "Click the smooth black switch using the right arm", + "Click the smooth black switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch with the right arm.", + "Press the matte black plastic switch using the right arm", + "Direct the right arm to click the rectangular black switch", + "Activate the switch at the matte black plastic switch", + "Use the right arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Click the matte black plastic switch using the right arm", + "Click the rectangular black switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch with the right arm.", + "Press the smooth black switch using the right arm", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the matte black plastic switch", + "Use the right arm to press the rectangular black switch.", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch with the right arm.", + "Press the smooth black switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Use the right arm to press the matte black plastic switch.", + "Move and click the the matte black plastic switch", + "Click the matte black plastic switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch with the right arm.", + "Press the smooth black switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the rectangular black switch.", + "Move and click the the smooth black switch", + "Click the rectangular black switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch with the right arm.", + "Press the matte black plastic switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Activate the switch at the matte black plastic switch", + "Use the right arm to press the matte black plastic switch.", + "Move and click the the matte black plastic switch", + "Click the rectangular black switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the matte black plastic switch", + "Click the matte black plastic switch with the right arm.", + "Press the rectangular black switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Activate the switch at the smooth black switch", + "Use the right arm to press the matte black plastic switch.", + "Move and click the the rectangular black switch", + "Click the matte black plastic switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Use the right arm to press the matte black plastic switch", + "Click the rectangular black switch with the right arm.", + "Press the matte black plastic switch using the right arm", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the rectangular black switch", + "Use the right arm to press the rectangular black switch.", + "Move and click the the rectangular black switch", + "Click the rectangular black switch using the right arm", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm", + "Use the right arm to press the smooth black switch", + "Click the smooth black switch with the right arm.", + "Press the smooth black switch using the right arm", + "Direct the right arm to click the matte black plastic switch", + "Activate the switch at the matte black plastic switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..9c906db9ef8d65480055288bee91adec38a821ce --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the rectangular black plastic switch using the left arm.", + "Engage the black base switch with red toggle using the robotic arm", + "Tap the red and black switch to engage it", + "Use the left arm to engage the hand-sized switch with connector prongs", + "Trigger the black switch without referencing the left arm", + "Deploy the left arm to press the plastic switch with metal terminals", + "Engage the black base switch with red toggle using the left arm", + "Operate the rectangular switch with curved lever with the left arm", + "Toggle the plastic switch with metal terminals with the left arm.", + "Engage the hand-sized switch with connector prongs with a press.", + "Approach and tap the hand-sized switch with connector prongs via the left arm", + "Initiate the rectangular black plastic switch by clicking", + "Click the black base switch with red toggle to activate it", + "Direct the left arm to operate the switch with curved red toggle", + "Activate the the rectangular switch with curved lever using the left arm", + "Interact with the small switch directly", + "Press the small switch using robotic control", + "Press the red-top black switch with the left arm", + "Set the left arm to press the black base switch with red toggle", + "Locate and press the red-top black switch", + "Engage the left arm to press the black switch with metallic connectors", + "Directly interact with the rectangular switch with curved lever", + "Trigger the black switch with precision", + "Use the left arm for switching the switch with curved red toggle", + "Set the switch at the red-top black switch", + "Operate the left arm to engage the black switch", + "Click on the switch with curved red toggle precisely", + "Activate the black base switch with red toggle by pressing it", + "Press the red-top black switch directly", + "Click the hand-sized switch with connector prongs using automated tools", + "Press the red and black switch via automation", + "Move to the rectangular black plastic switch and click it.", + "Click the red-top black switch directly.", + "Press the small switch using the left arm.", + "Click the small switch with robotic precision", + "Press the rectangular switch with curved lever carefully with the left arm", + "Switch the plastic switch with metal terminals to its active state", + "Activate the compact switch with toggle on top directly", + "Activate the small switch via the left arm", + "Engage with the black switch manually", + "Activate the small switch with the left arm.", + "Locate and press the black switch", + "Use the left arm to interact with the black base switch with red toggle", + "Deploy the left arm to operate the hand-sized switch with connector prongs", + "Trigger the red and black switch using the left arm", + "Activate the red-top black switch with robotic precision", + "Push the compact switch with toggle on top via the left arm.", + "Command the left arm to engage the small switch", + "Press the plastic switch with metal terminals to activate.", + "Interact with the rectangular black plastic switch.", + "Engage the small switch using the left arm.", + "Engage the small switch using the robotic arm", + "Tap the plastic switch with metal terminals to engage it", + "Use the left arm to engage the rectangular black plastic switch", + "Trigger the black switch without referencing the left arm", + "Deploy the left arm to press the black switch with metallic connectors", + "Engage the rectangular switch with curved lever using the left arm", + "Operate the black switch with the left arm", + "Toggle the compact switch with toggle on top with the left arm.", + "Engage the switch with curved red toggle with a press.", + "Approach and tap the compact switch with toggle on top via the left arm", + "Initiate the hand-sized switch with connector prongs by clicking", + "Click the black switch to activate it", + "Direct the left arm to operate the black base switch with red toggle", + "Activate the the black switch using the left arm", + "Interact with the black switch directly", + "Press the red and black switch using robotic control", + "Press the red-top black switch with the left arm", + "Set the left arm to press the hand-sized switch with connector prongs", + "Locate and press the switch with curved red toggle", + "Engage the left arm to press the black switch", + "Directly interact with the hand-sized switch with connector prongs", + "Trigger the red-top black switch with precision", + "Use the left arm for switching the black switch with metallic connectors", + "Set the switch at the black switch", + "Operate the left arm to engage the rectangular black plastic switch", + "Click on the compact switch with toggle on top precisely", + "Activate the black switch with metallic connectors by pressing it", + "Press the plastic switch with metal terminals directly", + "Click the compact switch with toggle on top using automated tools", + "Press the plastic switch with metal terminals via automation", + "Move to the black switch and click it.", + "Click the plastic switch with metal terminals directly.", + "Press the switch with curved red toggle using the left arm.", + "Click the rectangular switch with curved lever with robotic precision", + "Press the hand-sized switch with connector prongs carefully with the left arm", + "Switch the black switch with metallic connectors to its active state", + "Activate the rectangular switch with curved lever directly", + "Activate the plastic switch with metal terminals via the left arm", + "Engage with the hand-sized switch with connector prongs manually", + "Activate the red and black switch with the left arm.", + "Locate and press the plastic switch with metal terminals", + "Use the left arm to interact with the red and black switch", + "Deploy the left arm to operate the rectangular switch with curved lever", + "Trigger the switch with curved red toggle using the left arm", + "Activate the black base switch with red toggle with robotic precision", + "Push the hand-sized switch with connector prongs via the left arm.", + "Command the left arm to engage the black switch", + "Press the red and black switch to activate.", + "Interact with the red and black switch." + ], + "unseen": [ + "Click the smooth black switch with red lever with the left arm.", + "Click the simple toggle switch using the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Click the switch with two metal prongs using the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Click the switch with two metal prongs using the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm.", + "Click the simple toggle switch using the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the simple toggle switch", + "Press the switch with two metal prongs using the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Press the smooth black switch with red lever using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Click the switch with two metal prongs using the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the switch with two metal prongs", + "Press the smooth black switch with red lever using the left arm", + "Click the simple toggle switch with the left arm", + "Click the smooth black switch with red lever with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Click the simple toggle switch using the left arm", + "Move and click the the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the smooth black switch with red lever", + "Press the simple toggle switch using the left arm", + "Click the simple toggle switch with the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the switch with two metal prongs", + "Direct the left arm to click the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the simple toggle switch with the left arm", + "Click the simple toggle switch with the left arm.", + "Click the smooth black switch with red lever using the left arm", + "Move and click the the switch with two metal prongs", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Use the left arm to press the simple toggle switch", + "Direct the left arm to click the switch with two metal prongs", + "Press the simple toggle switch using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the switch with two metal prongs with the left arm.", + "Click the switch with two metal prongs using the left arm", + "Move and click the the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Use the left arm to press the smooth black switch with red lever", + "Direct the left arm to click the smooth black switch with red lever", + "Press the switch with two metal prongs using the left arm", + "Click the switch with two metal prongs with the left arm", + "Click the smooth black switch with red lever with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..db9d172ef751ced1d940d4767bc10b7d1657cb94 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Engage the right arm to press the square gray switch panel", + "Deploy the right arm to operate the switch with rectangular raised area", + "Engage with the small square switch made of plastic manually", + "Activate the switch with rectangular raised area via the right arm", + "Initiate the angled-edge gray square switch by clicking", + "Operate the smooth gray switch with the right arm", + "Locate and press the angled-edge gray square switch", + "Interact with the palm-sized light gray switch directly", + "Press the switch with smooth light gray finish to activate.", + "Engage the square switch with smooth surface with a press.", + "Activate the smooth gray switch by pressing it", + "Move to the angled-edge gray square switch and click it.", + "Trigger the light gray plastic switch with precision", + "Trigger the palm-sized light gray switch without referencing the right arm", + "Press the square gray switch panel via automation", + "Command the right arm to engage the switch for electrical control", + "Deploy the right arm to press the small square switch made of plastic", + "Press the flat square with raised center directly", + "Interact with the palm-sized light gray switch.", + "Use the right arm to engage the small square switch made of plastic", + "Switch the flat square with raised center to its active state", + "Use the right arm to interact with the angled-edge gray square switch", + "Locate and press the smooth gray switch", + "Activate the the angled-edge gray square switch using the right arm", + "Approach and tap the square gray switch panel via the right arm", + "Activate the switch with rectangular raised area with robotic precision", + "Click on the light gray plastic switch precisely", + "Use the right arm for switching the square switch with smooth surface", + "Toggle the small square switch made of plastic with the right arm.", + "Press the small square switch using the right arm.", + "Click the flat square with raised center to activate it", + "Push the small square switch via the right arm.", + "Click the small square switch made of plastic using automated tools", + "Set the right arm to press the square switch with smooth surface", + "Direct the right arm to operate the small square switch made of plastic", + "Directly interact with the switch with smooth light gray finish", + "Engage the small square switch using the right arm.", + "Press the square switch with smooth surface carefully with the right arm", + "Click the angled-edge gray square switch with robotic precision", + "Press the switch for electrical control using robotic control", + "Activate the smooth gray switch with the right arm.", + "Engage the switch with smooth light gray finish using the robotic arm", + "Tap the smooth gray switch to engage it", + "Engage the palm-sized light gray switch using the right arm", + "Press the switch with rectangular raised area with the right arm", + "Trigger the small square switch made of plastic using the right arm", + "Operate the right arm to engage the switch with smooth light gray finish", + "Click the flat square with raised center directly.", + "Set the switch at the switch with smooth light gray finish", + "Activate the small square switch made of plastic directly", + "Engage the right arm to press the square switch with smooth surface", + "Deploy the right arm to operate the square gray switch panel", + "Engage with the square switch with smooth surface manually", + "Activate the angled-edge gray square switch via the right arm", + "Initiate the palm-sized light gray switch by clicking", + "Operate the flat square with raised center with the right arm", + "Locate and press the small square switch", + "Interact with the square switch with smooth surface directly", + "Press the flat square with raised center to activate.", + "Engage the switch with smooth light gray finish with a press.", + "Activate the square switch with smooth surface by pressing it", + "Move to the switch with smooth light gray finish and click it.", + "Trigger the small square switch with precision", + "Trigger the switch for electrical control without referencing the right arm", + "Press the small square switch made of plastic via automation", + "Command the right arm to engage the palm-sized light gray switch", + "Deploy the right arm to press the square switch with smooth surface", + "Press the light gray plastic switch directly", + "Interact with the angled-edge gray square switch.", + "Use the right arm to engage the switch for electrical control", + "Switch the angled-edge gray square switch to its active state", + "Use the right arm to interact with the flat square with raised center", + "Locate and press the flat square with raised center", + "Activate the the square gray switch panel using the right arm", + "Approach and tap the smooth gray switch via the right arm", + "Activate the palm-sized light gray switch with robotic precision", + "Click on the switch with rectangular raised area precisely", + "Use the right arm for switching the square switch with smooth surface", + "Toggle the smooth gray switch with the right arm.", + "Press the angled-edge gray square switch using the right arm.", + "Click the angled-edge gray square switch to activate it", + "Push the small square switch made of plastic via the right arm.", + "Click the switch with rectangular raised area using automated tools", + "Set the right arm to press the angled-edge gray square switch", + "Direct the right arm to operate the light gray plastic switch", + "Directly interact with the square switch with smooth surface", + "Engage the angled-edge gray square switch using the right arm.", + "Press the square switch with smooth surface carefully with the right arm", + "Click the flat square with raised center with robotic precision", + "Press the switch for electrical control using robotic control", + "Activate the square gray switch panel with the right arm.", + "Engage the angled-edge gray square switch using the robotic arm", + "Tap the palm-sized light gray switch to engage it", + "Engage the light gray plastic switch using the right arm", + "Press the palm-sized light gray switch with the right arm", + "Trigger the square switch with smooth surface using the right arm", + "Operate the right arm to engage the switch for electrical control", + "Click the square switch with smooth surface directly.", + "Set the switch at the palm-sized light gray switch", + "Activate the switch with smooth light gray finish directly" + ], + "unseen": [ + "Direct the right arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Move and click the the flat gray switch", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Press the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm.", + "Move and click the the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Move and click the the flat gray switch", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges.", + "Direct the right arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Move and click the the switch with angled edges", + "Activate the switch at the flat gray switch", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Press the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Move and click the the switch with angled edges", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Press the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Move and click the the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Press the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm.", + "Move and click the the flat gray switch", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the flat gray switch", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..02ac1f25e254a30f20855cbf0941af0e90e05740 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the red-top black switch precisely", + "Press the small switch directly", + "Tap the black base switch with red toggle to engage it", + "Approach and tap the black switch via the right arm", + "Activate the plastic switch with metal terminals with the right arm.", + "Direct the right arm to operate the black switch with metallic connectors", + "Trigger the small switch using the right arm", + "Trigger the black switch with metallic connectors without referencing the right arm", + "Engage the right arm to press the black switch with metallic connectors", + "Interact with the black base switch with red toggle directly", + "Set the right arm to press the black switch", + "Initiate the compact switch with toggle on top by clicking", + "Activate the switch with curved red toggle via the right arm", + "Trigger the black base switch with red toggle with precision", + "Press the small switch via automation", + "Press the small switch to activate.", + "Click the rectangular switch with curved lever directly.", + "Operate the right arm to engage the plastic switch with metal terminals", + "Command the right arm to engage the small switch", + "Interact with the rectangular switch with curved lever.", + "Activate the black switch by pressing it", + "Press the rectangular black plastic switch with the right arm", + "Activate the the compact switch with toggle on top using the right arm", + "Use the right arm for switching the hand-sized switch with connector prongs", + "Click the black switch with robotic precision", + "Deploy the right arm to operate the small switch", + "Toggle the black base switch with red toggle with the right arm.", + "Deploy the right arm to press the black switch", + "Engage the plastic switch with metal terminals using the robotic arm", + "Switch the rectangular switch with curved lever to its active state", + "Activate the black base switch with red toggle with robotic precision", + "Locate and press the black switch", + "Directly interact with the rectangular black plastic switch", + "Use the right arm to interact with the black base switch with red toggle", + "Set the switch at the plastic switch with metal terminals", + "Activate the red-top black switch directly", + "Locate and press the black switch", + "Operate the hand-sized switch with connector prongs with the right arm", + "Engage the black switch with metallic connectors using the right arm", + "Engage the compact switch with toggle on top using the right arm.", + "Click the small switch using automated tools", + "Press the switch with curved red toggle using the right arm.", + "Press the black switch with metallic connectors carefully with the right arm", + "Push the black switch via the right arm.", + "Engage the black switch with a press.", + "Press the red-top black switch using robotic control", + "Click the hand-sized switch with connector prongs to activate it", + "Engage with the red and black switch manually", + "Move to the black base switch with red toggle and click it.", + "Use the right arm to engage the red-top black switch", + "Click on the red and black switch precisely", + "Press the black base switch with red toggle directly", + "Tap the small switch to engage it", + "Approach and tap the black switch with metallic connectors via the right arm", + "Activate the hand-sized switch with connector prongs with the right arm.", + "Direct the right arm to operate the plastic switch with metal terminals", + "Trigger the compact switch with toggle on top using the right arm", + "Trigger the switch with curved red toggle without referencing the right arm", + "Engage the right arm to press the switch with curved red toggle", + "Interact with the plastic switch with metal terminals directly", + "Set the right arm to press the hand-sized switch with connector prongs", + "Initiate the compact switch with toggle on top by clicking", + "Activate the switch with curved red toggle via the right arm", + "Trigger the red and black switch with precision", + "Press the compact switch with toggle on top via automation", + "Press the rectangular black plastic switch to activate.", + "Click the small switch directly.", + "Operate the right arm to engage the hand-sized switch with connector prongs", + "Command the right arm to engage the black base switch with red toggle", + "Interact with the compact switch with toggle on top.", + "Activate the hand-sized switch with connector prongs by pressing it", + "Press the rectangular black plastic switch with the right arm", + "Activate the the plastic switch with metal terminals using the right arm", + "Use the right arm for switching the black switch with metallic connectors", + "Click the black switch with metallic connectors with robotic precision", + "Deploy the right arm to operate the switch with curved red toggle", + "Toggle the red and black switch with the right arm.", + "Deploy the right arm to press the black switch", + "Engage the small switch using the robotic arm", + "Switch the rectangular black plastic switch to its active state", + "Activate the black switch with robotic precision", + "Locate and press the compact switch with toggle on top", + "Directly interact with the rectangular switch with curved lever", + "Use the right arm to interact with the rectangular switch with curved lever", + "Set the switch at the plastic switch with metal terminals", + "Activate the compact switch with toggle on top directly", + "Locate and press the hand-sized switch with connector prongs", + "Operate the rectangular switch with curved lever with the right arm", + "Engage the black base switch with red toggle using the right arm", + "Engage the red and black switch using the right arm.", + "Click the switch with curved red toggle using automated tools", + "Press the black base switch with red toggle using the right arm.", + "Press the small switch carefully with the right arm", + "Push the small switch via the right arm.", + "Engage the black switch with a press.", + "Press the rectangular switch with curved lever using robotic control", + "Click the black switch to activate it", + "Engage with the red and black switch manually", + "Move to the compact switch with toggle on top and click it.", + "Use the right arm to engage the hand-sized switch with connector prongs" + ], + "unseen": [ + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs with the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Press the smooth black switch with red lever using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Click the simple toggle switch with the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the switch with two metal prongs.", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Press the simple toggle switch using the right arm", + "Use the right arm to press the simple toggle switch.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever with the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the simple toggle switch", + "Press the switch with two metal prongs using the right arm", + "Use the right arm to press the smooth black switch with red lever.", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm.", + "Click the simple toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a120196f28e11441455880126800833ca9a9be --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Operate the angled switch light tan color with the left arm", + "Move to the trapezoid-shaped switch smooth surface and click it.", + "Trigger the rectangular switch with slanted sides without referencing the left arm", + "Activate the hand-sized switch tan smooth finish directly", + "Use the left arm to interact with the plastic switch with angled edges", + "Deploy the left arm to press the small light tan switch", + "Switch the switch with darker rectangle to its active state", + "Activate the small light tan switch by pressing it", + "Engage the switch trapezoid shape brown marking using the robotic arm", + "Click the rectangular switch with slanted sides directly.", + "Locate and press the tan switch", + "Engage with the smooth tan switch with textured sides manually", + "Press the small light tan switch directly", + "Use the left arm to engage the flat switch", + "Set the left arm to press the hand-sized switch tan smooth finish", + "Locate and press the switch trapezoid shape brown marking", + "Direct the left arm to operate the switch trapezoid shape brown marking", + "Click the tan switch to activate it", + "Press the tan switch to activate.", + "Activate the flat switch with robotic precision", + "Operate the left arm to engage the tan switch", + "Click the trapezoid-shaped switch smooth surface using automated tools", + "Push the tan switch via the left arm.", + "Initiate the plastic switch with angled edges by clicking", + "Deploy the left arm to operate the trapezoid-shaped switch smooth surface", + "Interact with the switch with darker rectangle.", + "Engage the smooth tan switch with textured sides using the left arm", + "Engage the smooth tan switch with textured sides using the left arm.", + "Approach and tap the trapezoid-shaped switch smooth surface via the left arm", + "Use the left arm for switching the flat switch", + "Trigger the angled switch light tan color with precision", + "Set the switch at the tan switch", + "Press the switch with darker rectangle carefully with the left arm", + "Press the light tan rectangular switch smooth finish with the left arm", + "Activate the light tan rectangular switch smooth finish with the left arm.", + "Toggle the switch with darker rectangle with the left arm.", + "Trigger the flat switch using the left arm", + "Engage the left arm to press the trapezoid-shaped switch smooth surface", + "Press the smooth tan switch with textured sides using robotic control", + "Click the trapezoid-shaped switch smooth surface with robotic precision", + "Directly interact with the rectangular switch with slanted sides", + "Tap the plastic switch with angled edges to engage it", + "Activate the tan switch via the left arm", + "Click on the switch with darker rectangle precisely", + "Press the rectangular switch with slanted sides using the left arm.", + "Interact with the switch with darker rectangle directly", + "Engage the small light tan switch with a press.", + "Press the rectangular switch with slanted sides via automation", + "Activate the the switch trapezoid shape brown marking using the left arm", + "Command the left arm to engage the light tan rectangular switch smooth finish", + "Operate the angled switch light tan color with the left arm", + "Move to the smooth tan switch with textured sides and click it.", + "Trigger the switch trapezoid shape brown marking without referencing the left arm", + "Activate the flat switch directly", + "Use the left arm to interact with the light tan rectangular switch smooth finish", + "Deploy the left arm to press the tan switch", + "Switch the angled switch light tan color to its active state", + "Activate the switch with darker rectangle by pressing it", + "Engage the angled switch light tan color using the robotic arm", + "Click the small light tan switch directly.", + "Locate and press the smooth tan switch with textured sides", + "Engage with the flat switch manually", + "Press the trapezoid-shaped switch smooth surface directly", + "Use the left arm to engage the flat switch", + "Set the left arm to press the plastic switch with angled edges", + "Locate and press the plastic switch with angled edges", + "Direct the left arm to operate the trapezoid-shaped switch smooth surface", + "Click the tan switch to activate it", + "Press the switch with darker rectangle to activate.", + "Activate the angled switch light tan color with robotic precision", + "Operate the left arm to engage the trapezoid-shaped switch smooth surface", + "Click the tan switch using automated tools", + "Push the switch with darker rectangle via the left arm.", + "Initiate the switch with darker rectangle by clicking", + "Deploy the left arm to operate the small light tan switch", + "Interact with the switch trapezoid shape brown marking.", + "Engage the trapezoid-shaped switch smooth surface using the left arm", + "Engage the tan switch using the left arm.", + "Approach and tap the switch trapezoid shape brown marking via the left arm", + "Use the left arm for switching the trapezoid-shaped switch smooth surface", + "Trigger the switch trapezoid shape brown marking with precision", + "Set the switch at the flat switch", + "Press the switch trapezoid shape brown marking carefully with the left arm", + "Press the angled switch light tan color with the left arm", + "Activate the hand-sized switch tan smooth finish with the left arm.", + "Toggle the small light tan switch with the left arm.", + "Trigger the trapezoid-shaped switch smooth surface using the left arm", + "Engage the left arm to press the switch trapezoid shape brown marking", + "Press the tan switch using robotic control", + "Click the plastic switch with angled edges with robotic precision", + "Directly interact with the trapezoid-shaped switch smooth surface", + "Tap the angled switch light tan color to engage it", + "Activate the flat switch via the left arm", + "Click on the smooth tan switch with textured sides precisely", + "Press the tan switch using the left arm.", + "Interact with the plastic switch with angled edges directly", + "Engage the small light tan switch with a press.", + "Press the switch trapezoid shape brown marking via automation", + "Activate the the trapezoid-shaped switch smooth surface using the left arm", + "Command the left arm to engage the smooth tan switch with textured sides" + ], + "unseen": [ + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the switch flat tan top brown rectangle using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Use the left arm to press the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Use the left arm to press the small flat switch tan top", + "Click the small flat switch tan top with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the switch flat tan top brown rectangle.", + "Use the left arm to press the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the small flat switch tan top using the left arm", + "Direct the left arm to click the lightweight plastic switch angled edges", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top using the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the switch flat tan top brown rectangle with the left arm", + "Move and click the the small flat switch tan top", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the small flat switch tan top with the left arm.", + "Click the small flat switch tan top using the left arm", + "Click the small flat switch tan top with the left arm", + "Use the left arm to press the small flat switch tan top.", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the left arm.", + "Click the small flat switch tan top using the left arm", + "Click the lightweight plastic switch angled edges with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Use the left arm to press the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the switch flat tan top brown rectangle", + "Press the lightweight plastic switch angled edges using the left arm", + "Direct the left arm to click the switch flat tan top brown rectangle", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm", + "Click the switch flat tan top brown rectangle with the left arm", + "Use the left arm to press the lightweight plastic switch angled edges.", + "Use the left arm to press the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the left arm", + "Move and click the the lightweight plastic switch angled edges", + "Press the switch flat tan top brown rectangle using the left arm", + "Direct the left arm to click the small flat switch tan top", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the left arm.", + "Click the lightweight plastic switch angled edges using the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..5549b35d8823e9d1a143b56404e24d9c7549add5 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the black base switch with red toggle to activate.", + "Click on the hand-sized switch with connector prongs precisely", + "Press the rectangular black plastic switch directly", + "Deploy the right arm to operate the rectangular black plastic switch", + "Activate the the red and black switch using the right arm", + "Use the right arm for switching the rectangular switch with curved lever", + "Tap the rectangular black plastic switch to engage it", + "Engage with the rectangular switch with curved lever manually", + "Push the black switch with metallic connectors via the right arm.", + "Initiate the compact switch with toggle on top by clicking", + "Trigger the black switch with metallic connectors with precision", + "Activate the black switch by pressing it", + "Click the plastic switch with metal terminals directly.", + "Use the right arm to engage the red-top black switch", + "Activate the black base switch with red toggle with robotic precision", + "Click the switch with curved red toggle using automated tools", + "Activate the black switch with the right arm.", + "Click the hand-sized switch with connector prongs with robotic precision", + "Trigger the small switch using the right arm", + "Press the compact switch with toggle on top with the right arm", + "Click the red and black switch to activate it", + "Engage the black switch with metallic connectors using the right arm.", + "Press the red and black switch carefully with the right arm", + "Approach and tap the hand-sized switch with connector prongs via the right arm", + "Deploy the right arm to press the black switch with metallic connectors", + "Set the right arm to press the black switch", + "Press the hand-sized switch with connector prongs using the right arm.", + "Toggle the rectangular switch with curved lever with the right arm.", + "Move to the hand-sized switch with connector prongs and click it.", + "Activate the plastic switch with metal terminals directly", + "Activate the hand-sized switch with connector prongs via the right arm", + "Locate and press the switch with curved red toggle", + "Engage the plastic switch with metal terminals using the robotic arm", + "Press the red-top black switch via automation", + "Operate the rectangular switch with curved lever with the right arm", + "Locate and press the compact switch with toggle on top", + "Interact with the black switch with metallic connectors.", + "Direct the right arm to operate the black switch with metallic connectors", + "Directly interact with the rectangular switch with curved lever", + "Engage the right arm to press the rectangular switch with curved lever", + "Operate the right arm to engage the red and black switch", + "Press the switch with curved red toggle using robotic control", + "Use the right arm to interact with the rectangular switch with curved lever", + "Engage the compact switch with toggle on top using the right arm", + "Engage the plastic switch with metal terminals with a press.", + "Interact with the black base switch with red toggle directly", + "Switch the switch with curved red toggle to its active state", + "Command the right arm to engage the switch with curved red toggle", + "Set the switch at the red-top black switch", + "Trigger the rectangular black plastic switch without referencing the right arm", + "Press the plastic switch with metal terminals to activate.", + "Click on the switch with curved red toggle precisely", + "Press the plastic switch with metal terminals directly", + "Deploy the right arm to operate the switch with curved red toggle", + "Activate the the red-top black switch using the right arm", + "Use the right arm for switching the black switch with metallic connectors", + "Tap the black switch to engage it", + "Engage with the black switch manually", + "Push the red-top black switch via the right arm.", + "Initiate the black switch by clicking", + "Trigger the black base switch with red toggle with precision", + "Activate the small switch by pressing it", + "Click the compact switch with toggle on top directly.", + "Use the right arm to engage the rectangular switch with curved lever", + "Activate the black base switch with red toggle with robotic precision", + "Click the red-top black switch using automated tools", + "Activate the rectangular black plastic switch with the right arm.", + "Click the red and black switch with robotic precision", + "Trigger the rectangular switch with curved lever using the right arm", + "Press the black switch with metallic connectors with the right arm", + "Click the switch with curved red toggle to activate it", + "Engage the rectangular switch with curved lever using the right arm.", + "Press the rectangular switch with curved lever carefully with the right arm", + "Approach and tap the hand-sized switch with connector prongs via the right arm", + "Deploy the right arm to press the black base switch with red toggle", + "Set the right arm to press the plastic switch with metal terminals", + "Press the black switch with metallic connectors using the right arm.", + "Toggle the plastic switch with metal terminals with the right arm.", + "Move to the black base switch with red toggle and click it.", + "Activate the rectangular switch with curved lever directly", + "Activate the plastic switch with metal terminals via the right arm", + "Locate and press the switch with curved red toggle", + "Engage the switch with curved red toggle using the robotic arm", + "Press the plastic switch with metal terminals via automation", + "Operate the switch with curved red toggle with the right arm", + "Locate and press the red-top black switch", + "Interact with the small switch.", + "Direct the right arm to operate the hand-sized switch with connector prongs", + "Directly interact with the red and black switch", + "Engage the right arm to press the rectangular black plastic switch", + "Operate the right arm to engage the switch with curved red toggle", + "Press the small switch using robotic control", + "Use the right arm to interact with the red and black switch", + "Engage the hand-sized switch with connector prongs using the right arm", + "Engage the red-top black switch with a press.", + "Interact with the red and black switch directly", + "Switch the red and black switch to its active state", + "Command the right arm to engage the red-top black switch", + "Set the switch at the compact switch with toggle on top", + "Trigger the rectangular black plastic switch without referencing the right arm" + ], + "unseen": [ + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Click the simple toggle switch with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Move and click the the simple toggle switch", + "Use the right arm to press the simple toggle switch", + "Click the switch with two metal prongs with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the simple toggle switch.", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Press the simple toggle switch using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Activate the switch at the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs", + "Click the switch with two metal prongs with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Move and click the the simple toggle switch", + "Use the right arm to press the smooth black switch with red lever", + "Click the smooth black switch with red lever with the right arm.", + "Press the smooth black switch with red lever using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm", + "Activate the switch at the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch", + "Click the simple toggle switch with the right arm.", + "Press the switch with two metal prongs using the right arm", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..e00737b24175e8ee6ed5debd01ea18b671b458d0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Tap the small square switch to engage it", + "Trigger the switch with rectangular raised area using the right arm", + "Activate the switch with rectangular raised area with robotic precision", + "Press the switch with smooth light gray finish using robotic control", + "Press the square gray switch panel with the right arm", + "Locate and press the switch for electrical control", + "Locate and press the flat square with raised center", + "Toggle the flat square with raised center with the right arm.", + "Operate the right arm to engage the smooth gray switch", + "Move to the switch with smooth light gray finish and click it.", + "Operate the smooth gray switch with the right arm", + "Engage with the switch with smooth light gray finish manually", + "Push the light gray plastic switch via the right arm.", + "Engage the switch with rectangular raised area using the right arm", + "Trigger the small square switch made of plastic without referencing the right arm", + "Activate the switch with smooth light gray finish with the right arm.", + "Activate the palm-sized light gray switch directly", + "Set the right arm to press the light gray plastic switch", + "Click the light gray plastic switch using automated tools", + "Press the switch for electrical control via automation", + "Interact with the palm-sized light gray switch directly", + "Use the right arm to engage the square switch with smooth surface", + "Activate the angled-edge gray square switch by pressing it", + "Interact with the switch with rectangular raised area.", + "Press the angled-edge gray square switch using the right arm.", + "Engage the angled-edge gray square switch using the robotic arm", + "Use the right arm to interact with the small square switch", + "Engage the right arm to press the small square switch made of plastic", + "Trigger the light gray plastic switch with precision", + "Press the square switch with smooth surface to activate.", + "Direct the right arm to operate the switch with rectangular raised area", + "Switch the square switch with smooth surface to its active state", + "Use the right arm for switching the angled-edge gray square switch", + "Command the right arm to engage the light gray plastic switch", + "Click the switch for electrical control with robotic precision", + "Press the small square switch made of plastic carefully with the right arm", + "Activate the the switch with rectangular raised area using the right arm", + "Click on the switch with rectangular raised area precisely", + "Deploy the right arm to press the angled-edge gray square switch", + "Deploy the right arm to operate the square gray switch panel", + "Directly interact with the switch with rectangular raised area", + "Press the flat square with raised center directly", + "Set the switch at the switch with rectangular raised area", + "Click the switch for electrical control to activate it", + "Engage the angled-edge gray square switch using the right arm.", + "Initiate the light gray plastic switch by clicking", + "Click the palm-sized light gray switch directly.", + "Engage the switch with rectangular raised area with a press.", + "Activate the switch with rectangular raised area via the right arm", + "Approach and tap the smooth gray switch via the right arm", + "Tap the small square switch made of plastic to engage it", + "Trigger the square switch with smooth surface using the right arm", + "Activate the small square switch made of plastic with robotic precision", + "Press the square switch with smooth surface using robotic control", + "Press the flat square with raised center with the right arm", + "Locate and press the flat square with raised center", + "Locate and press the small square switch made of plastic", + "Toggle the small square switch made of plastic with the right arm.", + "Operate the right arm to engage the switch with rectangular raised area", + "Move to the switch with rectangular raised area and click it.", + "Operate the small square switch made of plastic with the right arm", + "Engage with the switch with rectangular raised area manually", + "Push the angled-edge gray square switch via the right arm.", + "Engage the switch for electrical control using the right arm", + "Trigger the smooth gray switch without referencing the right arm", + "Activate the angled-edge gray square switch with the right arm.", + "Activate the smooth gray switch directly", + "Set the right arm to press the small square switch made of plastic", + "Click the square gray switch panel using automated tools", + "Press the flat square with raised center via automation", + "Interact with the small square switch made of plastic directly", + "Use the right arm to engage the flat square with raised center", + "Activate the square switch with smooth surface by pressing it", + "Interact with the small square switch.", + "Press the switch with smooth light gray finish using the right arm.", + "Engage the smooth gray switch using the robotic arm", + "Use the right arm to interact with the small square switch made of plastic", + "Engage the right arm to press the flat square with raised center", + "Trigger the small square switch made of plastic with precision", + "Press the palm-sized light gray switch to activate.", + "Direct the right arm to operate the switch with rectangular raised area", + "Switch the smooth gray switch to its active state", + "Use the right arm for switching the palm-sized light gray switch", + "Command the right arm to engage the palm-sized light gray switch", + "Click the small square switch with robotic precision", + "Press the switch for electrical control carefully with the right arm", + "Activate the the square gray switch panel using the right arm", + "Click on the switch with rectangular raised area precisely", + "Deploy the right arm to press the switch with rectangular raised area", + "Deploy the right arm to operate the palm-sized light gray switch", + "Directly interact with the switch with rectangular raised area", + "Press the switch for electrical control directly", + "Set the switch at the flat square with raised center", + "Click the square switch with smooth surface to activate it", + "Engage the palm-sized light gray switch using the right arm.", + "Initiate the small square switch made of plastic by clicking", + "Click the switch for electrical control directly.", + "Engage the switch with rectangular raised area with a press.", + "Activate the square gray switch panel via the right arm", + "Approach and tap the switch with rectangular raised area via the right arm" + ], + "unseen": [ + "Click the gray switch with slanted sides with the right arm", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the flat gray switch", + "Use the right arm to press the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Press the switch with angled edges using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Move and click the the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm.", + "Press the flat gray switch using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the right arm.", + "Press the switch with angled edges using the right arm", + "Move and click the the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Press the switch with angled edges using the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Click the flat gray switch with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the switch with angled edges", + "Use the right arm to press the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides.", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Press the flat gray switch using the right arm", + "Move and click the the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides", + "Use the right arm to press the flat gray switch.", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Press the switch with angled edges using the right arm", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Use the right arm to press the flat gray switch", + "Use the right arm to press the switch with angled edges.", + "Activate the switch at the flat gray switch", + "Click the flat gray switch with the right arm.", + "Press the gray switch with slanted sides using the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..8f022aa4e5e4e8ade72946d44e05c54cf32ee200 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the handheld switch directly", + "Press the medium switch with trapezoidal base to activate.", + "Activate the the plastic switch with matte buttons using the right arm", + "Push the plastic switch with matte buttons via the right arm.", + "Approach and tap the trapezoidal base switch via the right arm", + "Engage with the plastic switch with matte buttons manually", + "Click the handheld switch to activate it", + "Operate the right arm to engage the trapezoidal base switch", + "Activate the gray smooth surface switch with robotic precision", + "Click the smooth gray switch with robotic precision", + "Press the switch with trapezoidal base carefully with the right arm", + "Use the right arm for switching the handheld switch", + "Initiate the electric toggle switch by clicking", + "Activate the plastic switch with matte buttons via the right arm", + "Trigger the switch with trapezoidal base with precision", + "Press the electric toggle switch via automation", + "Trigger the medium switch with trapezoidal base using the right arm", + "Locate and press the gray plastic switch", + "Deploy the right arm to press the switch with trapezoidal base", + "Activate the handheld switch by pressing it", + "Press the gray base with black buttons using the right arm.", + "Click the trapezoidal base switch using automated tools", + "Use the right arm to interact with the switch with trapezoidal base", + "Use the right arm to engage the two-button gray switch", + "Direct the right arm to operate the two-button gray switch", + "Click on the plastic switch with matte buttons precisely", + "Activate the medium switch with trapezoidal base with the right arm.", + "Click the medium switch with trapezoidal base directly.", + "Engage the medium switch with trapezoidal base using the right arm", + "Engage the electric toggle switch with a press.", + "Operate the smooth gray switch with the right arm", + "Press the plastic switch with matte buttons directly", + "Locate and press the switch with trapezoidal base", + "Press the gray base with black buttons with the right arm", + "Toggle the gray switch with black buttons with the right arm.", + "Engage the switch with trapezoidal base using the robotic arm", + "Set the right arm to press the handheld switch", + "Tap the plastic switch with matte buttons to engage it", + "Interact with the gray smooth surface switch.", + "Switch the switch with trapezoidal base to its active state", + "Deploy the right arm to operate the two-button gray switch", + "Trigger the trapezoidal base switch without referencing the right arm", + "Press the gray smooth surface switch using robotic control", + "Engage the right arm to press the handheld switch", + "Move to the handheld switch and click it.", + "Set the switch at the electric toggle switch", + "Command the right arm to engage the trapezoidal base switch", + "Interact with the trapezoidal base switch directly", + "Engage the two-button gray switch using the right arm.", + "Directly interact with the electric toggle switch", + "Activate the handheld switch directly", + "Press the medium switch with trapezoidal base to activate.", + "Activate the the gray plastic switch using the right arm", + "Push the gray switch with black buttons via the right arm.", + "Approach and tap the gray plastic switch via the right arm", + "Engage with the medium switch with trapezoidal base manually", + "Click the switch with trapezoidal base to activate it", + "Operate the right arm to engage the two-button gray switch", + "Activate the gray smooth surface switch with robotic precision", + "Click the smooth gray switch with robotic precision", + "Press the gray switch with black buttons carefully with the right arm", + "Use the right arm for switching the gray smooth surface switch", + "Initiate the gray plastic switch by clicking", + "Activate the electric toggle switch via the right arm", + "Trigger the trapezoidal base switch with precision", + "Press the medium switch with trapezoidal base via automation", + "Trigger the handheld switch using the right arm", + "Locate and press the handheld switch", + "Deploy the right arm to press the smooth gray switch", + "Activate the electric toggle switch by pressing it", + "Press the smooth gray switch using the right arm.", + "Click the gray smooth surface switch using automated tools", + "Use the right arm to interact with the gray plastic switch", + "Use the right arm to engage the electric toggle switch", + "Direct the right arm to operate the gray plastic switch", + "Click on the handheld switch precisely", + "Activate the gray smooth surface switch with the right arm.", + "Click the electric toggle switch directly.", + "Engage the gray smooth surface switch using the right arm", + "Engage the two-button gray switch with a press.", + "Operate the gray base with black buttons with the right arm", + "Press the switch with trapezoidal base directly", + "Locate and press the gray switch with black buttons", + "Press the two-button gray switch with the right arm", + "Toggle the plastic switch with matte buttons with the right arm.", + "Engage the trapezoidal base switch using the robotic arm", + "Set the right arm to press the handheld switch", + "Tap the gray plastic switch to engage it", + "Interact with the gray smooth surface switch.", + "Switch the trapezoidal base switch to its active state", + "Deploy the right arm to operate the gray plastic switch", + "Trigger the electric toggle switch without referencing the right arm", + "Press the gray base with black buttons using robotic control", + "Engage the right arm to press the switch with trapezoidal base", + "Move to the switch with trapezoidal base and click it.", + "Set the switch at the handheld switch", + "Command the right arm to engage the switch with trapezoidal base", + "Interact with the plastic switch with matte buttons directly", + "Engage the two-button gray switch using the right arm.", + "Directly interact with the two-button gray switch" + ], + "unseen": [ + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Move and click the the gray switch", + "Use the right arm to press the gray switch.", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch", + "Press the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Move and click the the gray switch medium size", + "Use the right arm to press the gray switch medium size.", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch", + "Click the gray switch medium size with the right arm.", + "Move and click the the switch with circular black buttons", + "Use the right arm to press the gray switch.", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch", + "Click the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Move and click the the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the switch with circular black buttons", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Move and click the the switch with circular black buttons", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Click the gray switch with the right arm.", + "Move and click the the gray switch", + "Use the right arm to press the gray switch.", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the right arm", + "Activate the switch at the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Move and click the the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch medium size using the right arm", + "Activate the switch at the switch with circular black buttons", + "Press the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch medium size with the right arm.", + "Move and click the the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch medium size", + "Click the gray switch medium size using the right arm", + "Activate the switch at the gray switch medium size", + "Press the gray switch medium size using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Move and click the the gray switch", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Press the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Move and click the the gray switch medium size", + "Use the right arm to press the switch with circular black buttons.", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch", + "Click the gray switch using the right arm", + "Activate the switch at the gray switch medium size", + "Press the gray switch using the right arm", + "Click the gray switch with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..acd589cd42ef283181c85d1b110c6dacc7229ade --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Deploy the right arm to operate the plastic switch with matte buttons", + "Press the electric toggle switch with the right arm", + "Trigger the gray smooth surface switch with precision", + "Interact with the gray smooth surface switch.", + "Deploy the right arm to press the handheld switch", + "Toggle the two-button gray switch with the right arm.", + "Trigger the electric toggle switch without referencing the right arm", + "Press the trapezoidal base switch using robotic control", + "Trigger the gray switch with black buttons using the right arm", + "Move to the plastic switch with matte buttons and click it.", + "Operate the medium switch with trapezoidal base with the right arm", + "Use the right arm to engage the electric toggle switch", + "Locate and press the two-button gray switch", + "Press the gray plastic switch using the right arm.", + "Push the electric toggle switch via the right arm.", + "Engage the trapezoidal base switch using the robotic arm", + "Engage with the gray plastic switch manually", + "Set the right arm to press the trapezoidal base switch", + "Command the right arm to engage the switch with trapezoidal base", + "Click the gray smooth surface switch to activate it", + "Press the gray switch with black buttons directly", + "Click the electric toggle switch with robotic precision", + "Click on the plastic switch with matte buttons precisely", + "Interact with the gray switch with black buttons directly", + "Engage the right arm to press the gray smooth surface switch", + "Engage the handheld switch using the right arm", + "Activate the gray smooth surface switch by pressing it", + "Activate the gray switch with black buttons via the right arm", + "Direct the right arm to operate the switch with trapezoidal base", + "Press the electric toggle switch via automation", + "Click the switch with trapezoidal base directly.", + "Use the right arm to interact with the smooth gray switch", + "Engage the switch with trapezoidal base using the right arm.", + "Activate the gray switch with black buttons with the right arm.", + "Switch the gray plastic switch to its active state", + "Approach and tap the gray base with black buttons via the right arm", + "Activate the medium switch with trapezoidal base directly", + "Press the handheld switch to activate.", + "Initiate the smooth gray switch by clicking", + "Operate the right arm to engage the gray base with black buttons", + "Activate the the medium switch with trapezoidal base using the right arm", + "Use the right arm for switching the electric toggle switch", + "Press the medium switch with trapezoidal base carefully with the right arm", + "Directly interact with the two-button gray switch", + "Engage the gray switch with black buttons with a press.", + "Locate and press the handheld switch", + "Set the switch at the gray switch with black buttons", + "Activate the smooth gray switch with robotic precision", + "Click the smooth gray switch using automated tools", + "Tap the gray base with black buttons to engage it", + "Deploy the right arm to operate the trapezoidal base switch", + "Press the gray switch with black buttons with the right arm", + "Trigger the gray plastic switch with precision", + "Interact with the smooth gray switch.", + "Deploy the right arm to press the electric toggle switch", + "Toggle the plastic switch with matte buttons with the right arm.", + "Trigger the plastic switch with matte buttons without referencing the right arm", + "Press the switch with trapezoidal base using robotic control", + "Trigger the gray plastic switch using the right arm", + "Move to the gray plastic switch and click it.", + "Operate the electric toggle switch with the right arm", + "Use the right arm to engage the gray plastic switch", + "Locate and press the gray smooth surface switch", + "Press the two-button gray switch using the right arm.", + "Push the smooth gray switch via the right arm.", + "Engage the medium switch with trapezoidal base using the robotic arm", + "Engage with the medium switch with trapezoidal base manually", + "Set the right arm to press the two-button gray switch", + "Command the right arm to engage the trapezoidal base switch", + "Click the plastic switch with matte buttons to activate it", + "Press the trapezoidal base switch directly", + "Click the switch with trapezoidal base with robotic precision", + "Click on the trapezoidal base switch precisely", + "Interact with the smooth gray switch directly", + "Engage the right arm to press the smooth gray switch", + "Engage the switch with trapezoidal base using the right arm", + "Activate the medium switch with trapezoidal base by pressing it", + "Activate the plastic switch with matte buttons via the right arm", + "Direct the right arm to operate the gray base with black buttons", + "Press the two-button gray switch via automation", + "Click the medium switch with trapezoidal base directly.", + "Use the right arm to interact with the plastic switch with matte buttons", + "Engage the switch with trapezoidal base using the right arm.", + "Activate the plastic switch with matte buttons with the right arm.", + "Switch the switch with trapezoidal base to its active state", + "Approach and tap the gray switch with black buttons via the right arm", + "Activate the trapezoidal base switch directly", + "Press the trapezoidal base switch to activate.", + "Initiate the handheld switch by clicking", + "Operate the right arm to engage the handheld switch", + "Activate the the medium switch with trapezoidal base using the right arm", + "Use the right arm for switching the plastic switch with matte buttons", + "Press the trapezoidal base switch carefully with the right arm", + "Directly interact with the electric toggle switch", + "Engage the trapezoidal base switch with a press.", + "Locate and press the plastic switch with matte buttons", + "Set the switch at the gray base with black buttons", + "Activate the electric toggle switch with robotic precision", + "Click the handheld switch using automated tools", + "Tap the gray smooth surface switch to engage it" + ], + "unseen": [ + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the gray switch medium size", + "Press the gray switch using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons using the right arm", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch medium size.", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch.", + "Activate the switch at the gray switch", + "Click the gray switch medium size with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch", + "Move and click the the switch with circular black buttons", + "Press the gray switch medium size using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the gray switch medium size.", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch medium size", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch", + "Click the switch with circular black buttons using the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the switch with circular black buttons", + "Click the gray switch using the right arm", + "Click the gray switch medium size with the right arm", + "Use the right arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch medium size", + "Click the switch with circular black buttons with the right arm.", + "Click the gray switch medium size with the right arm", + "Direct the right arm to click the gray switch medium size", + "Move and click the the gray switch", + "Press the switch with circular black buttons using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the gray switch using the right arm", + "Click the gray switch with the right arm", + "Use the right arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm.", + "Click the switch with circular black buttons with the right arm", + "Direct the right arm to click the switch with circular black buttons", + "Move and click the the gray switch medium size", + "Press the gray switch using the right arm", + "Use the right arm to press the gray switch medium size", + "Click the gray switch using the right arm", + "Click the switch with circular black buttons with the right arm", + "Use the right arm to press the gray switch.", + "Activate the switch at the gray switch", + "Click the switch with circular black buttons with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..5de5080a31316a27c476577387c223dfc28b5418 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to engage the light gray plastic switch", + "Move to the switch for electrical control and click it.", + "Toggle the square gray switch panel with the right arm.", + "Use the right arm to interact with the square switch with smooth surface", + "Activate the switch for electrical control via the right arm", + "Press the small square switch made of plastic via automation", + "Activate the square switch with smooth surface by pressing it", + "Activate the switch for electrical control directly", + "Initiate the flat square with raised center by clicking", + "Press the square switch with smooth surface to activate.", + "Approach and tap the flat square with raised center via the right arm", + "Locate and press the switch with rectangular raised area", + "Engage the smooth gray switch using the right arm.", + "Directly interact with the flat square with raised center", + "Activate the switch for electrical control with the right arm.", + "Click the light gray plastic switch to activate it", + "Click the square switch with smooth surface using automated tools", + "Engage the small square switch with a press.", + "Engage with the small square switch made of plastic manually", + "Press the small square switch carefully with the right arm", + "Deploy the right arm to operate the flat square with raised center", + "Locate and press the flat square with raised center", + "Click on the angled-edge gray square switch precisely", + "Click the light gray plastic switch directly.", + "Press the small square switch with the right arm", + "Interact with the light gray plastic switch.", + "Press the palm-sized light gray switch directly", + "Tap the switch with rectangular raised area to engage it", + "Engage the switch with rectangular raised area using the right arm", + "Operate the right arm to engage the smooth gray switch", + "Switch the flat square with raised center to its active state", + "Engage the flat square with raised center using the robotic arm", + "Press the flat square with raised center using the right arm.", + "Activate the the switch for electrical control using the right arm", + "Trigger the switch with rectangular raised area without referencing the right arm", + "Activate the square switch with smooth surface with robotic precision", + "Set the switch at the switch with rectangular raised area", + "Push the square gray switch panel via the right arm.", + "Press the small square switch using robotic control", + "Trigger the small square switch made of plastic with precision", + "Command the right arm to engage the small square switch", + "Direct the right arm to operate the flat square with raised center", + "Set the right arm to press the flat square with raised center", + "Trigger the switch with smooth light gray finish using the right arm", + "Operate the angled-edge gray square switch with the right arm", + "Click the small square switch made of plastic with robotic precision", + "Deploy the right arm to press the smooth gray switch", + "Use the right arm for switching the angled-edge gray square switch", + "Interact with the switch with smooth light gray finish directly", + "Engage the right arm to press the small square switch", + "Use the right arm to engage the small square switch made of plastic", + "Move to the smooth gray switch and click it.", + "Toggle the square switch with smooth surface with the right arm.", + "Use the right arm to interact with the square switch with smooth surface", + "Activate the angled-edge gray square switch via the right arm", + "Press the switch with smooth light gray finish via automation", + "Activate the switch for electrical control by pressing it", + "Activate the palm-sized light gray switch directly", + "Initiate the small square switch by clicking", + "Press the smooth gray switch to activate.", + "Approach and tap the square gray switch panel via the right arm", + "Locate and press the switch for electrical control", + "Engage the small square switch made of plastic using the right arm.", + "Directly interact with the light gray plastic switch", + "Activate the angled-edge gray square switch with the right arm.", + "Click the palm-sized light gray switch to activate it", + "Click the angled-edge gray square switch using automated tools", + "Engage the switch for electrical control with a press.", + "Engage with the smooth gray switch manually", + "Press the small square switch carefully with the right arm", + "Deploy the right arm to operate the angled-edge gray square switch", + "Locate and press the switch for electrical control", + "Click on the flat square with raised center precisely", + "Click the smooth gray switch directly.", + "Press the flat square with raised center with the right arm", + "Interact with the light gray plastic switch.", + "Press the palm-sized light gray switch directly", + "Tap the small square switch made of plastic to engage it", + "Engage the switch with smooth light gray finish using the right arm", + "Operate the right arm to engage the small square switch", + "Switch the flat square with raised center to its active state", + "Engage the small square switch using the robotic arm", + "Press the angled-edge gray square switch using the right arm.", + "Activate the the square gray switch panel using the right arm", + "Trigger the switch with rectangular raised area without referencing the right arm", + "Activate the palm-sized light gray switch with robotic precision", + "Set the switch at the switch with rectangular raised area", + "Push the angled-edge gray square switch via the right arm.", + "Press the square gray switch panel using robotic control", + "Trigger the switch for electrical control with precision", + "Command the right arm to engage the smooth gray switch", + "Direct the right arm to operate the square switch with smooth surface", + "Set the right arm to press the switch with smooth light gray finish", + "Trigger the switch with rectangular raised area using the right arm", + "Operate the smooth gray switch with the right arm", + "Click the small square switch with robotic precision", + "Deploy the right arm to press the switch for electrical control", + "Use the right arm for switching the angled-edge gray square switch", + "Interact with the square gray switch panel directly", + "Engage the right arm to press the switch for electrical control" + ], + "unseen": [ + "Click the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the gray switch with slanted sides.", + "Press the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Click the gray switch with slanted sides with the right arm", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges.", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Click the switch with angled edges with the right arm", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Press the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Click the flat gray switch with the right arm", + "Click the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the flat gray switch", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the switch with angled edges.", + "Press the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm.", + "Click the flat gray switch with the right arm", + "Click the gray switch with slanted sides using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the switch with angled edges", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Press the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm.", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the flat gray switch.", + "Press the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm.", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Move and click the the gray switch with slanted sides", + "Click the flat gray switch with the right arm", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Use the right arm to press the flat gray switch.", + "Press the flat gray switch using the right arm", + "Click the flat gray switch with the right arm.", + "Click the switch with angled edges with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef6bf02ece875833ed231c6957e878a09cecde1 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Push the red and black electrical switch via the right arm.", + "Press the two-tone red black switch with the right arm", + "Use the right arm for switching the rectangular switch", + "Press the two-tone red black switch using robotic control", + "Press the toggle switch with black housing using the right arm.", + "Deploy the right arm to press the smooth red switch with labels", + "Press the toggle switch with black housing carefully with the right arm", + "Activate the red and black electrical switch with robotic precision", + "Engage the right arm to press the tiny rectangular switch", + "Interact with the small switch with red lever directly", + "Locate and press the two-tone red black switch", + "Engage the toggle switch with black housing using the right arm", + "Trigger the small switch with red lever using the right arm", + "Click the black base switch with robotic precision", + "Operate the metal-pronged black switch with the right arm", + "Engage the plastic switch with metal prongs using the robotic arm", + "Activate the metal-pronged black switch with the right arm.", + "Locate and press the black base switch", + "Activate the two-tone red black switch by pressing it", + "Activate the red and black electrical switch via the right arm", + "Switch the red and black electrical switch to its active state", + "Click on the smooth red switch with labels precisely", + "Click the plastic switch with metal prongs using automated tools", + "Set the right arm to press the two-tone red black switch", + "Press the tiny rectangular switch via automation", + "Toggle the toggle switch with black housing with the right arm.", + "Initiate the black base switch by clicking", + "Operate the right arm to engage the small switch with red lever", + "Approach and tap the two-tone red black switch via the right arm", + "Trigger the tiny rectangular switch with precision", + "Directly interact with the red and black electrical switch", + "Use the right arm to interact with the plastic switch with metal prongs", + "Activate the the black base switch using the right arm", + "Engage with the two-tone red black switch manually", + "Activate the rectangular switch directly", + "Direct the right arm to operate the switch with three metal pins", + "Use the right arm to engage the plastic switch with metal prongs", + "Interact with the two-tone red black switch.", + "Press the two-tone red black switch directly", + "Engage the smooth red switch with labels using the right arm.", + "Engage the small switch with red lever with a press.", + "Press the two-tone red black switch to activate.", + "Tap the two-tone red black switch to engage it", + "Click the red and black electrical switch directly.", + "Move to the two-tone red black switch and click it.", + "Command the right arm to engage the smooth red switch with labels", + "Trigger the black base switch without referencing the right arm", + "Deploy the right arm to operate the switch with three metal pins", + "Set the switch at the plastic switch with metal prongs", + "Click the switch for turning circuits on off to activate it", + "Push the toggle switch with black housing via the right arm.", + "Press the rectangular switch with the right arm", + "Use the right arm for switching the plastic switch with metal prongs", + "Press the rectangular switch using robotic control", + "Press the smooth red switch with labels using the right arm.", + "Deploy the right arm to press the black base switch", + "Press the metal-pronged black switch carefully with the right arm", + "Activate the metal-pronged black switch with robotic precision", + "Engage the right arm to press the rectangular switch", + "Interact with the switch for turning circuits on off directly", + "Locate and press the black base switch", + "Engage the small switch with red lever using the right arm", + "Trigger the rectangular switch using the right arm", + "Click the two-tone red black switch with robotic precision", + "Operate the two-tone red black switch with the right arm", + "Engage the red and black electrical switch using the robotic arm", + "Activate the switch for turning circuits on off with the right arm.", + "Locate and press the tiny rectangular switch", + "Activate the metal-pronged black switch by pressing it", + "Activate the smooth red switch with labels via the right arm", + "Switch the small switch with red lever to its active state", + "Click on the two-tone red black switch precisely", + "Click the metal-pronged black switch using automated tools", + "Set the right arm to press the smooth red switch with labels", + "Press the smooth red switch with labels via automation", + "Toggle the two-tone red black switch with the right arm.", + "Initiate the metal-pronged black switch by clicking", + "Operate the right arm to engage the small switch with red lever", + "Approach and tap the switch with three metal pins via the right arm", + "Trigger the small switch with red lever with precision", + "Directly interact with the rectangular switch", + "Use the right arm to interact with the metal-pronged black switch", + "Activate the the two-tone red black switch using the right arm", + "Engage with the smooth red switch with labels manually", + "Activate the plastic switch with metal prongs directly", + "Direct the right arm to operate the rectangular switch", + "Use the right arm to engage the red and black electrical switch", + "Interact with the plastic switch with metal prongs.", + "Press the red and black electrical switch directly", + "Engage the toggle switch with black housing using the right arm.", + "Engage the switch with three metal pins with a press.", + "Press the small switch with red lever to activate.", + "Tap the toggle switch with black housing to engage it", + "Click the switch with three metal pins directly.", + "Move to the two-tone red black switch and click it.", + "Command the right arm to engage the tiny rectangular switch", + "Trigger the tiny rectangular switch without referencing the right arm", + "Deploy the right arm to operate the toggle switch with black housing", + "Set the switch at the switch with three metal pins", + "Click the switch for turning circuits on off to activate it" + ], + "unseen": [ + "Click the curved toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the red toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the curved toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the red toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Press the red toggle switch using the right arm", + "Click the red ON OFF labeled toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the curved toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red toggle switch with the right arm", + "Activate the switch at the red toggle switch", + "Press the curved toggle switch using the right arm", + "Click the curved toggle switch with the right arm", + "Click the red ON OFF labeled toggle switch using the right arm", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the curved toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the red ON OFF labeled toggle switch", + "Press the red toggle switch using the right arm", + "Click the red toggle switch with the right arm", + "Click the curved toggle switch using the right arm", + "Move and click the the red toggle switch", + "Click the red toggle switch with the right arm.", + "Use the right arm to press the red ON OFF labeled toggle switch.", + "Use the right arm to press the red toggle switch", + "Direct the right arm to click the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the right arm", + "Activate the switch at the curved toggle switch", + "Press the red ON OFF labeled toggle switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..bcbc9cd2320196cb5a067fd95e8ca082eff32748 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Direct the left arm to operate the gray base with black buttons", + "Engage the handheld switch using the left arm", + "Click the electric toggle switch to activate it", + "Switch the smooth gray switch to its active state", + "Directly interact with the gray base with black buttons", + "Click the electric toggle switch with robotic precision", + "Activate the the switch with trapezoidal base using the left arm", + "Activate the electric toggle switch by pressing it", + "Click the electric toggle switch directly.", + "Trigger the plastic switch with matte buttons without referencing the left arm", + "Deploy the left arm to operate the gray plastic switch", + "Locate and press the handheld switch", + "Press the gray switch with black buttons with the left arm", + "Tap the switch with trapezoidal base to engage it", + "Click on the handheld switch precisely", + "Press the gray base with black buttons using the left arm.", + "Move to the plastic switch with matte buttons and click it.", + "Set the left arm to press the gray switch with black buttons", + "Activate the smooth gray switch directly", + "Press the medium switch with trapezoidal base using robotic control", + "Approach and tap the gray switch with black buttons via the left arm", + "Activate the medium switch with trapezoidal base with robotic precision", + "Engage with the gray base with black buttons manually", + "Interact with the plastic switch with matte buttons directly", + "Press the two-button gray switch carefully with the left arm", + "Engage the electric toggle switch using the left arm.", + "Click the plastic switch with matte buttons using automated tools", + "Use the left arm to engage the gray smooth surface switch", + "Command the left arm to engage the trapezoidal base switch", + "Press the handheld switch directly", + "Engage the left arm to press the gray switch with black buttons", + "Deploy the left arm to press the gray switch with black buttons", + "Press the two-button gray switch to activate.", + "Engage the gray plastic switch using the robotic arm", + "Locate and press the plastic switch with matte buttons", + "Trigger the smooth gray switch with precision", + "Push the plastic switch with matte buttons via the left arm.", + "Use the left arm for switching the smooth gray switch", + "Use the left arm to interact with the two-button gray switch", + "Toggle the gray base with black buttons with the left arm.", + "Set the switch at the switch with trapezoidal base", + "Activate the plastic switch with matte buttons with the left arm.", + "Initiate the smooth gray switch by clicking", + "Activate the gray smooth surface switch via the left arm", + "Engage the two-button gray switch with a press.", + "Press the plastic switch with matte buttons via automation", + "Trigger the plastic switch with matte buttons using the left arm", + "Operate the left arm to engage the gray plastic switch", + "Interact with the smooth gray switch.", + "Operate the plastic switch with matte buttons with the left arm", + "Direct the left arm to operate the gray base with black buttons", + "Engage the gray smooth surface switch using the left arm", + "Click the gray smooth surface switch to activate it", + "Switch the two-button gray switch to its active state", + "Directly interact with the gray smooth surface switch", + "Click the trapezoidal base switch with robotic precision", + "Activate the the smooth gray switch using the left arm", + "Activate the handheld switch by pressing it", + "Click the switch with trapezoidal base directly.", + "Trigger the gray smooth surface switch without referencing the left arm", + "Deploy the left arm to operate the switch with trapezoidal base", + "Locate and press the electric toggle switch", + "Press the plastic switch with matte buttons with the left arm", + "Tap the two-button gray switch to engage it", + "Click on the trapezoidal base switch precisely", + "Press the trapezoidal base switch using the left arm.", + "Move to the two-button gray switch and click it.", + "Set the left arm to press the gray plastic switch", + "Activate the switch with trapezoidal base directly", + "Press the plastic switch with matte buttons using robotic control", + "Approach and tap the two-button gray switch via the left arm", + "Activate the gray smooth surface switch with robotic precision", + "Engage with the gray plastic switch manually", + "Interact with the handheld switch directly", + "Press the electric toggle switch carefully with the left arm", + "Engage the two-button gray switch using the left arm.", + "Click the gray smooth surface switch using automated tools", + "Use the left arm to engage the medium switch with trapezoidal base", + "Command the left arm to engage the handheld switch", + "Press the gray base with black buttons directly", + "Engage the left arm to press the gray smooth surface switch", + "Deploy the left arm to press the medium switch with trapezoidal base", + "Press the plastic switch with matte buttons to activate.", + "Engage the handheld switch using the robotic arm", + "Locate and press the smooth gray switch", + "Trigger the handheld switch with precision", + "Push the gray plastic switch via the left arm.", + "Use the left arm for switching the two-button gray switch", + "Use the left arm to interact with the gray smooth surface switch", + "Toggle the medium switch with trapezoidal base with the left arm.", + "Set the switch at the two-button gray switch", + "Activate the gray base with black buttons with the left arm.", + "Initiate the switch with trapezoidal base by clicking", + "Activate the handheld switch via the left arm", + "Engage the two-button gray switch with a press.", + "Press the two-button gray switch via automation", + "Trigger the switch with trapezoidal base using the left arm", + "Operate the left arm to engage the gray plastic switch", + "Interact with the switch with trapezoidal base.", + "Operate the switch with trapezoidal base with the left arm" + ], + "unseen": [ + "Activate the switch at the gray switch", + "Click the gray switch with the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the gray switch medium size using the left arm", + "Move and click the the switch with circular black buttons", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch", + "Click the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Press the switch with circular black buttons using the left arm", + "Move and click the the switch with circular black buttons", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch", + "Click the gray switch with the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch.", + "Press the gray switch using the left arm", + "Move and click the the gray switch", + "Direct the left arm to click the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch.", + "Press the switch with circular black buttons using the left arm", + "Move and click the the gray switch medium size", + "Direct the left arm to click the gray switch", + "Click the gray switch medium size with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the switch with circular black buttons using the left arm", + "Move and click the the gray switch medium size", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Click the switch with circular black buttons with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the gray switch medium size using the left arm", + "Move and click the the gray switch medium size", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the switch with circular black buttons using the left arm", + "Move and click the the gray switch", + "Direct the left arm to click the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch medium size with the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the gray switch medium size using the left arm", + "Move and click the the gray switch medium size", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the switch with circular black buttons", + "Click the gray switch with the left arm", + "Click the gray switch medium size with the left arm.", + "Use the left arm to press the gray switch", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the switch with circular black buttons using the left arm", + "Move and click the the gray switch", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm", + "Activate the switch at the gray switch medium size", + "Click the gray switch with the left arm", + "Click the gray switch with the left arm.", + "Use the left arm to press the gray switch", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the gray switch medium size.", + "Press the switch with circular black buttons using the left arm", + "Move and click the the gray switch", + "Direct the left arm to click the switch with circular black buttons", + "Click the switch with circular black buttons with the left arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..58adae5ba0a78a768d7cf5eee7425da46e05ed6e --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Direct the right arm to operate the square switch with smooth surface", + "Use the right arm for switching the square switch with smooth surface", + "Click the switch for electrical control using automated tools", + "Operate the square switch with smooth surface with the right arm", + "Directly interact with the small square switch made of plastic", + "Press the angled-edge gray square switch with the right arm", + "Interact with the switch with smooth light gray finish.", + "Initiate the switch with smooth light gray finish by clicking", + "Trigger the switch with rectangular raised area without referencing the right arm", + "Click on the smooth gray switch precisely", + "Press the light gray plastic switch to activate.", + "Trigger the switch with smooth light gray finish using the right arm", + "Engage the right arm to press the switch with smooth light gray finish", + "Activate the switch with smooth light gray finish directly", + "Engage the small square switch made of plastic with a press.", + "Tap the small square switch to engage it", + "Interact with the switch with smooth light gray finish directly", + "Use the right arm to interact with the square switch with smooth surface", + "Set the right arm to press the switch with rectangular raised area", + "Approach and tap the switch for electrical control via the right arm", + "Use the right arm to engage the switch for electrical control", + "Activate the flat square with raised center via the right arm", + "Activate the the angled-edge gray square switch using the right arm", + "Engage the square gray switch panel using the right arm.", + "Activate the switch with smooth light gray finish by pressing it", + "Move to the switch with rectangular raised area and click it.", + "Switch the square gray switch panel to its active state", + "Toggle the angled-edge gray square switch with the right arm.", + "Press the angled-edge gray square switch using the right arm.", + "Trigger the smooth gray switch with precision", + "Locate and press the square switch with smooth surface", + "Locate and press the square gray switch panel", + "Deploy the right arm to press the square switch with smooth surface", + "Press the angled-edge gray square switch directly", + "Press the small square switch using robotic control", + "Activate the smooth gray switch with robotic precision", + "Deploy the right arm to operate the small square switch made of plastic", + "Press the small square switch made of plastic via automation", + "Click the square switch with smooth surface directly.", + "Activate the small square switch with the right arm.", + "Operate the right arm to engage the switch for electrical control", + "Engage the small square switch made of plastic using the robotic arm", + "Command the right arm to engage the small square switch made of plastic", + "Engage with the square switch with smooth surface manually", + "Set the switch at the switch with rectangular raised area", + "Press the square gray switch panel carefully with the right arm", + "Click the palm-sized light gray switch to activate it", + "Click the square switch with smooth surface with robotic precision", + "Push the switch with rectangular raised area via the right arm.", + "Engage the small square switch made of plastic using the right arm", + "Direct the right arm to operate the angled-edge gray square switch", + "Use the right arm for switching the small square switch", + "Click the square gray switch panel using automated tools", + "Operate the palm-sized light gray switch with the right arm", + "Directly interact with the square gray switch panel", + "Press the switch with rectangular raised area with the right arm", + "Interact with the square gray switch panel.", + "Initiate the flat square with raised center by clicking", + "Trigger the square gray switch panel without referencing the right arm", + "Click on the light gray plastic switch precisely", + "Press the smooth gray switch to activate.", + "Trigger the small square switch using the right arm", + "Engage the right arm to press the light gray plastic switch", + "Activate the switch with smooth light gray finish directly", + "Engage the smooth gray switch with a press.", + "Tap the flat square with raised center to engage it", + "Interact with the square gray switch panel directly", + "Use the right arm to interact with the smooth gray switch", + "Set the right arm to press the palm-sized light gray switch", + "Approach and tap the square gray switch panel via the right arm", + "Use the right arm to engage the angled-edge gray square switch", + "Activate the palm-sized light gray switch via the right arm", + "Activate the the switch for electrical control using the right arm", + "Engage the square switch with smooth surface using the right arm.", + "Activate the switch with rectangular raised area by pressing it", + "Move to the light gray plastic switch and click it.", + "Switch the smooth gray switch to its active state", + "Toggle the angled-edge gray square switch with the right arm.", + "Press the smooth gray switch using the right arm.", + "Trigger the smooth gray switch with precision", + "Locate and press the angled-edge gray square switch", + "Locate and press the angled-edge gray square switch", + "Deploy the right arm to press the square switch with smooth surface", + "Press the light gray plastic switch directly", + "Press the light gray plastic switch using robotic control", + "Activate the smooth gray switch with robotic precision", + "Deploy the right arm to operate the square switch with smooth surface", + "Press the small square switch made of plastic via automation", + "Click the square gray switch panel directly.", + "Activate the switch for electrical control with the right arm.", + "Operate the right arm to engage the switch with smooth light gray finish", + "Engage the angled-edge gray square switch using the robotic arm", + "Command the right arm to engage the flat square with raised center", + "Engage with the small square switch manually", + "Set the switch at the small square switch made of plastic", + "Press the small square switch made of plastic carefully with the right arm", + "Click the square switch with smooth surface to activate it", + "Click the smooth gray switch with robotic precision", + "Push the palm-sized light gray switch via the right arm.", + "Engage the square switch with smooth surface using the right arm" + ], + "unseen": [ + "Click the switch with angled edges with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the flat gray switch", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the gray switch with slanted sides", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Click the switch with angled edges with the right arm.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Click the switch with angled edges with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Press the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the switch with angled edges with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the switch with angled edges.", + "Click the flat gray switch with the right arm", + "Click the switch with angled edges with the right arm.", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the gray switch with slanted sides", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the gray switch with slanted sides", + "Press the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the switch with angled edges", + "Press the flat gray switch using the right arm", + "Use the right arm to press the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Move and click the the switch with angled edges", + "Use the right arm to press the flat gray switch.", + "Click the flat gray switch with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Press the switch with angled edges using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the flat gray switch.", + "Click the gray switch with slanted sides with the right arm", + "Click the gray switch with slanted sides with the right arm.", + "Direct the right arm to click the flat gray switch", + "Activate the switch at the switch with angled edges", + "Press the flat gray switch using the right arm", + "Use the right arm to press the flat gray switch", + "Click the gray switch with slanted sides using the right arm", + "Click the flat gray switch with the right arm", + "Move and click the the gray switch with slanted sides", + "Use the right arm to press the gray switch with slanted sides.", + "Click the switch with angled edges with the right arm", + "Click the switch with angled edges with the right arm.", + "Direct the right arm to click the switch with angled edges", + "Activate the switch at the switch with angled edges", + "Press the gray switch with slanted sides using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the gray switch with slanted sides.", + "Click the gray switch with slanted sides with the right arm", + "Click the flat gray switch with the right arm.", + "Direct the right arm to click the gray switch with slanted sides", + "Activate the switch at the flat gray switch", + "Press the flat gray switch using the right arm", + "Use the right arm to press the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the flat gray switch", + "Use the right arm to press the switch with angled edges." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..e5a40a5ae24142e392afed1ad49b19a0fc1ae69a --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to engage the switch with smooth light gray finish", + "Press the switch for electrical control via automation", + "Press the square gray switch panel with the right arm", + "Deploy the right arm to press the angled-edge gray square switch", + "Locate and press the smooth gray switch", + "Activate the switch for electrical control via the right arm", + "Click on the switch with rectangular raised area precisely", + "Press the switch with smooth light gray finish directly", + "Activate the angled-edge gray square switch directly", + "Engage with the flat square with raised center manually", + "Press the flat square with raised center carefully with the right arm", + "Use the right arm to interact with the light gray plastic switch", + "Activate the palm-sized light gray switch by pressing it", + "Deploy the right arm to operate the light gray plastic switch", + "Push the angled-edge gray square switch via the right arm.", + "Toggle the small square switch with the right arm.", + "Interact with the flat square with raised center directly", + "Engage the smooth gray switch with a press.", + "Move to the small square switch made of plastic and click it.", + "Set the right arm to press the flat square with raised center", + "Set the switch at the square switch with smooth surface", + "Approach and tap the small square switch made of plastic via the right arm", + "Operate the smooth gray switch with the right arm", + "Engage the right arm to press the small square switch", + "Trigger the square gray switch panel without referencing the right arm", + "Tap the angled-edge gray square switch to engage it", + "Direct the right arm to operate the palm-sized light gray switch", + "Trigger the square switch with smooth surface with precision", + "Press the small square switch using robotic control", + "Engage the square gray switch panel using the robotic arm", + "Use the right arm for switching the small square switch", + "Switch the smooth gray switch to its active state", + "Directly interact with the palm-sized light gray switch", + "Activate the the smooth gray switch using the right arm", + "Click the square gray switch panel using automated tools", + "Engage the angled-edge gray square switch using the right arm", + "Click the switch with rectangular raised area with robotic precision", + "Interact with the light gray plastic switch.", + "Activate the switch with rectangular raised area with robotic precision", + "Activate the switch with rectangular raised area with the right arm.", + "Trigger the switch for electrical control using the right arm", + "Locate and press the square switch with smooth surface", + "Engage the small square switch made of plastic using the right arm.", + "Click the light gray plastic switch directly.", + "Initiate the square switch with smooth surface by clicking", + "Press the small square switch using the right arm.", + "Click the switch with rectangular raised area to activate it", + "Operate the right arm to engage the small square switch made of plastic", + "Press the small square switch made of plastic to activate.", + "Command the right arm to engage the switch with rectangular raised area", + "Use the right arm to engage the square gray switch panel", + "Press the switch for electrical control via automation", + "Press the palm-sized light gray switch with the right arm", + "Deploy the right arm to press the switch for electrical control", + "Locate and press the light gray plastic switch", + "Activate the switch with smooth light gray finish via the right arm", + "Click on the square switch with smooth surface precisely", + "Press the square switch with smooth surface directly", + "Activate the square switch with smooth surface directly", + "Engage with the switch with rectangular raised area manually", + "Press the palm-sized light gray switch carefully with the right arm", + "Use the right arm to interact with the square switch with smooth surface", + "Activate the square switch with smooth surface by pressing it", + "Deploy the right arm to operate the switch with smooth light gray finish", + "Push the small square switch via the right arm.", + "Toggle the flat square with raised center with the right arm.", + "Interact with the smooth gray switch directly", + "Engage the switch for electrical control with a press.", + "Move to the small square switch and click it.", + "Set the right arm to press the light gray plastic switch", + "Set the switch at the light gray plastic switch", + "Approach and tap the angled-edge gray square switch via the right arm", + "Operate the flat square with raised center with the right arm", + "Engage the right arm to press the small square switch", + "Trigger the switch for electrical control without referencing the right arm", + "Tap the small square switch to engage it", + "Direct the right arm to operate the light gray plastic switch", + "Trigger the small square switch with precision", + "Press the smooth gray switch using robotic control", + "Engage the switch with smooth light gray finish using the robotic arm", + "Use the right arm for switching the switch with smooth light gray finish", + "Switch the palm-sized light gray switch to its active state", + "Directly interact with the light gray plastic switch", + "Activate the the palm-sized light gray switch using the right arm", + "Click the switch with smooth light gray finish using automated tools", + "Engage the palm-sized light gray switch using the right arm", + "Click the smooth gray switch with robotic precision", + "Interact with the switch with rectangular raised area.", + "Activate the small square switch with robotic precision", + "Activate the palm-sized light gray switch with the right arm.", + "Trigger the small square switch using the right arm", + "Locate and press the palm-sized light gray switch", + "Engage the flat square with raised center using the right arm.", + "Click the square gray switch panel directly.", + "Initiate the light gray plastic switch by clicking", + "Press the flat square with raised center using the right arm.", + "Click the palm-sized light gray switch to activate it", + "Operate the right arm to engage the palm-sized light gray switch", + "Press the square gray switch panel to activate.", + "Command the right arm to engage the flat square with raised center" + ], + "unseen": [ + "Use the right arm to press the gray switch with slanted sides.", + "Press the gray switch with slanted sides using the right arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges.", + "Press the gray switch with slanted sides using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Click the switch with angled edges with the right arm", + "Move and click the the flat gray switch", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the gray switch with slanted sides using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges.", + "Press the flat gray switch using the right arm", + "Activate the switch at the flat gray switch", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the gray switch with slanted sides", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the flat gray switch", + "Direct the right arm to click the switch with angled edges", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the switch with angled edges.", + "Press the flat gray switch using the right arm", + "Activate the switch at the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the flat gray switch", + "Click the switch with angled edges using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the switch with angled edges.", + "Press the switch with angled edges using the right arm", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the switch with angled edges using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the flat gray switch.", + "Press the flat gray switch using the right arm", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the switch with angled edges", + "Click the flat gray switch using the right arm", + "Click the gray switch with slanted sides with the right arm", + "Use the right arm to press the gray switch with slanted sides.", + "Press the gray switch with slanted sides using the right arm", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the switch with angled edges", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the flat gray switch", + "Click the flat gray switch using the right arm", + "Click the flat gray switch with the right arm", + "Use the right arm to press the flat gray switch.", + "Press the gray switch with slanted sides using the right arm", + "Activate the switch at the flat gray switch", + "Click the switch with angled edges with the right arm", + "Move and click the the switch with angled edges", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the gray switch with slanted sides", + "Direct the right arm to click the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the switch with angled edges.", + "Press the flat gray switch using the right arm", + "Activate the switch at the switch with angled edges", + "Click the gray switch with slanted sides with the right arm", + "Move and click the the gray switch with slanted sides", + "Click the gray switch with slanted sides with the right arm.", + "Use the right arm to press the flat gray switch", + "Direct the right arm to click the gray switch with slanted sides", + "Click the flat gray switch using the right arm", + "Click the switch with angled edges with the right arm", + "Use the right arm to press the flat gray switch.", + "Press the switch with angled edges using the right arm", + "Activate the switch at the switch with angled edges", + "Click the flat gray switch with the right arm", + "Move and click the the flat gray switch", + "Click the switch with angled edges with the right arm.", + "Use the right arm to press the switch with angled edges", + "Direct the right arm to click the switch with angled edges", + "Click the gray switch with slanted sides using the right arm", + "Click the switch with angled edges with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..8b2be2e4f34f5073f00f095c0a937f6f0a2bf024 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Click on the black base switch precisely", + "Initiate the tiny rectangular switch by clicking", + "Press the black base switch using robotic control", + "Directly interact with the metal-pronged black switch", + "Trigger the plastic switch with metal prongs using the left arm", + "Interact with the tiny rectangular switch directly", + "Engage the red and black electrical switch using the robotic arm", + "Press the toggle switch with black housing to activate.", + "Press the black base switch via automation", + "Set the switch at the plastic switch with metal prongs", + "Click the black base switch to activate it", + "Activate the switch for turning circuits on off with the left arm.", + "Use the left arm for switching the metal-pronged black switch", + "Activate the two-tone red black switch via the left arm", + "Approach and tap the metal-pronged black switch via the left arm", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the switch for turning circuits on off carefully with the left arm", + "Engage the switch for turning circuits on off with a press.", + "Press the switch for turning circuits on off directly", + "Click the tiny rectangular switch directly.", + "Tap the red and black electrical switch to engage it", + "Click the black base switch using automated tools", + "Command the left arm to engage the switch for turning circuits on off", + "Operate the left arm to engage the two-tone red black switch", + "Engage the left arm to press the metal-pronged black switch", + "Trigger the switch with three metal pins without referencing the left arm", + "Locate and press the smooth red switch with labels", + "Click the small switch with red lever with robotic precision", + "Press the metal-pronged black switch using the left arm.", + "Activate the switch for turning circuits on off by pressing it", + "Deploy the left arm to press the toggle switch with black housing", + "Move to the tiny rectangular switch and click it.", + "Use the left arm to interact with the red and black electrical switch", + "Direct the left arm to operate the two-tone red black switch", + "Engage the rectangular switch using the left arm.", + "Set the left arm to press the metal-pronged black switch", + "Press the switch for turning circuits on off with the left arm", + "Toggle the metal-pronged black switch with the left arm.", + "Switch the smooth red switch with labels to its active state", + "Activate the plastic switch with metal prongs with robotic precision", + "Operate the red and black electrical switch with the left arm", + "Locate and press the black base switch", + "Trigger the plastic switch with metal prongs with precision", + "Activate the the small switch with red lever using the left arm", + "Activate the two-tone red black switch directly", + "Engage with the rectangular switch manually", + "Push the tiny rectangular switch via the left arm.", + "Interact with the switch for turning circuits on off.", + "Engage the red and black electrical switch using the left arm", + "Use the left arm to engage the switch with three metal pins", + "Click on the toggle switch with black housing precisely", + "Initiate the rectangular switch by clicking", + "Press the switch with three metal pins using robotic control", + "Directly interact with the switch for turning circuits on off", + "Trigger the two-tone red black switch using the left arm", + "Interact with the switch with three metal pins directly", + "Engage the switch with three metal pins using the robotic arm", + "Press the black base switch to activate.", + "Press the black base switch via automation", + "Set the switch at the red and black electrical switch", + "Click the smooth red switch with labels to activate it", + "Activate the black base switch with the left arm.", + "Use the left arm for switching the black base switch", + "Activate the black base switch via the left arm", + "Approach and tap the two-tone red black switch via the left arm", + "Deploy the left arm to operate the plastic switch with metal prongs", + "Press the smooth red switch with labels carefully with the left arm", + "Engage the two-tone red black switch with a press.", + "Press the switch with three metal pins directly", + "Click the two-tone red black switch directly.", + "Tap the toggle switch with black housing to engage it", + "Click the metal-pronged black switch using automated tools", + "Command the left arm to engage the two-tone red black switch", + "Operate the left arm to engage the smooth red switch with labels", + "Engage the left arm to press the switch for turning circuits on off", + "Trigger the tiny rectangular switch without referencing the left arm", + "Locate and press the metal-pronged black switch", + "Click the red and black electrical switch with robotic precision", + "Press the switch for turning circuits on off using the left arm.", + "Activate the smooth red switch with labels by pressing it", + "Deploy the left arm to press the tiny rectangular switch", + "Move to the toggle switch with black housing and click it.", + "Use the left arm to interact with the metal-pronged black switch", + "Direct the left arm to operate the red and black electrical switch", + "Engage the plastic switch with metal prongs using the left arm.", + "Set the left arm to press the rectangular switch", + "Press the two-tone red black switch with the left arm", + "Toggle the switch with three metal pins with the left arm.", + "Switch the switch for turning circuits on off to its active state", + "Activate the switch for turning circuits on off with robotic precision", + "Operate the tiny rectangular switch with the left arm", + "Locate and press the metal-pronged black switch", + "Trigger the switch for turning circuits on off with precision", + "Activate the the switch for turning circuits on off using the left arm", + "Activate the switch with three metal pins directly", + "Engage with the toggle switch with black housing manually", + "Push the switch with three metal pins via the left arm.", + "Interact with the smooth red switch with labels.", + "Engage the small switch with red lever using the left arm", + "Use the left arm to engage the smooth red switch with labels" + ], + "unseen": [ + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the curved toggle switch", + "Click the red toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red toggle switch", + "Use the left arm to press the red toggle switch", + "Click the curved toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the curved toggle switch", + "Move and click the the curved toggle switch", + "Click the curved toggle switch with the left arm", + "Click the red ON OFF labeled toggle switch using the left arm", + "Click the red toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the red toggle switch.", + "Activate the switch at the curved toggle switch", + "Move and click the the red toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the red toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the curved toggle switch with the left arm.", + "Press the red ON OFF labeled toggle switch using the left arm", + "Use the left arm to press the red ON OFF labeled toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red toggle switch", + "Click the curved toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the curved toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the curved toggle switch", + "Use the left arm to press the red toggle switch", + "Click the red toggle switch with the left arm.", + "Press the red toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red toggle switch", + "Move and click the the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm", + "Click the curved toggle switch using the left arm", + "Click the curved toggle switch with the left arm", + "Direct the left arm to click the red ON OFF labeled toggle switch", + "Use the left arm to press the red ON OFF labeled toggle switch", + "Click the red ON OFF labeled toggle switch with the left arm.", + "Press the curved toggle switch using the left arm", + "Use the left arm to press the curved toggle switch.", + "Activate the switch at the red ON OFF labeled toggle switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..52cb85847af61226dc139d9445851cef945f6df2 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to interact with the beige switch with smooth finish", + "Interact with the switch with a smooth top.", + "Trigger the toggle switch with brown rectangle button using the right arm", + "Engage the right arm to press the hand-sized light beige switch", + "Toggle the beige switch with the right arm.", + "Use the right arm for switching the light-colored trapezoid-shaped plastic switch", + "Locate and press the beige switch", + "Trigger the tiny matte beige toggle switch with precision", + "Engage the tiny matte beige toggle switch with a press.", + "Set the right arm to press the beige switch with smooth finish", + "Locate and press the small trapezoid switch", + "Push the switch with a smooth top via the right arm.", + "Press the matte beige switch with flat top using robotic control", + "Activate the hand-sized light beige switch with robotic precision", + "Trigger the matte beige switch with flat top without referencing the right arm", + "Press the toggle switch with brown rectangle button to activate.", + "Click on the small trapezoid switch precisely", + "Click the tiny matte beige toggle switch directly.", + "Click the switch with brown button with robotic precision", + "Initiate the beige switch by clicking", + "Engage the switch with rectangular dark button using the right arm", + "Tap the switch with a smooth top to engage it", + "Click the light plastic switch using automated tools", + "Activate the switch with a smooth top with the right arm.", + "Operate the right arm to engage the toggle switch with brown rectangle button", + "Press the matte beige switch with flat top using the right arm.", + "Activate the tiny matte beige toggle switch via the right arm", + "Directly interact with the beige switch", + "Approach and tap the beige switch with smooth finish via the right arm", + "Press the switch with a smooth top carefully with the right arm", + "Set the switch at the switch with a smooth top", + "Deploy the right arm to operate the light-colored trapezoid-shaped plastic switch", + "Press the hand-sized light beige switch with the right arm", + "Activate the switch with a smooth top by pressing it", + "Direct the right arm to operate the tiny matte beige toggle switch", + "Activate the the toggle switch with brown rectangle button using the right arm", + "Operate the switch with brown button with the right arm", + "Switch the small trapezoid switch to its active state", + "Command the right arm to engage the matte beige switch with flat top", + "Activate the beige switch with smooth finish directly", + "Click the light plastic switch to activate it", + "Engage the beige switch with smooth finish using the robotic arm", + "Engage the beige switch using the right arm.", + "Interact with the switch with rectangular dark button directly", + "Press the tiny matte beige toggle switch via automation", + "Press the light-colored trapezoid-shaped plastic switch directly", + "Use the right arm to engage the tiny matte beige toggle switch", + "Move to the switch with rectangular dark button and click it.", + "Deploy the right arm to press the matte beige switch with flat top", + "Engage with the light plastic switch manually", + "Use the right arm to interact with the beige switch with smooth finish", + "Interact with the light-colored trapezoid-shaped plastic switch.", + "Trigger the switch with rectangular dark button using the right arm", + "Engage the right arm to press the switch with brown button", + "Toggle the small trapezoid switch with the right arm.", + "Use the right arm for switching the small trapezoid switch", + "Locate and press the light-colored trapezoid-shaped plastic switch", + "Trigger the beige switch with precision", + "Engage the switch with brown button with a press.", + "Set the right arm to press the light plastic switch", + "Locate and press the light plastic switch", + "Push the switch with rectangular dark button via the right arm.", + "Press the switch with a smooth top using robotic control", + "Activate the beige switch with smooth finish with robotic precision", + "Trigger the beige switch without referencing the right arm", + "Press the hand-sized light beige switch to activate.", + "Click on the beige switch precisely", + "Click the toggle switch with brown rectangle button directly.", + "Click the toggle switch with brown rectangle button with robotic precision", + "Initiate the light plastic switch by clicking", + "Engage the switch with rectangular dark button using the right arm", + "Tap the switch with brown button to engage it", + "Click the toggle switch with brown rectangle button using automated tools", + "Activate the beige switch with smooth finish with the right arm.", + "Operate the right arm to engage the small trapezoid switch", + "Press the matte beige switch with flat top using the right arm.", + "Activate the beige switch with smooth finish via the right arm", + "Directly interact with the beige switch with smooth finish", + "Approach and tap the light plastic switch via the right arm", + "Press the tiny matte beige toggle switch carefully with the right arm", + "Set the switch at the switch with brown button", + "Deploy the right arm to operate the beige switch with smooth finish", + "Press the switch with brown button with the right arm", + "Activate the beige switch by pressing it", + "Direct the right arm to operate the small trapezoid switch", + "Activate the the switch with a smooth top using the right arm", + "Operate the beige switch with the right arm", + "Switch the switch with a smooth top to its active state", + "Command the right arm to engage the beige switch", + "Activate the beige switch with smooth finish directly", + "Click the hand-sized light beige switch to activate it", + "Engage the hand-sized light beige switch using the robotic arm", + "Engage the hand-sized light beige switch using the right arm.", + "Interact with the switch with a smooth top directly", + "Press the beige switch with smooth finish via automation", + "Press the beige switch directly", + "Use the right arm to engage the beige switch with smooth finish", + "Move to the light plastic switch and click it.", + "Deploy the right arm to press the light-colored trapezoid-shaped plastic switch", + "Engage with the hand-sized light beige switch manually" + ], + "unseen": [ + "Use the right arm to press the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the small beige switch with angular sides", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Direct the right arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Press the beige switch with darker brown top using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the beige switch with darker brown top with the right arm", + "Click the small beige switch with angular sides with the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Press the beige switch with darker brown top using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Activate the switch at the small beige switch with angular sides", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Direct the right arm to click the beige switch with darker brown top", + "Click the small beige switch with angular sides with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Press the small beige switch with angular sides using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Activate the switch at the rectangular button switch on beige base", + "Click the rectangular button switch on beige base using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Direct the right arm to click the small beige switch with angular sides", + "Click the rectangular button switch on beige base with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the rectangular button switch on beige base", + "Use the right arm to press the beige switch with darker brown top", + "Press the small beige switch with angular sides using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the small beige switch with angular sides.", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the small beige switch with angular sides with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the small beige switch with angular sides", + "Use the right arm to press the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Click the rectangular button switch on beige base with the right arm.", + "Activate the switch at the small beige switch with angular sides", + "Click the beige switch with darker brown top using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Direct the right arm to click the rectangular button switch on beige base", + "Click the rectangular button switch on beige base with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the small beige switch with angular sides", + "Press the beige switch with darker brown top using the right arm", + "Click the small beige switch with angular sides with the right arm.", + "Activate the switch at the rectangular button switch on beige base", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the rectangular button switch on beige base.", + "Direct the right arm to click the small beige switch with angular sides", + "Click the beige switch with darker brown top with the right arm", + "Click the beige switch with darker brown top with the right arm", + "Move and click the the beige switch with darker brown top", + "Use the right arm to press the beige switch with darker brown top", + "Press the rectangular button switch on beige base using the right arm", + "Click the beige switch with darker brown top with the right arm.", + "Activate the switch at the beige switch with darker brown top", + "Click the small beige switch with angular sides using the right arm", + "Use the right arm to press the beige switch with darker brown top.", + "Direct the right arm to click the beige switch with darker brown top", + "Click the beige switch with darker brown top with the right arm", + "Click the rectangular button switch on beige base with the right arm", + "Move and click the the beige switch with darker brown top" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..dadea6aea22f33da763c6376281727bab00c3ec0 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Approach and tap the black switch with matte coating via the right arm", + "Click the medium-sized black rectangular switch directly.", + "Interact with the black switch directly", + "Click on the rectangular switch with smooth surface precisely", + "Click the switch with slanted sides using automated tools", + "Activate the black switch with slim profile directly", + "Command the right arm to engage the compact rectangular black switch", + "Use the right arm to engage the black rectangular control switch", + "Click the rectangular switch with smooth surface to activate it", + "Operate the right arm to engage the black switch with slim profile", + "Deploy the right arm to press the slanted-edge plastic black switch", + "Use the right arm for switching the control switch", + "Engage the control switch using the right arm.", + "Tap the black rectangular control switch to engage it", + "Deploy the right arm to operate the slanted-edge plastic black switch", + "Move to the black switch and click it.", + "Directly interact with the black rectangular control switch", + "Push the rectangular switch with smooth surface via the right arm.", + "Engage the medium-sized black rectangular switch using the robotic arm", + "Locate and press the black switch with matte coating", + "Engage with the compact rectangular black switch manually", + "Trigger the slanted-edge plastic black switch without referencing the right arm", + "Initiate the control switch by clicking", + "Engage the sleek black rectangular switch with a press.", + "Trigger the sleek black rectangular switch with precision", + "Press the control switch with the right arm", + "Direct the right arm to operate the palm-sized black switch", + "Press the compact rectangular black switch to activate.", + "Press the sleek black rectangular switch carefully with the right arm", + "Locate and press the rectangular switch with smooth surface", + "Set the right arm to press the black switch with slim profile", + "Engage the black switch with slim profile using the right arm", + "Click the sleek black rectangular switch with robotic precision", + "Engage the right arm to press the slanted-edge plastic black switch", + "Activate the sleek black rectangular switch with the right arm.", + "Trigger the switch with slanted sides using the right arm", + "Activate the the switch with slanted sides using the right arm", + "Activate the sleek black rectangular switch with robotic precision", + "Press the palm-sized black switch via automation", + "Switch the black switch to its active state", + "Set the switch at the black switch with slim profile", + "Press the black switch with slim profile using the right arm.", + "Activate the black switch with slim profile via the right arm", + "Toggle the black switch with the right arm.", + "Press the black switch with slim profile directly", + "Press the compact rectangular black switch using robotic control", + "Operate the sleek black rectangular switch with the right arm", + "Interact with the slanted-edge plastic black switch.", + "Activate the control switch by pressing it", + "Use the right arm to interact with the switch with slanted sides", + "Approach and tap the slanted-edge plastic black switch via the right arm", + "Click the palm-sized black switch directly.", + "Interact with the black switch with slim profile directly", + "Click on the black rectangular control switch precisely", + "Click the black rectangular control switch using automated tools", + "Activate the black rectangular control switch directly", + "Command the right arm to engage the black switch", + "Use the right arm to engage the switch with slanted sides", + "Click the switch with slanted sides to activate it", + "Operate the right arm to engage the compact rectangular black switch", + "Deploy the right arm to press the black switch with matte coating", + "Use the right arm for switching the black switch", + "Engage the black switch with matte coating using the right arm.", + "Tap the compact rectangular black switch to engage it", + "Deploy the right arm to operate the medium-sized black rectangular switch", + "Move to the palm-sized black switch and click it.", + "Directly interact with the black switch", + "Push the black switch with slim profile via the right arm.", + "Engage the control switch using the robotic arm", + "Locate and press the palm-sized black switch", + "Engage with the switch with slanted sides manually", + "Trigger the sleek black rectangular switch without referencing the right arm", + "Initiate the black switch by clicking", + "Engage the black switch with slim profile with a press.", + "Trigger the switch with slanted sides with precision", + "Press the slanted-edge plastic black switch with the right arm", + "Direct the right arm to operate the slanted-edge plastic black switch", + "Press the black switch to activate.", + "Press the black switch with matte coating carefully with the right arm", + "Locate and press the compact rectangular black switch", + "Set the right arm to press the black switch with slim profile", + "Engage the slanted-edge plastic black switch using the right arm", + "Click the sleek black rectangular switch with robotic precision", + "Engage the right arm to press the black switch with matte coating", + "Activate the compact rectangular black switch with the right arm.", + "Trigger the black rectangular control switch using the right arm", + "Activate the the black switch using the right arm", + "Activate the slanted-edge plastic black switch with robotic precision", + "Press the compact rectangular black switch via automation", + "Switch the black rectangular control switch to its active state", + "Set the switch at the sleek black rectangular switch", + "Press the black switch with slim profile using the right arm.", + "Activate the control switch via the right arm", + "Toggle the black switch with matte coating with the right arm.", + "Press the compact rectangular black switch directly", + "Press the palm-sized black switch using robotic control", + "Operate the compact rectangular black switch with the right arm", + "Interact with the sleek black rectangular switch.", + "Activate the medium-sized black rectangular switch by pressing it", + "Use the right arm to interact with the black rectangular control switch" + ], + "unseen": [ + "Click the rectangular black switch with the right arm", + "Activate the switch at the rectangular black switch", + "Press the smooth black switch using the right arm", + "Click the matte black plastic switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Use the right arm to press the smooth black switch.", + "Click the smooth black switch with the right arm.", + "Move and click the the smooth black switch", + "Use the right arm to press the matte black plastic switch", + "Click the rectangular black switch with the right arm", + "Click the rectangular black switch with the right arm", + "Activate the switch at the smooth black switch", + "Press the smooth black switch using the right arm", + "Click the matte black plastic switch using the right arm", + "Direct the right arm to click the rectangular black switch", + "Use the right arm to press the rectangular black switch.", + "Click the smooth black switch with the right arm.", + "Move and click the the smooth black switch", + "Use the right arm to press the rectangular black switch", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm", + "Activate the switch at the matte black plastic switch", + "Press the smooth black switch using the right arm", + "Click the smooth black switch using the right arm", + "Direct the right arm to click the matte black plastic switch", + "Use the right arm to press the rectangular black switch.", + "Click the rectangular black switch with the right arm.", + "Move and click the the matte black plastic switch", + "Use the right arm to press the rectangular black switch", + "Click the smooth black switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Activate the switch at the matte black plastic switch", + "Press the matte black plastic switch using the right arm", + "Click the rectangular black switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Use the right arm to press the matte black plastic switch.", + "Click the matte black plastic switch with the right arm.", + "Move and click the the matte black plastic switch", + "Use the right arm to press the rectangular black switch", + "Click the smooth black switch with the right arm", + "Click the smooth black switch with the right arm", + "Activate the switch at the smooth black switch", + "Press the smooth black switch using the right arm", + "Click the rectangular black switch using the right arm", + "Direct the right arm to click the rectangular black switch", + "Use the right arm to press the matte black plastic switch.", + "Click the smooth black switch with the right arm.", + "Move and click the the smooth black switch", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm", + "Activate the switch at the rectangular black switch", + "Press the matte black plastic switch using the right arm", + "Click the rectangular black switch using the right arm", + "Direct the right arm to click the matte black plastic switch", + "Use the right arm to press the matte black plastic switch.", + "Click the rectangular black switch with the right arm.", + "Move and click the the matte black plastic switch", + "Use the right arm to press the rectangular black switch", + "Click the matte black plastic switch with the right arm", + "Click the matte black plastic switch with the right arm", + "Activate the switch at the rectangular black switch", + "Press the smooth black switch using the right arm", + "Click the smooth black switch using the right arm", + "Direct the right arm to click the rectangular black switch", + "Use the right arm to press the matte black plastic switch.", + "Click the rectangular black switch with the right arm.", + "Move and click the the smooth black switch", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm", + "Activate the switch at the smooth black switch", + "Press the rectangular black switch using the right arm", + "Click the smooth black switch using the right arm", + "Direct the right arm to click the rectangular black switch", + "Use the right arm to press the rectangular black switch.", + "Click the rectangular black switch with the right arm.", + "Move and click the the rectangular black switch", + "Use the right arm to press the smooth black switch", + "Click the matte black plastic switch with the right arm", + "Click the smooth black switch with the right arm", + "Activate the switch at the matte black plastic switch", + "Press the matte black plastic switch using the right arm", + "Click the smooth black switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Use the right arm to press the rectangular black switch.", + "Click the rectangular black switch with the right arm.", + "Move and click the the smooth black switch", + "Use the right arm to press the rectangular black switch", + "Click the matte black plastic switch with the right arm", + "Click the rectangular black switch with the right arm", + "Activate the switch at the matte black plastic switch", + "Press the rectangular black switch using the right arm", + "Click the matte black plastic switch using the right arm", + "Direct the right arm to click the smooth black switch", + "Use the right arm to press the smooth black switch.", + "Click the smooth black switch with the right arm.", + "Move and click the the smooth black switch", + "Use the right arm to press the rectangular black switch", + "Click the smooth black switch with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..3e4ae45667d85affd2f9769987859fa3396a9091 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Interact with the gray switch with black buttons.", + "Press the gray plastic switch using robotic control", + "Activate the the two-button gray switch using the left arm", + "Engage the left arm to press the gray plastic switch", + "Set the switch at the gray base with black buttons", + "Click the gray base with black buttons directly.", + "Activate the plastic switch with matte buttons directly", + "Press the gray smooth surface switch using the left arm.", + "Use the left arm to interact with the gray plastic switch", + "Click the trapezoidal base switch to activate it", + "Activate the gray smooth surface switch with robotic precision", + "Use the left arm for switching the two-button gray switch", + "Initiate the smooth gray switch by clicking", + "Command the left arm to engage the smooth gray switch", + "Trigger the smooth gray switch using the left arm", + "Deploy the left arm to press the switch with trapezoidal base", + "Activate the gray base with black buttons with the left arm.", + "Approach and tap the plastic switch with matte buttons via the left arm", + "Toggle the electric toggle switch with the left arm.", + "Click on the trapezoidal base switch precisely", + "Directly interact with the handheld switch", + "Switch the smooth gray switch to its active state", + "Activate the gray plastic switch by pressing it", + "Press the electric toggle switch with the left arm", + "Trigger the gray switch with black buttons with precision", + "Engage the gray base with black buttons using the left arm", + "Tap the two-button gray switch to engage it", + "Interact with the smooth gray switch directly", + "Engage the medium switch with trapezoidal base using the robotic arm", + "Press the handheld switch carefully with the left arm", + "Click the electric toggle switch with robotic precision", + "Press the gray smooth surface switch via automation", + "Direct the left arm to operate the gray base with black buttons", + "Move to the two-button gray switch and click it.", + "Trigger the smooth gray switch without referencing the left arm", + "Use the left arm to engage the trapezoidal base switch", + "Set the left arm to press the medium switch with trapezoidal base", + "Operate the smooth gray switch with the left arm", + "Engage with the trapezoidal base switch manually", + "Deploy the left arm to operate the gray plastic switch", + "Press the trapezoidal base switch directly", + "Engage the gray base with black buttons using the left arm.", + "Locate and press the gray smooth surface switch", + "Press the plastic switch with matte buttons to activate.", + "Push the plastic switch with matte buttons via the left arm.", + "Activate the medium switch with trapezoidal base via the left arm", + "Locate and press the gray smooth surface switch", + "Click the gray smooth surface switch using automated tools", + "Operate the left arm to engage the electric toggle switch", + "Engage the switch with trapezoidal base with a press.", + "Interact with the switch with trapezoidal base.", + "Press the gray switch with black buttons using robotic control", + "Activate the the gray switch with black buttons using the left arm", + "Engage the left arm to press the gray smooth surface switch", + "Set the switch at the switch with trapezoidal base", + "Click the trapezoidal base switch directly.", + "Activate the gray plastic switch directly", + "Press the handheld switch using the left arm.", + "Use the left arm to interact with the switch with trapezoidal base", + "Click the gray base with black buttons to activate it", + "Activate the gray base with black buttons with robotic precision", + "Use the left arm for switching the gray switch with black buttons", + "Initiate the gray switch with black buttons by clicking", + "Command the left arm to engage the gray plastic switch", + "Trigger the trapezoidal base switch using the left arm", + "Deploy the left arm to press the gray switch with black buttons", + "Activate the trapezoidal base switch with the left arm.", + "Approach and tap the smooth gray switch via the left arm", + "Toggle the trapezoidal base switch with the left arm.", + "Click on the two-button gray switch precisely", + "Directly interact with the gray smooth surface switch", + "Switch the gray plastic switch to its active state", + "Activate the medium switch with trapezoidal base by pressing it", + "Press the electric toggle switch with the left arm", + "Trigger the gray plastic switch with precision", + "Engage the gray smooth surface switch using the left arm", + "Tap the plastic switch with matte buttons to engage it", + "Interact with the trapezoidal base switch directly", + "Engage the smooth gray switch using the robotic arm", + "Press the gray plastic switch carefully with the left arm", + "Click the trapezoidal base switch with robotic precision", + "Press the plastic switch with matte buttons via automation", + "Direct the left arm to operate the medium switch with trapezoidal base", + "Move to the handheld switch and click it.", + "Trigger the smooth gray switch without referencing the left arm", + "Use the left arm to engage the two-button gray switch", + "Set the left arm to press the gray switch with black buttons", + "Operate the switch with trapezoidal base with the left arm", + "Engage with the switch with trapezoidal base manually", + "Deploy the left arm to operate the trapezoidal base switch", + "Press the gray base with black buttons directly", + "Engage the gray plastic switch using the left arm.", + "Locate and press the gray base with black buttons", + "Press the medium switch with trapezoidal base to activate.", + "Push the two-button gray switch via the left arm.", + "Activate the switch with trapezoidal base via the left arm", + "Locate and press the electric toggle switch", + "Click the handheld switch using automated tools", + "Operate the left arm to engage the electric toggle switch", + "Engage the gray switch with black buttons with a press." + ], + "unseen": [ + "Click the gray switch medium size using the left arm", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the switch with circular black buttons", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch", + "Move and click the the gray switch", + "Click the gray switch medium size with the left arm.", + "Press the gray switch medium size using the left arm", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm", + "Use the left arm to press the gray switch medium size", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch.", + "Activate the switch at the gray switch medium size", + "Move and click the the gray switch", + "Click the gray switch medium size with the left arm.", + "Press the gray switch medium size using the left arm", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm", + "Use the left arm to press the gray switch medium size", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the gray switch.", + "Activate the switch at the switch with circular black buttons", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Press the gray switch using the left arm", + "Click the gray switch medium size with the left arm", + "Direct the left arm to click the gray switch", + "Click the gray switch medium size with the left arm", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the switch with circular black buttons", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Press the gray switch medium size using the left arm", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the gray switch with the left arm", + "Use the left arm to press the gray switch", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the gray switch medium size.", + "Activate the switch at the gray switch", + "Move and click the the gray switch medium size", + "Click the gray switch medium size with the left arm.", + "Press the switch with circular black buttons using the left arm", + "Click the gray switch medium size with the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch medium size with the left arm", + "Use the left arm to press the gray switch medium size", + "Click the gray switch using the left arm", + "Use the left arm to press the gray switch.", + "Activate the switch at the gray switch medium size", + "Move and click the the gray switch", + "Click the switch with circular black buttons with the left arm.", + "Press the gray switch using the left arm", + "Click the switch with circular black buttons with the left arm", + "Direct the left arm to click the switch with circular black buttons", + "Click the gray switch with the left arm", + "Use the left arm to press the gray switch", + "Click the gray switch using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch medium size", + "Move and click the the switch with circular black buttons", + "Click the gray switch medium size with the left arm.", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch", + "Click the switch with circular black buttons with the left arm", + "Use the left arm to press the switch with circular black buttons", + "Click the switch with circular black buttons using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch", + "Move and click the the gray switch medium size", + "Click the switch with circular black buttons with the left arm.", + "Press the gray switch using the left arm", + "Click the gray switch with the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Use the left arm to press the switch with circular black buttons", + "Click the gray switch medium size using the left arm", + "Use the left arm to press the switch with circular black buttons.", + "Activate the switch at the gray switch", + "Move and click the the gray switch medium size", + "Click the gray switch with the left arm.", + "Press the gray switch using the left arm", + "Click the gray switch medium size with the left arm", + "Direct the left arm to click the gray switch medium size", + "Click the switch with circular black buttons with the left arm", + "Use the left arm to press the gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..7a526743cde8d14851b70e7239a3594c06065ac7 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the compact switch with flat base directly", + "Engage the plastic gray body switch with a press.", + "Command the right arm to engage the electrical switch with protruding toggle", + "Use the right arm for switching the square switch with red bar", + "Switch the light gray square switch to its active state", + "Approach and tap the gray switch with red toggle via the right arm", + "Trigger the light gray square switch without referencing the right arm", + "Directly interact with the red bar switch", + "Click the gray switch with red toggle with robotic precision", + "Deploy the right arm to operate the switch with thin red toggle", + "Engage with the light gray square switch manually", + "Press the light gray square switch via automation", + "Locate and press the red bar switch", + "Activate the the plastic gray body switch using the right arm", + "Activate the switch for electrical control by pressing it", + "Click the gray switch with red toggle directly.", + "Locate and press the toggle switch light gray base", + "Click on the switch for electrical control precisely", + "Interact with the toggle switch light gray base.", + "Interact with the compact switch with flat base directly", + "Click the toggle switch light gray base using automated tools", + "Press the control switch with red lever carefully with the right arm", + "Press the plastic gray body switch with the right arm", + "Tap the electrical switch with protruding toggle to engage it", + "Engage the compact switch with flat base using the robotic arm", + "Operate the right arm to engage the square switch with red bar", + "Move to the toggle switch light gray base and click it.", + "Toggle the square switch with red bar with the right arm.", + "Initiate the electrical switch with protruding toggle by clicking", + "Use the right arm to engage the switch with thin red toggle", + "Click the red bar switch to activate it", + "Activate the switch for electrical control with the right arm.", + "Press the electrical switch with protruding toggle using robotic control", + "Set the switch at the control switch with red lever", + "Activate the red bar switch via the right arm", + "Trigger the light gray square switch using the right arm", + "Press the light gray square switch using the right arm.", + "Set the right arm to press the switch for electrical control", + "Engage the right arm to press the plastic gray body switch", + "Engage the plastic gray body switch using the right arm", + "Press the control switch with red lever to activate.", + "Activate the toggle switch light gray base with robotic precision", + "Operate the toggle switch light gray base with the right arm", + "Push the compact switch with flat base via the right arm.", + "Direct the right arm to operate the plastic gray body switch", + "Deploy the right arm to press the red bar switch", + "Use the right arm to interact with the compact switch with flat base", + "Activate the switch directly", + "Engage the light gray square switch using the right arm.", + "Trigger the plastic gray body switch with precision", + "Press the compact switch with flat base directly", + "Engage the light gray square switch with a press.", + "Command the right arm to engage the plastic gray body switch", + "Use the right arm for switching the electrical switch with protruding toggle", + "Switch the gray switch with red toggle to its active state", + "Approach and tap the control switch with red lever via the right arm", + "Trigger the red bar switch without referencing the right arm", + "Directly interact with the switch with thin red toggle", + "Click the red bar switch with robotic precision", + "Deploy the right arm to operate the toggle switch light gray base", + "Engage with the toggle switch light gray base manually", + "Press the switch for electrical control via automation", + "Locate and press the light gray square switch", + "Activate the the red bar switch using the right arm", + "Activate the light gray square switch by pressing it", + "Click the control switch with red lever directly.", + "Locate and press the gray switch with red toggle", + "Click on the red bar switch precisely", + "Interact with the switch.", + "Interact with the switch directly", + "Click the switch using automated tools", + "Press the square switch with red bar carefully with the right arm", + "Press the electrical switch with protruding toggle with the right arm", + "Tap the toggle switch light gray base to engage it", + "Engage the light gray square switch using the robotic arm", + "Operate the right arm to engage the gray switch with red toggle", + "Move to the gray switch with red toggle and click it.", + "Toggle the compact switch with flat base with the right arm.", + "Initiate the light gray square switch by clicking", + "Use the right arm to engage the switch for electrical control", + "Click the plastic gray body switch to activate it", + "Activate the control switch with red lever with the right arm.", + "Press the plastic gray body switch using robotic control", + "Set the switch at the light gray square switch", + "Activate the compact switch with flat base via the right arm", + "Trigger the compact switch with flat base using the right arm", + "Press the square switch with red bar using the right arm.", + "Set the right arm to press the square switch with red bar", + "Engage the right arm to press the square switch with red bar", + "Engage the light gray square switch using the right arm", + "Press the switch for electrical control to activate.", + "Activate the switch for electrical control with robotic precision", + "Operate the electrical switch with protruding toggle with the right arm", + "Push the control switch with red lever via the right arm.", + "Direct the right arm to operate the compact switch with flat base", + "Deploy the right arm to press the red bar switch", + "Use the right arm to interact with the square switch with red bar", + "Activate the toggle switch light gray base directly", + "Engage the square switch with red bar using the right arm.", + "Trigger the red bar switch with precision" + ], + "unseen": [ + "Activate the switch at the hand-sized square electrical switch", + "Move and click the the hand-sized square electrical switch", + "Click the flat square gray switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the hand-sized square electrical switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Press the flat square gray switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch using the right arm", + "Activate the switch at the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Press the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Move and click the the flat square gray switch", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Press the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Move and click the the smooth gray base switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Press the flat square gray switch using the right arm", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the flat square gray switch", + "Move and click the the flat square gray switch", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch using the right arm", + "Activate the switch at the flat square gray switch", + "Move and click the the hand-sized square electrical switch", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the flat square gray switch.", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the flat square gray switch", + "Move and click the the flat square gray switch", + "Click the flat square gray switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm.", + "Use the right arm to press the smooth gray base switch.", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Click the smooth gray base switch using the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..d4f98be8a92d52843b71f60a0ef7e999f8727fc8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the switch with thin red toggle carefully with the right arm", + "Use the right arm for switching the toggle switch light gray base", + "Activate the switch for electrical control via the right arm", + "Locate and press the plastic gray body switch", + "Directly interact with the compact switch with flat base", + "Activate the control switch with red lever with the right arm.", + "Activate the red bar switch directly", + "Activate the the compact switch with flat base using the right arm", + "Engage the plastic gray body switch with a press.", + "Push the square switch with red bar via the right arm.", + "Move to the electrical switch with protruding toggle and click it.", + "Locate and press the red bar switch", + "Engage the toggle switch light gray base using the right arm", + "Toggle the plastic gray body switch with the right arm.", + "Deploy the right arm to press the compact switch with flat base", + "Direct the right arm to operate the toggle switch light gray base", + "Approach and tap the red bar switch via the right arm", + "Press the compact switch with flat base to activate.", + "Press the plastic gray body switch using the right arm.", + "Trigger the plastic gray body switch without referencing the right arm", + "Activate the toggle switch light gray base with robotic precision", + "Set the switch at the gray switch with red toggle", + "Set the right arm to press the switch with thin red toggle", + "Switch the red bar switch to its active state", + "Interact with the switch for electrical control directly", + "Click the plastic gray body switch directly.", + "Tap the square switch with red bar to engage it", + "Operate the switch for electrical control with the right arm", + "Press the switch for electrical control via automation", + "Interact with the switch for electrical control.", + "Activate the plastic gray body switch by pressing it", + "Use the right arm to interact with the red bar switch", + "Engage the red bar switch using the right arm.", + "Click on the switch precisely", + "Click the red bar switch to activate it", + "Click the toggle switch light gray base using automated tools", + "Engage the right arm to press the plastic gray body switch", + "Engage with the light gray square switch manually", + "Initiate the gray switch with red toggle by clicking", + "Use the right arm to engage the gray switch with red toggle", + "Operate the right arm to engage the compact switch with flat base", + "Press the red bar switch directly", + "Press the compact switch with flat base with the right arm", + "Engage the compact switch with flat base using the robotic arm", + "Press the gray switch with red toggle using robotic control", + "Trigger the switch for electrical control using the right arm", + "Trigger the switch with thin red toggle with precision", + "Command the right arm to engage the electrical switch with protruding toggle", + "Deploy the right arm to operate the switch", + "Click the red bar switch with robotic precision", + "Press the electrical switch with protruding toggle carefully with the right arm", + "Use the right arm for switching the switch with thin red toggle", + "Activate the switch via the right arm", + "Locate and press the control switch with red lever", + "Directly interact with the switch", + "Activate the plastic gray body switch with the right arm.", + "Activate the light gray square switch directly", + "Activate the the control switch with red lever using the right arm", + "Engage the toggle switch light gray base with a press.", + "Push the electrical switch with protruding toggle via the right arm.", + "Move to the red bar switch and click it.", + "Locate and press the red bar switch", + "Engage the switch with thin red toggle using the right arm", + "Toggle the plastic gray body switch with the right arm.", + "Deploy the right arm to press the compact switch with flat base", + "Direct the right arm to operate the gray switch with red toggle", + "Approach and tap the red bar switch via the right arm", + "Press the plastic gray body switch to activate.", + "Press the switch for electrical control using the right arm.", + "Trigger the toggle switch light gray base without referencing the right arm", + "Activate the light gray square switch with robotic precision", + "Set the switch at the switch for electrical control", + "Set the right arm to press the compact switch with flat base", + "Switch the gray switch with red toggle to its active state", + "Interact with the plastic gray body switch directly", + "Click the light gray square switch directly.", + "Tap the compact switch with flat base to engage it", + "Operate the electrical switch with protruding toggle with the right arm", + "Press the gray switch with red toggle via automation", + "Interact with the plastic gray body switch.", + "Activate the light gray square switch by pressing it", + "Use the right arm to interact with the gray switch with red toggle", + "Engage the control switch with red lever using the right arm.", + "Click on the light gray square switch precisely", + "Click the toggle switch light gray base to activate it", + "Click the compact switch with flat base using automated tools", + "Engage the right arm to press the red bar switch", + "Engage with the compact switch with flat base manually", + "Initiate the light gray square switch by clicking", + "Use the right arm to engage the switch", + "Operate the right arm to engage the compact switch with flat base", + "Press the toggle switch light gray base directly", + "Press the electrical switch with protruding toggle with the right arm", + "Engage the switch with thin red toggle using the robotic arm", + "Press the electrical switch with protruding toggle using robotic control", + "Trigger the square switch with red bar using the right arm", + "Trigger the switch for electrical control with precision", + "Command the right arm to engage the control switch with red lever", + "Deploy the right arm to operate the switch for electrical control", + "Click the switch with robotic precision" + ], + "unseen": [ + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Move and click the the flat square gray switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch.", + "Click the flat square gray switch with the right arm", + "Click the flat square gray switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the smooth gray base switch with the right arm.", + "Click the flat square gray switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the flat square gray switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the flat square gray switch using the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the flat square gray switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the flat square gray switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the flat square gray switch", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch.", + "Click the smooth gray base switch with the right arm", + "Click the flat square gray switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the hand-sized square electrical switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the hand-sized square electrical switch", + "Direct the right arm to click the flat square gray switch", + "Use the right arm to press the hand-sized square electrical switch.", + "Click the hand-sized square electrical switch with the right arm", + "Click the smooth gray base switch with the right arm", + "Move and click the the hand-sized square electrical switch", + "Press the smooth gray base switch using the right arm", + "Click the hand-sized square electrical switch with the right arm.", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the smooth gray base switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the smooth gray base switch.", + "Click the smooth gray base switch with the right arm", + "Click the hand-sized square electrical switch with the right arm", + "Move and click the the smooth gray base switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the smooth gray base switch using the right arm", + "Activate the switch at the smooth gray base switch", + "Use the right arm to press the flat square gray switch", + "Direct the right arm to click the smooth gray base switch", + "Use the right arm to press the flat square gray switch.", + "Click the hand-sized square electrical switch with the right arm", + "Click the flat square gray switch with the right arm", + "Move and click the the flat square gray switch", + "Press the smooth gray base switch using the right arm", + "Click the flat square gray switch with the right arm.", + "Click the hand-sized square electrical switch using the right arm", + "Activate the switch at the hand-sized square electrical switch", + "Use the right arm to press the flat square gray switch" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e5e86cd24bbf5d4cdd5720369a4b145161550c --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Activate the switch with darker rectangle with the right arm.", + "Click the switch with darker rectangle using automated tools", + "Click the tan switch with robotic precision", + "Command the right arm to engage the light tan rectangular switch smooth finish", + "Set the right arm to press the plastic switch with angled edges", + "Trigger the hand-sized switch tan smooth finish with precision", + "Approach and tap the switch trapezoid shape brown marking via the right arm", + "Tap the hand-sized switch tan smooth finish to engage it", + "Use the right arm to interact with the small light tan switch", + "Interact with the hand-sized switch tan smooth finish directly", + "Click on the tan switch precisely", + "Activate the light tan rectangular switch smooth finish with robotic precision", + "Deploy the right arm to press the trapezoid-shaped switch smooth surface", + "Click the smooth tan switch with textured sides to activate it", + "Press the switch with darker rectangle to activate.", + "Press the tan switch via automation", + "Interact with the flat switch.", + "Operate the right arm to engage the tan switch", + "Press the flat switch carefully with the right arm", + "Press the smooth tan switch with textured sides using the right arm.", + "Use the right arm to engage the plastic switch with angled edges", + "Use the right arm for switching the tan switch", + "Deploy the right arm to operate the switch with darker rectangle", + "Push the smooth tan switch with textured sides via the right arm.", + "Engage the tan switch using the right arm.", + "Click the switch trapezoid shape brown marking directly.", + "Engage with the hand-sized switch tan smooth finish manually", + "Direct the right arm to operate the plastic switch with angled edges", + "Press the tan switch directly", + "Trigger the plastic switch with angled edges without referencing the right arm", + "Engage the small light tan switch using the right arm", + "Press the tan switch with the right arm", + "Switch the flat switch to its active state", + "Activate the rectangular switch with slanted sides by pressing it", + "Set the switch at the switch trapezoid shape brown marking", + "Toggle the rectangular switch with slanted sides with the right arm.", + "Directly interact with the switch trapezoid shape brown marking", + "Activate the the small light tan switch using the right arm", + "Locate and press the switch trapezoid shape brown marking", + "Move to the hand-sized switch tan smooth finish and click it.", + "Activate the light tan rectangular switch smooth finish directly", + "Engage the hand-sized switch tan smooth finish using the robotic arm", + "Trigger the flat switch using the right arm", + "Engage the rectangular switch with slanted sides with a press.", + "Press the hand-sized switch tan smooth finish using robotic control", + "Initiate the light tan rectangular switch smooth finish by clicking", + "Locate and press the light tan rectangular switch smooth finish", + "Activate the angled switch light tan color via the right arm", + "Operate the small light tan switch with the right arm", + "Engage the right arm to press the angled switch light tan color", + "Activate the switch with darker rectangle with the right arm.", + "Click the plastic switch with angled edges using automated tools", + "Click the light tan rectangular switch smooth finish with robotic precision", + "Command the right arm to engage the smooth tan switch with textured sides", + "Set the right arm to press the rectangular switch with slanted sides", + "Trigger the switch with darker rectangle with precision", + "Approach and tap the trapezoid-shaped switch smooth surface via the right arm", + "Tap the flat switch to engage it", + "Use the right arm to interact with the hand-sized switch tan smooth finish", + "Interact with the tan switch directly", + "Click on the angled switch light tan color precisely", + "Activate the flat switch with robotic precision", + "Deploy the right arm to press the plastic switch with angled edges", + "Click the trapezoid-shaped switch smooth surface to activate it", + "Press the switch with darker rectangle to activate.", + "Press the angled switch light tan color via automation", + "Interact with the tan switch.", + "Operate the right arm to engage the hand-sized switch tan smooth finish", + "Press the angled switch light tan color carefully with the right arm", + "Press the small light tan switch using the right arm.", + "Use the right arm to engage the switch with darker rectangle", + "Use the right arm for switching the switch with darker rectangle", + "Deploy the right arm to operate the tan switch", + "Push the trapezoid-shaped switch smooth surface via the right arm.", + "Engage the flat switch using the right arm.", + "Click the plastic switch with angled edges directly.", + "Engage with the smooth tan switch with textured sides manually", + "Direct the right arm to operate the smooth tan switch with textured sides", + "Press the flat switch directly", + "Trigger the flat switch without referencing the right arm", + "Engage the small light tan switch using the right arm", + "Press the switch with darker rectangle with the right arm", + "Switch the hand-sized switch tan smooth finish to its active state", + "Activate the smooth tan switch with textured sides by pressing it", + "Set the switch at the light tan rectangular switch smooth finish", + "Toggle the tan switch with the right arm.", + "Directly interact with the switch trapezoid shape brown marking", + "Activate the the rectangular switch with slanted sides using the right arm", + "Locate and press the light tan rectangular switch smooth finish", + "Move to the hand-sized switch tan smooth finish and click it.", + "Activate the smooth tan switch with textured sides directly", + "Engage the rectangular switch with slanted sides using the robotic arm", + "Trigger the flat switch using the right arm", + "Engage the trapezoid-shaped switch smooth surface with a press.", + "Press the smooth tan switch with textured sides using robotic control", + "Initiate the trapezoid-shaped switch smooth surface by clicking", + "Locate and press the light tan rectangular switch smooth finish", + "Activate the light tan rectangular switch smooth finish via the right arm", + "Operate the switch trapezoid shape brown marking with the right arm", + "Engage the right arm to press the light tan rectangular switch smooth finish" + ], + "unseen": [ + "Press the lightweight plastic switch angled edges using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the small flat switch tan top.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Press the switch flat tan top brown rectangle using the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Press the small flat switch tan top using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the lightweight plastic switch angled edges with the right arm.", + "Press the small flat switch tan top using the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the small flat switch tan top with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the switch flat tan top brown rectangle", + "Click the small flat switch tan top with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Press the switch flat tan top brown rectangle using the right arm", + "Move and click the the small flat switch tan top", + "Use the right arm to press the small flat switch tan top.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the small flat switch tan top with the right arm", + "Click the small flat switch tan top with the right arm.", + "Press the lightweight plastic switch angled edges using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the switch flat tan top brown rectangle with the right arm", + "Use the right arm to press the switch flat tan top brown rectangle", + "Direct the right arm to click the switch flat tan top brown rectangle", + "Click the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Press the small flat switch tan top using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the small flat switch tan top", + "Click the switch flat tan top brown rectangle using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm.", + "Press the lightweight plastic switch angled edges using the right arm", + "Move and click the the lightweight plastic switch angled edges", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the lightweight plastic switch angled edges", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the small flat switch tan top using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Press the lightweight plastic switch angled edges using the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the switch flat tan top brown rectangle.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the small flat switch tan top", + "Click the switch flat tan top brown rectangle with the right arm", + "Click the switch flat tan top brown rectangle with the right arm.", + "Press the lightweight plastic switch angled edges using the right arm", + "Move and click the the switch flat tan top brown rectangle", + "Use the right arm to press the lightweight plastic switch angled edges.", + "Click the lightweight plastic switch angled edges with the right arm", + "Use the right arm to press the small flat switch tan top", + "Direct the right arm to click the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges using the right arm", + "Activate the switch at the lightweight plastic switch angled edges", + "Click the lightweight plastic switch angled edges with the right arm", + "Click the small flat switch tan top with the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..c9e1814c199c82cde256673a9f9f2f87d61434c8 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Press the compact switch with toggle on top to activate.", + "Click the black switch with metallic connectors using automated tools", + "Trigger the switch with curved red toggle using the right arm", + "Press the red-top black switch using robotic control", + "Operate the right arm to engage the small switch", + "Engage the black switch with metallic connectors using the right arm", + "Click on the plastic switch with metal terminals precisely", + "Directly interact with the hand-sized switch with connector prongs", + "Press the rectangular black plastic switch via automation", + "Switch the rectangular black plastic switch to its active state", + "Command the right arm to engage the black switch", + "Use the right arm to engage the compact switch with toggle on top", + "Operate the black switch with metallic connectors with the right arm", + "Locate and press the compact switch with toggle on top", + "Interact with the hand-sized switch with connector prongs.", + "Activate the compact switch with toggle on top via the right arm", + "Deploy the right arm to operate the rectangular black plastic switch", + "Press the switch with curved red toggle using the right arm.", + "Engage with the switch with curved red toggle manually", + "Trigger the rectangular black plastic switch without referencing the right arm", + "Direct the right arm to operate the red-top black switch", + "Initiate the black switch with metallic connectors by clicking", + "Trigger the red and black switch with precision", + "Approach and tap the black switch via the right arm", + "Engage the black switch using the right arm.", + "Activate the small switch with the right arm.", + "Use the right arm for switching the plastic switch with metal terminals", + "Toggle the hand-sized switch with connector prongs with the right arm.", + "Press the hand-sized switch with connector prongs carefully with the right arm", + "Locate and press the red and black switch", + "Press the rectangular switch with curved lever directly", + "Set the right arm to press the rectangular black plastic switch", + "Activate the switch with curved red toggle directly", + "Click the hand-sized switch with connector prongs directly.", + "Activate the the rectangular black plastic switch using the right arm", + "Engage the right arm to press the black base switch with red toggle", + "Move to the small switch and click it.", + "Click the red and black switch with robotic precision", + "Activate the small switch with robotic precision", + "Activate the rectangular black plastic switch by pressing it", + "Push the black switch with metallic connectors via the right arm.", + "Press the switch with curved red toggle with the right arm", + "Engage the red and black switch using the robotic arm", + "Engage the small switch with a press.", + "Use the right arm to interact with the switch with curved red toggle", + "Click the small switch to activate it", + "Interact with the small switch directly", + "Set the switch at the switch with curved red toggle", + "Deploy the right arm to press the black switch with metallic connectors", + "Tap the switch with curved red toggle to engage it", + "Press the small switch to activate.", + "Click the red and black switch using automated tools", + "Trigger the black switch with metallic connectors using the right arm", + "Press the black base switch with red toggle using robotic control", + "Operate the right arm to engage the rectangular black plastic switch", + "Engage the small switch using the right arm", + "Click on the black switch precisely", + "Directly interact with the small switch", + "Press the rectangular black plastic switch via automation", + "Switch the compact switch with toggle on top to its active state", + "Command the right arm to engage the rectangular black plastic switch", + "Use the right arm to engage the rectangular black plastic switch", + "Operate the switch with curved red toggle with the right arm", + "Locate and press the red and black switch", + "Interact with the plastic switch with metal terminals.", + "Activate the rectangular black plastic switch via the right arm", + "Deploy the right arm to operate the plastic switch with metal terminals", + "Press the black base switch with red toggle using the right arm.", + "Engage with the red-top black switch manually", + "Trigger the hand-sized switch with connector prongs without referencing the right arm", + "Direct the right arm to operate the rectangular black plastic switch", + "Initiate the red and black switch by clicking", + "Trigger the red-top black switch with precision", + "Approach and tap the rectangular switch with curved lever via the right arm", + "Engage the plastic switch with metal terminals using the right arm.", + "Activate the small switch with the right arm.", + "Use the right arm for switching the black base switch with red toggle", + "Toggle the black switch with the right arm.", + "Press the rectangular switch with curved lever carefully with the right arm", + "Locate and press the black switch with metallic connectors", + "Press the rectangular black plastic switch directly", + "Set the right arm to press the small switch", + "Activate the hand-sized switch with connector prongs directly", + "Click the hand-sized switch with connector prongs directly.", + "Activate the the black base switch with red toggle using the right arm", + "Engage the right arm to press the hand-sized switch with connector prongs", + "Move to the small switch and click it.", + "Click the small switch with robotic precision", + "Activate the compact switch with toggle on top with robotic precision", + "Activate the rectangular switch with curved lever by pressing it", + "Push the plastic switch with metal terminals via the right arm.", + "Press the compact switch with toggle on top with the right arm", + "Engage the red-top black switch using the robotic arm", + "Engage the black switch with a press.", + "Use the right arm to interact with the switch with curved red toggle", + "Click the red-top black switch to activate it", + "Interact with the plastic switch with metal terminals directly", + "Set the switch at the black base switch with red toggle", + "Deploy the right arm to press the rectangular black plastic switch", + "Tap the rectangular switch with curved lever to engage it" + ], + "unseen": [ + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the switch with two metal prongs.", + "Click the smooth black switch with red lever with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the simple toggle switch", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the switch with two metal prongs with the right arm", + "Use the right arm to press the simple toggle switch", + "Press the simple toggle switch using the right arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the smooth black switch with red lever", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the simple toggle switch.", + "Click the simple toggle switch with the right arm.", + "Click the smooth black switch with red lever with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the simple toggle switch", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the simple toggle switch", + "Press the smooth black switch with red lever using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the smooth black switch with red lever using the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the simple toggle switch.", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the switch with two metal prongs", + "Click the switch with two metal prongs using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the simple toggle switch", + "Use the right arm to press the switch with two metal prongs.", + "Click the switch with two metal prongs with the right arm.", + "Click the simple toggle switch with the right arm", + "Click the smooth black switch with red lever with the right arm", + "Use the right arm to press the switch with two metal prongs", + "Press the switch with two metal prongs using the right arm", + "Activate the switch at the smooth black switch with red lever", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the simple toggle switch", + "Move and click the the smooth black switch with red lever", + "Use the right arm to press the smooth black switch with red lever.", + "Click the switch with two metal prongs with the right arm.", + "Click the switch with two metal prongs with the right arm", + "Click the simple toggle switch with the right arm", + "Use the right arm to press the smooth black switch with red lever", + "Press the simple toggle switch using the right arm", + "Activate the switch at the simple toggle switch", + "Click the simple toggle switch using the right arm", + "Direct the right arm to click the switch with two metal prongs", + "Move and click the the switch with two metal prongs", + "Use the right arm to press the smooth black switch with red lever.", + "Click the simple toggle switch with the right arm.", + "Click the switch with two metal prongs with the right arm" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/scene_info.json b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..65d5874ce2d799c9f86574a2579bd47c364f3345 --- /dev/null +++ b/robotwin_multiembodiments/turn_switch/ur5-wsg/meta/scene_info.json @@ -0,0 +1,552 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "056_switch/base4", + "{a}": "right" + } + }, + "episode_1": { + 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