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programmable-vla / instruction-audit /hard.json
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Show pure Kinex RLE evaluation progress; retain native VLA and historical Kinex evidence
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{
"schema": "programvla/current-instruction-audit/1",
"panel": "hard",
"family": "task13",
"version": "hard-rle-instructions-v1",
"created_at": "2026-11-03T21:51:32.903859+00:00",
"rle_snapshot_kind": "current working tree, including uncommitted instruction revisions",
"comparison_basis": "Pinned upstream full_description versus the current RLE goal template. Runtime wording varies; full native pools and recorded episode text are provided separately.",
"historical_note": "Current Kinex episodes use the revised RLE goals. Retained VLA episodes and archived Kinex episodes use original native language; their measured instructions remain unchanged. Select a recorded episode below to inspect its actual instruction policy.",
"families": [
{
"id": "demo_randomized",
"name": "Randomized"
}
],
"tasks": [
{
"key": "task13/01",
"id": "robotwin/handover-block-aloha-agilex-hard",
"title": "Handover block",
"native_task": "handover_block",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
"measured": "use the left arm to grasp the red block on the table, hand it over to the right arm, and set it down in the center of the blue pad. Release it with the right gripper open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/handover_block",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/handover_block.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/handover_block.py",
"catalog_path": "tasks/task13/catalog/01-handover-block-hard/task.yaml",
"catalog_sha256": "8e5b8f018373121b843e0742c7ddf0a5fc8e973b4af8f55c7ae57710a3d72704",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/01",
"notes": [
"Makes central placement on the pad and release with the right gripper explicit."
]
},
{
"key": "task13/02",
"id": "robotwin/place-dual-shoes-aloha-agilex-hard",
"title": "Place dual shoes",
"native_task": "place_dual_shoes",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
"measured": "use both arms to pick up the two shoes on the table and put them flat in the shoebox, with the shoe tips pointing to the left and the shoe initially on the left nearer the robot. Leave both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_dual_shoes",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_dual_shoes.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_dual_shoes.py",
"catalog_path": "tasks/task13/catalog/02-place-dual-shoes-hard/task.yaml",
"catalog_sha256": "0bbb23baa3ee354a024dc6598ad82e405118218c72beff40e3fbdd40e8d508a4",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/02",
"notes": [
"Specifies shoe orientation, relative placement and open grippers."
]
},
{
"key": "task13/03",
"id": "robotwin/put-bottles-dustbin-aloha-agilex-hard",
"title": "Put bottles dustbin",
"native_task": "put_bottles_dustbin",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use arms to grab the bottles and put them into the dustbin to the left of the table",
"measured": "Use the arms to pick up all the task bottles and put them inside the dustbin to the left of the table.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/put_bottles_dustbin",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/put_bottles_dustbin.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/put_bottles_dustbin.py",
"catalog_path": "tasks/task13/catalog/03-put-bottles-dustbin-hard/task.yaml",
"catalog_sha256": "aa0488429a083a1db3b883119ad51bf70204c8cc6e3ab078802deafed0561f59",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/03",
"notes": []
},
{
"key": "task13/04",
"id": "robotwin/scan-object-aloha-agilex-hard",
"title": "Scan object",
"native_task": "scan_object",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "simultaneously pick up the scanner and the object with separate arms, then scan the object",
"measured": "Pick up the {scanner_description} and the {object_description} with separate arms. Hold the scanner's scanning face close to and directly facing the object's center, keeping both grippers closed around the items.",
"status": "changed",
"bindings": {
"scanner_description": "scanner.description",
"object_description": "object.description"
},
"definition": "task_instruction/scan_object",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/scan_object.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/scan_object.py",
"catalog_path": "tasks/task13/catalog/04-scan-object-hard/task.yaml",
"catalog_sha256": "0b5eadc97e2d7eae8623453fbd3469f70b2496cc606cf643ec2cd1ec9fb5c195",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/04",
"notes": [
"Makes scanner alignment, close distance and closed grippers explicit.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/05",
"id": "robotwin/stack-bowls-three-aloha-agilex-hard",
"title": "Stack bowls three",
"native_task": "stack_bowls_three",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "stack the three bowls on top of each other",
"measured": "nest the three bowls on the table, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/stack_bowls_three",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_bowls_three.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_bowls_three.py",
"catalog_path": "tasks/task13/catalog/05-stack-bowls-three-hard/task.yaml",
"catalog_sha256": "ffd6453af25700bc4c06fb98bb5bc1f0fca2152d4aaaaa7842d38fbd54db878c",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/05",
"notes": []
},
{
"key": "task13/06",
"id": "robotwin/stack-blocks-three-aloha-agilex-hard",
"title": "Stack blocks three",
"native_task": "stack_blocks_three",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "build a three-block stack at the center by placing the red block first, the green block on red, and the blue block on green",
"measured": "Build a three-block stack by placing the green block centrally on the red block and the blue block centrally on the green block. Leave both grippers open.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/stack_blocks_three",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_blocks_three.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_blocks_three.py",
"catalog_path": "tasks/task13/catalog/06-stack-blocks-three-hard/task.yaml",
"catalog_sha256": "6c10c48c8086a569e756333f8a2a41ed926c4e521d29ba091d9cdfb236d89a64",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/06",
"notes": [
"Specifies block order, centered stacking and open grippers."
]
},
{
"key": "task13/07",
"id": "robotwin/hanging-mug-aloha-agilex-hard",
"title": "Hanging mug",
"native_task": "hanging_mug",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
"measured": "Use the left arm to pick up and rotate the mug, set it down in the middle of the table, then use the right arm to hang it on the rack. Release the mug with the right gripper open.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/hanging_mug",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/hanging_mug.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/hanging_mug.py",
"catalog_path": "tasks/task13/catalog/07-hanging-mug-hard/task.yaml",
"catalog_sha256": "c53011a9c1d933df392402b31aef6942a2cc4920adbb2cf322c2dc2e6ed1ff26",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/07",
"notes": []
},
{
"key": "task13/08",
"id": "robotwin/put-object-cabinet-aloha-agilex-hard",
"title": "Put object cabinet",
"native_task": "put_object_cabinet",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to hold the object and the other arm to open the cabinet drawer, then place the object inside",
"measured": "Use one arm to hold the {object_description} and the other to open the bottom cabinet drawer. Set the object down near the center of the drawer interior and release it.",
"status": "changed",
"bindings": {
"object_description": "object.description"
},
"definition": "task_instruction/put_object_cabinet",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/put_object_cabinet.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/put_object_cabinet.py",
"catalog_path": "tasks/task13/catalog/08-put-object-cabinet-hard/task.yaml",
"catalog_sha256": "0b79d8b0572330a261ba02565de602dfaa91ccf9f6b6efe417d4a9c062403789",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/08",
"notes": [
"Clarifies the bottom drawer, interior placement and release.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/09",
"id": "robotwin/blocks-ranking-size-aloha-agilex-hard",
"title": "Blocks ranking size",
"native_task": "blocks_ranking_size",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
"measured": "move the three randomly colored blocks to the center of the table and arrange them in a close, straight row from largest to smallest, from left to right. Release them with both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/blocks_ranking_size",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/blocks_ranking_size.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/blocks_ranking_size.py",
"catalog_path": "tasks/task13/catalog/09-blocks-ranking-size-hard/task.yaml",
"catalog_sha256": "b92ed3296317b17e7c6b99ad336208f0866ebff18fcccc500d56370bc790d007",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/09",
"notes": []
},
{
"key": "task13/10",
"id": "robotwin/lift-pot-aloha-agilex-hard",
"title": "Lift pot",
"native_task": "lift_pot",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use BOTH!!! arms to lift the pot",
"measured": "Use both arms to grasp the pot by its two handles and lift it well clear of the tabletop, keeping it upright. Keep each gripper centered on its handle while holding the pot up.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/lift_pot",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/lift_pot.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/lift_pot.py",
"catalog_path": "tasks/task13/catalog/10-lift-pot-hard/task.yaml",
"catalog_sha256": "5ced48be1fdc130e8145865b32478da7633ae4473dcba48ad15aa4e9dbce7208",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/10",
"notes": [
"Clarifies upright lifting while both grippers stay on the handles."
]
},
{
"key": "task13/11",
"id": "robotwin/adjust-bottle-aloha-agilex-hard",
"title": "Adjust bottle",
"native_task": "adjust_bottle",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Pick up the bottle on the table head-up with the correct arm",
"measured": "Pick up the {bottle_description} head-up and hold it high toward the {side} edge of the table",
"status": "changed",
"bindings": {
"bottle_description": "bottle.description",
"side": "target_side"
},
"definition": "task_instruction/adjust_bottle",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/adjust_bottle.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/adjust_bottle.py",
"catalog_path": "tasks/task13/catalog/11-adjust-bottle-hard/task.yaml",
"catalog_sha256": "62624f42c5b59998f06126bbd60fa6ba7ca1651f157866ba57c35ae196f4a928",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/11",
"notes": [
"Makes the episode-specific arm/side and bottle appearance explicit, together with the required lift.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/12",
"id": "robotwin/beat-block-hammer-aloha-agilex-hard",
"title": "Beat block hammer",
"native_task": "beat_block_hammer",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
"measured": "pick up the hammer and hit the center of the block",
"status": "changed",
"bindings": {},
"definition": "task_instruction/beat_block_hammer",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/beat_block_hammer.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/beat_block_hammer.py",
"catalog_path": "tasks/task13/catalog/12-beat-block-hammer-hard/task.yaml",
"catalog_sha256": "1e280c4f0e1e880ef683fa71d2522b9dca99d6bdde1c09dc6d6ab45200e7bf76",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/12",
"notes": []
},
{
"key": "task13/13",
"id": "robotwin/blocks-ranking-rgb-aloha-agilex-hard",
"title": "Blocks ranking rgb",
"native_task": "blocks_ranking_rgb",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
"measured": "Place the red, green, and blue blocks in a close horizontal row from left to right, then release them with both grippers open.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/blocks_ranking_rgb",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/blocks_ranking_rgb.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/blocks_ranking_rgb.py",
"catalog_path": "tasks/task13/catalog/13-blocks-ranking-rgb-hard/task.yaml",
"catalog_sha256": "f865ef416a01aefe4ffc9594c0473be28c16116afe1b21b536601f5257d28a24",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/13",
"notes": []
},
{
"key": "task13/14",
"id": "robotwin/click-alarmclock-aloha-agilex-hard",
"title": "Click alarmclock",
"native_task": "click_alarmclock",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "click the alarm clock's center of the top side button on the table",
"measured": "click the center of the alarm clock's top button, keeping the gripper on the clock's side closed",
"status": "changed",
"bindings": {},
"definition": "task_instruction/click_alarmclock",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/click_alarmclock.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/click_alarmclock.py",
"catalog_path": "tasks/task13/catalog/14-click-alarmclock-hard/task.yaml",
"catalog_sha256": "05a669fa757c6dad4a4aa29afa848e923c521a8a146d5d90032005a010aa23be",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/14",
"notes": []
},
{
"key": "task13/15",
"id": "robotwin/click-bell-aloha-agilex-hard",
"title": "Click bell",
"native_task": "click_bell",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "click the <bell's top center> on the table",
"measured": "click the bell's top center, keeping the gripper on the bell's side closed",
"status": "changed",
"bindings": {},
"definition": "task_instruction/click_bell",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/click_bell.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/click_bell.py",
"catalog_path": "tasks/task13/catalog/15-click-bell-hard/task.yaml",
"catalog_sha256": "fc6ebf8521a652f73e392b3266c821500a1c644f7cfc8b4d5c951832dbd6c77e",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/15",
"notes": []
},
{
"key": "task13/16",
"id": "robotwin/dump-bin-bigbin-aloha-agilex-hard",
"title": "Dump bin bigbin",
"native_task": "dump_bin_bigbin",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Grab the small bin and pour the balls into the big bin",
"measured": "Grab the small bin and pour the balls into the big bin, keeping the empty small bin held high",
"status": "changed",
"bindings": {},
"definition": "task_instruction/dump_bin_bigbin",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/dump_bin_bigbin.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/dump_bin_bigbin.py",
"catalog_path": "tasks/task13/catalog/16-dump-bin-bigbin-hard/task.yaml",
"catalog_sha256": "4bc03dad82d793c9096fce83859eafd45773bdcbd1b45769fdfeaf8f170997bf",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/16",
"notes": [
"The goal names the pouring destination and held bin; the native predicate checks object heights only."
]
},
{
"key": "task13/17",
"id": "robotwin/grab-roller-aloha-agilex-hard",
"title": "Grab roller",
"native_task": "grab_roller",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use both arms to grab the roller on the table",
"measured": "use both grippers to grasp the roller and lift it well clear of the table. Keep both grippers closed while holding it up",
"status": "changed",
"bindings": {},
"definition": "task_instruction/grab_roller",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/grab_roller.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/grab_roller.py",
"catalog_path": "tasks/task13/catalog/17-grab-roller-hard/task.yaml",
"catalog_sha256": "8a2909633ffaa34bb92022cfa10486d9e30229448cabc704ae216b3d4479accc",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/17",
"notes": []
},
{
"key": "task13/18",
"id": "robotwin/handover-mic-aloha-agilex-hard",
"title": "Handover mic",
"native_task": "handover_mic",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Use one arm to grasp the microphone on the table and handover it to the other arm",
"measured": "Hand the microphone to the arm opposite its starting side and hold it high on that side. Keep the receiving gripper closed around the microphone and the other gripper open.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/handover_mic",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/handover_mic.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/handover_mic.py",
"catalog_path": "tasks/task13/catalog/18-handover-mic-hard/task.yaml",
"catalog_sha256": "2ff25b304d8cd1f7aa07d8df450d16f68be6c8b1013741658e4ed5b7671be728",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/18",
"notes": [
"Specifies the receiving arm, high final hold and the two gripper states."
]
},
{
"key": "task13/19",
"id": "robotwin/move-can-pot-aloha-agilex-hard",
"title": "Move can pot",
"native_task": "move_can_pot",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
"measured": "place the can upright directly beside the pot on the can's starting side. Leave both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/move_can_pot",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_can_pot.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_can_pot.py",
"catalog_path": "tasks/task13/catalog/19-move-can-pot-hard/task.yaml",
"catalog_sha256": "2d67dda1907e3618a149fadc788f85afef5c03a067aa87766532690b2731e16c",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/19",
"notes": []
},
{
"key": "task13/20",
"id": "robotwin/move-pillbottle-pad-aloha-agilex-hard",
"title": "Move pillbottle pad",
"native_task": "move_pillbottle_pad",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Use one arm to pick the pillbottle and place it onto the pad.",
"measured": "Pick up the pill bottle and set it down in the center of the pad. Release it with both grippers open.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/move_pillbottle_pad",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_pillbottle_pad.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_pillbottle_pad.py",
"catalog_path": "tasks/task13/catalog/20-move-pillbottle-pad-hard/task.yaml",
"catalog_sha256": "946c8da8641b81e4a2a42585e0a6c0c0cc53937476f78959dd8256089804aeb4",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/20",
"notes": []
},
{
"key": "task13/21",
"id": "robotwin/move-playingcard-away-aloha-agilex-hard",
"title": "Move playingcard away",
"native_task": "move_playingcard_away",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
"measured": "pick up the playing-card box and move it farther outward on its starting side, leaving both grippers open.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/move_playingcard_away",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_playingcard_away.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_playingcard_away.py",
"catalog_path": "tasks/task13/catalog/21-move-playingcard-away-hard/task.yaml",
"catalog_sha256": "816c8b7c4eab9f5fe90607de093ea41e0830ab310338562a9d1a9e7044ca1d73",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/21",
"notes": []
},
{
"key": "task13/22",
"id": "robotwin/move-stapler-pad-aloha-agilex-hard",
"title": "Move stapler pad",
"native_task": "move_stapler_pad",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use appropriate arm to move the stapler to a colored mat",
"measured": "place the stapler straight in the center of the colored mat, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/move_stapler_pad",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_stapler_pad.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_stapler_pad.py",
"catalog_path": "tasks/task13/catalog/22-move-stapler-pad-hard/task.yaml",
"catalog_sha256": "84533deb7abc9466f1a418da07c3c6fd54a4b610ba8f9c81f2a4df740766e8c6",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/22",
"notes": []
},
{
"key": "task13/23",
"id": "robotwin/open-laptop-aloha-agilex-hard",
"title": "Open laptop",
"native_task": "open_laptop",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to open the laptop",
"measured": "open the laptop, keeping the gripper on its opening side near the lid",
"status": "changed",
"bindings": {},
"definition": "task_instruction/open_laptop",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/open_laptop.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/open_laptop.py",
"catalog_path": "tasks/task13/catalog/23-open-laptop-hard/task.yaml",
"catalog_sha256": "1609b968180437c4e306c81a0d2563b2c15523d1a69e49d1c912b09b04fb73df",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/23",
"notes": []
},
{
"key": "task13/24",
"id": "robotwin/open-microwave-aloha-agilex-hard",
"title": "Open microwave",
"native_task": "open_microwave",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Use one arm to open the microwave.",
"measured": "Open the microwave door widely.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/open_microwave",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/open_microwave.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/open_microwave.py",
"catalog_path": "tasks/task13/catalog/24-open-microwave-hard/task.yaml",
"catalog_sha256": "775f6b9284f04a38d24de87b28d42894922dfe15ee1adc51ffe86cfa3ff65f06",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/24",
"notes": []
},
{
"key": "task13/25",
"id": "robotwin/pick-diverse-bottles-aloha-agilex-hard",
"title": "Pick diverse bottles",
"native_task": "pick_diverse_bottles",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "simultaneously pick up the two different bottles, one with each arm",
"measured": "simultaneously pick up the two different bottles, one with each arm, and hold them high near the front center of the table, each on its original side",
"status": "changed",
"bindings": {},
"definition": "task_instruction/pick_diverse_bottles",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/pick_diverse_bottles.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/pick_diverse_bottles.py",
"catalog_path": "tasks/task13/catalog/25-pick-diverse-bottles-hard/task.yaml",
"catalog_sha256": "4db47729460c69b3d2e97097b0835c48d21a57069427200e4fa129928c0d4bbd",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/25",
"notes": []
},
{
"key": "task13/26",
"id": "robotwin/pick-dual-bottles-aloha-agilex-hard",
"title": "Pick dual bottles",
"native_task": "pick_dual_bottles",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "simultaneously pick up one bottle with each arm",
"measured": "simultaneously pick up one bottle with each arm, and hold them high near the front center of the table, each on its original side",
"status": "changed",
"bindings": {},
"definition": "task_instruction/pick_dual_bottles",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/pick_dual_bottles.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/pick_dual_bottles.py",
"catalog_path": "tasks/task13/catalog/26-pick-dual-bottles-hard/task.yaml",
"catalog_sha256": "9e004f0d75396c8d516b5c280f65115cc1e4d231253df8b92995c48472ce60f7",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/26",
"notes": []
},
{
"key": "task13/27",
"id": "robotwin/place-a2b-left-aloha-agilex-hard",
"title": "Place a2b left",
"native_task": "place_a2b_left",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use appropriate arm to place object A on the left of object B",
"measured": "place the {movable_object_description} directly to the left of the {reference_object_description}, with a small gap between them and both grippers open",
"status": "changed",
"bindings": {
"movable_object_description": "objects.A.description",
"reference_object_description": "objects.B.description"
},
"definition": "task_instruction/place_a2b_left",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_a2b_left.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_a2b_left.py",
"catalog_path": "tasks/task13/catalog/27-place-a2b-left-hard/task.yaml",
"catalog_sha256": "9b4833325a4318c453879e87099093ecd0833f5f49ddfa5e34df90f9af91a769",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/27",
"notes": [
"Binds the movable and reference objects to the current scene and specifies their gap and release.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/28",
"id": "robotwin/place-a2b-right-aloha-agilex-hard",
"title": "Place a2b right",
"native_task": "place_a2b_right",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use appropriate arm to place object A on the right of object B",
"measured": "place the {movable_object_description} directly to the right of the {reference_object_description}, with a small gap between them and both grippers open",
"status": "changed",
"bindings": {
"movable_object_description": "objects.A.description",
"reference_object_description": "objects.B.description"
},
"definition": "task_instruction/place_a2b_right",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_a2b_right.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_a2b_right.py",
"catalog_path": "tasks/task13/catalog/28-place-a2b-right-hard/task.yaml",
"catalog_sha256": "248d5e75108da1771fcd6728d5e3fbd748ac20656b9919f0ed708b3fd5c12b30",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/28",
"notes": [
"Binds the movable and reference objects to the current scene and specifies their gap and release.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/29",
"id": "robotwin/place-bread-basket-aloha-agilex-hard",
"title": "Place bread basket",
"native_task": "place_bread_basket",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "place every bread on the table into the basket, using the available arm or arms",
"measured": "place all the bread in the basket near its center, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_bread_basket",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_bread_basket.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_bread_basket.py",
"catalog_path": "tasks/task13/catalog/29-place-bread-basket-hard/task.yaml",
"catalog_sha256": "d18a4cbbaa4ce18cc25e8bc080396bc067174db030d362ea223c237f1c325ee4",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/29",
"notes": []
},
{
"key": "task13/30",
"id": "robotwin/place-bread-skillet-aloha-agilex-hard",
"title": "Place bread skillet",
"native_task": "place_bread_skillet",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to lift and hold the skillet while the other arm places the bread into it",
"measured": "use one arm to keep the skillet lifted clear of the table while the other places the bread in its center",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_bread_skillet",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_bread_skillet.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_bread_skillet.py",
"catalog_path": "tasks/task13/catalog/30-place-bread-skillet-hard/task.yaml",
"catalog_sha256": "27704e419d984981e059fbdc6a9f0521cdcf97373910e76492302b7341c72567",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/30",
"notes": []
},
{
"key": "task13/31",
"id": "robotwin/place-burger-fries-aloha-agilex-hard",
"title": "Place burger fries",
"native_task": "place_burger_fries",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "simultaneously pick up the hamburger and fries with both arms, then place both foods on the tray",
"measured": "simultaneously pick up the hamburger and fries with both arms, then place the hamburger in the left section of the tray and the fries in the right section, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_burger_fries",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_burger_fries.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_burger_fries.py",
"catalog_path": "tasks/task13/catalog/31-place-burger-fries-hard/task.yaml",
"catalog_sha256": "6dda9318df21f17eb6b58777609d8297c76633dc5a224f86f41074436d2b492d",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/31",
"notes": []
},
{
"key": "task13/32",
"id": "robotwin/place-can-basket-aloha-agilex-hard",
"title": "Place can basket",
"native_task": "place_can_basket",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
"measured": "use one arm to put the can inside the basket, then use the other arm to lift the basket with the can inside. Keep the basket upright and both the can and basket clear of the table",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_can_basket",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_can_basket.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_can_basket.py",
"catalog_path": "tasks/task13/catalog/32-place-can-basket-hard/task.yaml",
"catalog_sha256": "38ace8f0965e70f5baf07ccd4b17c5548ec125686a4875a0154217d7d10a900e",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/32",
"notes": []
},
{
"key": "task13/33",
"id": "robotwin/place-cans-plasticbox-aloha-agilex-hard",
"title": "Place cans plasticbox",
"native_task": "place_cans_plasticbox",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "simultaneously pick up both cans with separate arms, then place the left can and right can into the plastic box",
"measured": "simultaneously pick up both cans with separate arms, then place them side by side in the plastic box, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_cans_plasticbox",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_cans_plasticbox.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_cans_plasticbox.py",
"catalog_path": "tasks/task13/catalog/33-place-cans-plasticbox-hard/task.yaml",
"catalog_sha256": "aeee83fff64a2c6468fd63436531c9182a5a8199e6e1cb71ff6110316e994d83",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/33",
"notes": []
},
{
"key": "task13/34",
"id": "robotwin/place-container-plate-aloha-agilex-hard",
"title": "Place container plate",
"native_task": "place_container_plate",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "place the container onto the plate",
"measured": "place the container in the center of the plate, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_container_plate",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_container_plate.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_container_plate.py",
"catalog_path": "tasks/task13/catalog/34-place-container-plate-hard/task.yaml",
"catalog_sha256": "c052e117f87aaab1a854152ed3a4866b1955b3769b4732f59a7e6969b9d07df8",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/34",
"notes": []
},
{
"key": "task13/35",
"id": "robotwin/place-empty-cup-aloha-agilex-hard",
"title": "Place empty cup",
"native_task": "place_empty_cup",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use an arm to place the empty cup on the coaster",
"measured": "place the empty cup in the center of the coaster, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_empty_cup",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_empty_cup.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_empty_cup.py",
"catalog_path": "tasks/task13/catalog/35-place-empty-cup-hard/task.yaml",
"catalog_sha256": "8ae973f432784ef002dd154c08892ee41096e73ec175ebc62aa9939841cdee5c",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/35",
"notes": []
},
{
"key": "task13/36",
"id": "robotwin/place-fan-aloha-agilex-hard",
"title": "Place fan",
"native_task": "place_fan",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
"measured": "place the fan in the center of the colored mat, facing the robot, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_fan",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_fan.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_fan.py",
"catalog_path": "tasks/task13/catalog/36-place-fan-hard/task.yaml",
"catalog_sha256": "827e6273d48ca2ade12bb388e70b5d0ec45b9598b37442f2951b199d2b23c02b",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/36",
"notes": []
},
{
"key": "task13/37",
"id": "robotwin/place-mouse-pad-aloha-agilex-hard",
"title": "Place mouse pad",
"native_task": "place_mouse_pad",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "grab the mouse and place it on a colored mat",
"measured": "place the mouse in the center of the colored mat, facing straight, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_mouse_pad",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_mouse_pad.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_mouse_pad.py",
"catalog_path": "tasks/task13/catalog/37-place-mouse-pad-hard/task.yaml",
"catalog_sha256": "116b6cd905f75d37e3a4c4e1ea567e32e225c36581dfc4110e7805d6c1508a23",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/37",
"notes": []
},
{
"key": "task13/38",
"id": "robotwin/place-object-basket-aloha-agilex-hard",
"title": "Place object basket",
"native_task": "place_object_basket",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
"measured": "Use one arm to place the {object_description} inside the basket, then use the other arm to lift the basket with the object inside. Keep the basket upright and both the object and basket clear of the table.",
"status": "changed",
"bindings": {
"object_description": "object.description"
},
"definition": "task_instruction/place_object_basket",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_object_basket.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_object_basket.py",
"catalog_path": "tasks/task13/catalog/38-place-object-basket-hard/task.yaml",
"catalog_sha256": "e5b795bb9d99f573d796dffd251964a4b7bfdbe524d59d8cc2a8b2449d49641c",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/38",
"notes": [
"Makes the final lifted, upright basket state explicit; the object must remain inside.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/39",
"id": "robotwin/place-object-scale-aloha-agilex-hard",
"title": "Place object scale",
"native_task": "place_object_scale",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to grab the object and put it on the scale",
"measured": "Place the {object_description} in the center of the scale's weighing platform. Leave the gripper on the object's starting side open.",
"status": "changed",
"bindings": {
"object_description": "object.description"
},
"definition": "task_instruction/place_object_scale",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_object_scale.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_object_scale.py",
"catalog_path": "tasks/task13/catalog/39-place-object-scale-hard/task.yaml",
"catalog_sha256": "cb078a885f03785444b7523fa930197868d8f1bbb23d54cfd77007464d9c565f",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/39",
"notes": [
"Clarifies central placement on the weighing platform and gripper release.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/40",
"id": "robotwin/place-object-stand-aloha-agilex-hard",
"title": "Place object stand",
"native_task": "place_object_stand",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use appropriate arm to place the object on the stand",
"measured": "Set the {object_description} on the center of the display stand, leaving both grippers open.",
"status": "changed",
"bindings": {
"object_description": "object.description"
},
"definition": "task_instruction/place_object_stand",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_object_stand.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_object_stand.py",
"catalog_path": "tasks/task13/catalog/40-place-object-stand-hard/task.yaml",
"catalog_sha256": "13b0ce59d90eb9f1e89077d6ef3626e42fed8f9baf4855b1f82d7bac46be5688",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/40",
"notes": [
"Clarifies centered placement and open grippers.",
"Target descriptions are bound from the initialized scene."
]
},
{
"key": "task13/41",
"id": "robotwin/place-phone-stand-aloha-agilex-hard",
"title": "Place phone stand",
"native_task": "place_phone_stand",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "pick up the phone and put it on the phone stand",
"measured": "place the phone on the phone stand, centered against its support, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_phone_stand",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_phone_stand.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_phone_stand.py",
"catalog_path": "tasks/task13/catalog/41-place-phone-stand-hard/task.yaml",
"catalog_sha256": "cec68057c8b7ac1309ca307711f1cfc4f333933293d71db5900c80f287750906",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/41",
"notes": []
},
{
"key": "task13/42",
"id": "robotwin/place-shoe-aloha-agilex-hard",
"title": "Place shoe",
"native_task": "place_shoe",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use one arm to grab the shoe from the table and place it on the mat",
"measured": "place the shoe straight in the center of the mat with its toe pointing left, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/place_shoe",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_shoe.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_shoe.py",
"catalog_path": "tasks/task13/catalog/42-place-shoe-hard/task.yaml",
"catalog_sha256": "372db482668c0f06745c258a2d6b8f69756c98e1495fee1e3df7b0dd1e07c050",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/42",
"notes": []
},
{
"key": "task13/43",
"id": "robotwin/press-stapler-aloha-agilex-hard",
"title": "Press stapler",
"native_task": "press_stapler",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Use one arm to press the stapler.",
"measured": "Press down on the stapler's top with one gripper.",
"status": "changed",
"bindings": {},
"definition": "task_instruction/press_stapler",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/press_stapler.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/press_stapler.py",
"catalog_path": "tasks/task13/catalog/43-press-stapler-hard/task.yaml",
"catalog_sha256": "f3c7b2648744531889293653792f9670266adb7b446fc05f93172f1c43515bfd",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/43",
"notes": [
"Keeps the requested action focused on pressing the stapler top."
]
},
{
"key": "task13/44",
"id": "robotwin/rotate-qrcode-aloha-agilex-hard",
"title": "Rotate qrcode",
"native_task": "rotate_qrcode",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
"measured": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
"status": "unchanged",
"bindings": {},
"definition": "task_instruction/rotate_qrcode",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/rotate_qrcode.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/rotate_qrcode.py",
"catalog_path": "tasks/task13/catalog/44-rotate-qrcode-hard/task.yaml",
"catalog_sha256": "7d745c80e0703394551a42d04fb9113df9d386ac12ea8bc89a2fb551b0d6c198",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/44",
"notes": []
},
{
"key": "task13/45",
"id": "robotwin/shake-bottle-aloha-agilex-hard",
"title": "Shake bottle",
"native_task": "shake_bottle",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Shake the bottle with proper arm",
"measured": "Shake the bottle with proper arm while holding it well clear of the table",
"status": "changed",
"bindings": {},
"definition": "task_instruction/shake_bottle",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/shake_bottle.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/shake_bottle.py",
"catalog_path": "tasks/task13/catalog/45-shake-bottle-hard/task.yaml",
"catalog_sha256": "456d93f72b5e4254744206542c9260a6db28418519b10f5f1fba79bf3528f803",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/45",
"notes": [
"The native predicate does not fully check the requested shaking motion."
]
},
{
"key": "task13/46",
"id": "robotwin/shake-bottle-horizontally-aloha-agilex-hard",
"title": "Shake bottle horizontally",
"native_task": "shake_bottle_horizontally",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Shake the bottle horizontally with proper arm",
"measured": "Shake the bottle with proper arm horizontally while holding it well clear of the table",
"status": "changed",
"bindings": {},
"definition": "task_instruction/shake_bottle_horizontally",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/shake_bottle_horizontally.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/shake_bottle_horizontally.py",
"catalog_path": "tasks/task13/catalog/46-shake-bottle-horizontally-hard/task.yaml",
"catalog_sha256": "13da45602982aaf796ded41b7268b4e73f36f67aa32e6e0eafa3c9b4deb40a91",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/46",
"notes": [
"The native predicate does not fully check the requested shaking motion."
]
},
{
"key": "task13/47",
"id": "robotwin/stack-blocks-two-aloha-agilex-hard",
"title": "Stack blocks two",
"native_task": "stack_blocks_two",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
"measured": "move the red and green blocks to the center of the table and stack the green block centrally on the red block, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/stack_blocks_two",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_blocks_two.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_blocks_two.py",
"catalog_path": "tasks/task13/catalog/47-stack-blocks-two-hard/task.yaml",
"catalog_sha256": "5e26f36f0af29e21860f2f83f35564c02a060bbc4e30d8f925fe40a864628886",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/47",
"notes": []
},
{
"key": "task13/48",
"id": "robotwin/stack-bowls-two-aloha-agilex-hard",
"title": "Stack bowls two",
"native_task": "stack_bowls_two",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "stack the two bowls on top of each other",
"measured": "nest the two bowls on the table, leaving both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/stack_bowls_two",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_bowls_two.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_bowls_two.py",
"catalog_path": "tasks/task13/catalog/48-stack-bowls-two-hard/task.yaml",
"catalog_sha256": "60f8df659dd77bda43106affd17516a1ceb31ecc34c42c0c59a975805ed4d712",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/48",
"notes": []
},
{
"key": "task13/49",
"id": "robotwin/stamp-seal-aloha-agilex-hard",
"title": "Stamp seal",
"native_task": "stamp_seal",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "Grab the stamp and stamp onto the specific color mat",
"measured": "Grab the stamp and stamp onto the center of the colored mat, leaving the stamp there and both grippers open",
"status": "changed",
"bindings": {},
"definition": "task_instruction/stamp_seal",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stamp_seal.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stamp_seal.py",
"catalog_path": "tasks/task13/catalog/49-stamp-seal-hard/task.yaml",
"catalog_sha256": "84c7f162e53ba70986378ecd5b6ae9c5d4ffbf121ee6404deb566ed9b6e3ba23",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/49",
"notes": [
"The native predicate does not fully check the intermediate stamping action."
]
},
{
"key": "task13/50",
"id": "robotwin/turn-switch-aloha-agilex-hard",
"title": "Turn switch",
"native_task": "turn_switch",
"family": "demo_randomized",
"configuration": "demo_randomized",
"native": "use the robotic arm to click the switch",
"measured": "press the switch fully down",
"status": "changed",
"bindings": {},
"definition": "task_instruction/turn_switch",
"pool_keys": [
"unseen"
],
"native_reference_field": "full_description",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/turn_switch.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/turn_switch.py",
"catalog_path": "tasks/task13/catalog/50-turn-switch-hard/task.yaml",
"catalog_sha256": "ede11082046f963bba39da53e5c34a105069f1c4ea4ff899bfd2b382e98aea21",
"instruction_override": true,
"rle_snapshot": "sources/task13-catalog.json",
"rle_manifest": "sources/task13-manifest.yaml",
"published_task_key": "task03/50",
"notes": []
}
],
"native_sources": {
"task_instruction/handover_block": {
"full_description": "use the left arm to grasp the red block on the table, handover it to the right arm and place it on the blue pad",
"schema": "",
"pools": {
"seen": [
"Pass the red block from the left arm to the right arm and put it on the blue pad.",
"Place the red block onto the blue pad using the right arm after grabbing it with the left.",
"Pick the red block with the left hand, pass it to the right, and set it on the blue pad.",
"Hand over the red block from the left arm to the right arm and place it onto the blue pad.",
"Grab the red block with the left arm, then set it on the blue pad after handing it to the right arm.",
"Take the red block using the left arm, hand it over to the right, and place it on the blue pad.",
"Grip the red block with the left arm, transfer it to the right arm, and put it on the blue pad.",
"Move the red block from the left arm into the right arm and place it down on the blue pad.",
"Grab the red block and transfer it from the left arm to the right, setting it down on the blue pad.",
"Lift the red block with the left arm, hand it over to the right arm, and place it properly on the blue pad.",
"Use the left arm to grab the block, hand it over to the right arm, and put it on the blue pad.",
"Take the red block, pass it from the left arm to the right arm, and drop it on the blue pad.",
"Pick the red block with the left arm and transfer it to the right arm before setting it on the blue pad.",
"Hold the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
"Grab the red block with the left arm, hand it to the right arm, and then set it down on the blue pad.",
"Lift the block with the left arm, pass it over to the right arm, and place it on the blue pad.",
"Use the left arm to grab the red block, give it to the right arm, and put it on the blue pad.",
"Take the red block with the left arm, pass it over to the right arm, and set it on the blue pad.",
"Grab the red block with the left arm and pass it to the right, dropping it on the blue pad.",
"Hold the red block with the left arm, transfer it to the right arm, and then set it down on the blue pad.",
"Pick up the red block using your left arm, pass it to the right arm, and place it on the blue pad.",
"With the left arm grab the red block, hand it to the right arm, then position it onto the blue pad.",
"Lift the red block off the table using the left arm, give it to the right hand, and put it on the blue pad.",
"Grasp the block in your left arm, pass it into the right, and place it onto the blue pad.",
"Grasp the red block with your left arm, transfer it into the right, and place it on the blue pad.",
"Take the red block from the table using your left arm, hand it off to the right one, and rest it on the blue pad.",
"The left arm should grab the red block, hand it to the right, and put it on the blue pad.",
"Pick the red block from the table, switch it from the left arm to the right, and place it down on the blue pad.",
"Lift the red block with the left arm, move it to the right, and place it onto the blue pad.",
"With the left arm, grab the red block, pass it to the right, and set it on the blue pad.",
"Move the red block from the left hand to the right arm and onto the blue pad.",
"Lift the red block with your left arm, hand it to the right arm, and set it on the blue pad.",
"Hand the red block over from the left arm to the right arm and place it on the blue pad.",
"Grab the red block with the left arm, hand it across to the right arm, and put it on the blue pad.",
"The red block should be grabbed with the left arm, handed to the right arm, and placed on the blue pad.",
"Place the red block on the blue pad after handing it over from the left arm to the right arm.",
"Pick up and handover the red block from the left arm to the right arm, then place it on the blue pad.",
"Take the red block with the left arm, move it to the right arm, then place it on the blue pad.",
"Use your arms to shift the red block from the left arm to the right, then onto the blue pad.",
"Lift and switch the red block from the left arm to the right, then place it on the blue pad.",
"Use the left arm to grab the red block, hand it to the right arm, and place it on the blue pad.",
"Lift the red block with the left arm, pass it to the right arm, and place it on the blue pad.",
"Grab the red block on the table with the left arm, switch to the right arm, and drop it on the blue pad.",
"Pick the red block up with the left arm, hand it to the right arm, and set it on the blue pad.",
"Lift the red block from the table with the left arm, pass it to the right arm, and place it on the blue pad.",
"Use the left arm to grasp the red block, transfer it to the right arm, and set it down on the blue pad.",
"Pick up the red block using the left arm, give it to the right arm, and place it on the blue pad.",
"Grab the red block with the left arm, pass it to the right hand, and drop it on the blue pad.",
"Use the left arm to pick up the red block and transfer it to the right arm before placing it on the blue pad.",
"Lift the red block with the left arm, shift it to the right arm, and set it on the blue pad."
],
"unseen": [
"Grab the red block with the left arm, hand it to the right arm, and put it on the blue pad.",
"Use the left arm to pick up the red block, hand it over to the right, and set it on the blue pad.",
"Grab the red block using the left arm, then transfer it to the right arm and place it on the blue pad.",
"Lift the red block with the left arm and pass it to the right arm, then set it down on the blue pad.",
"Grab the red block with the left arm, switch to the right, and place it on the blue pad.",
"Use the left arm to grab the red block, transfer it to the right hand, and set it onto the blue pad.",
"Grab the red block with the left arm, transfer it to the right arm, and set it on the blue pad.",
"Pick up the red block, switching it from the left arm to the right, then place it on the blue pad.",
"Grab the red block with the left arm, switch to the right arm, and set it on the blue pad.",
"Pick up the red block with the left arm, transfer it to the right, and place it on the blue pad."
]
},
"sha256": "c67350f7684c5d39cf7458c9775e087670e4f03828cea94536f1a7a7d203edd2",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/handover_block.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/handover_block.py"
},
"task_instruction/place_dual_shoes": {
"full_description": "use both arms to pick up the two shoes on the table and put them in the shoebox, with the shoe tip pointing to the left",
"schema": "{A} notifies one shoe(use 'two {A}' or 'a pair of {A}').{B} notify the shoebox",
"pools": {
"seen": [
"Put two {A}, tips to the left, into {B}.",
"Pick up two {A}, tips left, drop them into {B}.",
"Collect two {A}, tips facing left, and put in {B}.",
"Move two {A}, tip ends left, and set them in {B}.",
"Transfer two {A}, tips left-aligned, into {B}.",
"Use arms to lift two {A}, tips left, and set in {B}.",
"Retrieve two {A}, orienting tips left, and place in {B}.",
"Handle two {A}, tips directed left, and drop them into {B}.",
"Pick two {A}, ensure tips facing left, and position in {B}.",
"Grasp two {A}, tips aligned left, and place them in {B}.",
"Grab two {A}, tip left, place them in {B}.",
"Pick up two {A} and set them in {B}, tips left.",
"Use hands to grab two {A}, tips left, drop into {B}.",
"Move two {A} into {B}, ensure tips point left.",
"Grab a pair of {A}, tips left, put them into {B}.",
"Use both arms to place both items matching {A} into {B}, tips left.",
"Pick up two {A}, tips left, and set them in {B}.",
"Place both items matching {A} into {B}, ensure shoe tips face left.",
"With both arms, move two {A} into {B}, tips facing left.",
"Grab two {A}, tips left, place them carefully in {B}.",
"Pick up two {A} together and place in {B}, tips left.",
"Ensure two {A} are in {B}, tips facing left.",
"Grab both {A} and put them into {B}, tips left.",
"Set two {A} into {B}, align tips to the left.",
"Hold two {A}, drop them in {B}, tips pointing left.",
"Place both items matching {A} inside {B}, make tips face left.",
"Lift two {A}, position them in {B}, tips to the left.",
"Drop a pair of {A} into {B}, tips align left.",
"Use both arms to set two {A} in {B}, tips left.",
"Lay down two {A} in {B}, tips oriented left.",
"Set two {A} in {B} with tips left.",
"Hold two {A}, tips left, and place in {B}.",
"Put two {A} into {B}, shoe tips left.",
"Make sure tips point left, then place {A} in {B}.",
"Grab and place both items matching {A} in {B}, tips left.",
"Stick both {A} in {B}, shoe tips pointing left.",
"Place both items matching {A} in {B}, tip left when set.",
"Lift and put two {A} in {B}, tips left.",
"Set two {A} in {B}, tips pointing left.",
"Place both items matching {A} tips leftward into {B}.",
"Lift two {A}, ensure left tips, drop in {B}.",
"Move a pair of {A} into {B}, left tips first.",
"Slide both {A} into {B} with tips pointing left.",
"Take two {A}, ensure tips left, place in {B}.",
"Position two {A} into {B}, shoe tips leftward.",
"Put two {A} in {B} with tips facing left.",
"Arrange the two {A}, tips left, inside {B}.",
"Grab both {A}, ensure tips left, place in {B}."
],
"unseen": [
"Lift two {A}, tips pointing left, into {B}.",
"Grab two {A}, point tips left, place in {B}.",
"Pick up two {A}, tips left, into {B}.",
"Use both arms to move two {A} to {B}, tips pointing left.",
"Grab two {A} and set them in {B}, tips left.",
"Put a pair of {A} in {B}, tips pointing left.",
"Place both items matching {A} into {B}, tips left.",
"Pick up two {A}, tips left, into {B}.",
"Grab a pair of {A}, place left tips in {B}."
]
},
"sha256": "61e41ff4a6ab157ed633faf09dc47424e1d985e392fc51b0d2213127a7db9bf0",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_dual_shoes.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_dual_shoes.py"
},
"task_instruction/put_bottles_dustbin": {
"full_description": "use arms to grab the bottles and put them into the dustbin to the left of the table",
"schema": "{A}, {B}, and {C} identify the three bottles, and {D} identifies the dustbin; no bottle order is implied",
"pools": {
"seen": [
"Place all three bottles, {A}, {B}, and {C}, into {D}.",
"Move {A}, {B}, and {C} from the table into {D}.",
"Use the arms to transfer every bottle, {A}, {B}, and {C}, to {D}.",
"Put {A}, {B}, and {C} inside {D}.",
"Collect the bottles {A}, {B}, and {C} in {D}.",
"Remove {A}, {B}, and {C} from the table and place them in {D}.",
"Deposit each of {A}, {B}, and {C} into {D}.",
"Ensure {A}, {B}, and {C} are all inside {D}.",
"Transfer all bottles, {A}, {B}, and {C}, into the left-side {D}.",
"Use the arms to clear {A}, {B}, and {C} into {D}.",
"Pick up every bottle, {A}, {B}, and {C}, and put it in {D}.",
"Relocate {A}, {B}, and {C} to {D} on the table's left.",
"Move the complete set of bottles, {A}, {B}, and {C}, into {D}.",
"Place {A}, {B}, and {C} within the dustbin {D}.",
"Gather {A}, {B}, and {C} and put all of them in {D}.",
"Use the robot arms to place {A}, {B}, and {C} in {D}.",
"Clear the table by putting {A}, {B}, and {C} into {D}.",
"Take all of {A}, {B}, and {C} to {D}.",
"Move each target bottle, {A}, {B}, and {C}, into {D}.",
"Load {D} with the three bottles {A}, {B}, and {C}.",
"Put every target bottle, {A}, {B}, and {C}, in {D}.",
"Transfer {A}, {B}, and {C} off the table into {D}.",
"Place the three bottles {A}, {B}, and {C} inside {D}.",
"Use the available arms to move {A}, {B}, and {C} into {D}.",
"Gather every bottle, including {A}, {B}, and {C}, in {D}.",
"Deposit all of {A}, {B}, and {C} into the left-hand {D}.",
"Remove the bottles {A}, {B}, and {C} by placing them in {D}.",
"Transfer the full group {A}, {B}, and {C} into {D}.",
"Make sure the dustbin {D} contains {A}, {B}, and {C}.",
"Move all three targets {A}, {B}, and {C} to {D}."
],
"unseen": [
"Put all three bottles, {A}, {B}, and {C}, into {D}.",
"Use the arms to move {A}, {B}, and {C} inside {D}.",
"Transfer every target, {A}, {B}, and {C}, to {D}.",
"Place {A}, {B}, and {C} in the dustbin {D}.",
"Clear {A}, {B}, and {C} from the table into {D}.",
"Collect {A}, {B}, and {C} inside the left-side {D}.",
"Move all of {A}, {B}, and {C} into {D}.",
"Fill {D} with the bottles {A}, {B}, and {C}.",
"Deposit the full set {A}, {B}, and {C} in {D}.",
"Ensure the dustbin {D} contains {A}, {B}, and {C}."
]
},
"sha256": "cbaf7e58e8c0fe47b8d323f83ba989976b79d5c741725e948548b9e1139153cd",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/put_bottles_dustbin.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/put_bottles_dustbin.py"
},
"task_instruction/scan_object": {
"full_description": "simultaneously pick up the scanner and the object with separate arms, then scan the object",
"schema": "{A} identifies the object, {B} identifies the scanner, {a} identifies the object arm, and {b} identifies the scanner arm",
"pools": {
"seen": [
"Pick up {A} and {B} simultaneously, then scan {A} with {B}.",
"Use separate arms to grasp {A} and {B} together, then scan {A}.",
"Hold {A} in one arm and {B} in the other, then scan {A}.",
"Simultaneously lift {A} and {B}, then use {B} to scan {A}.",
"Grab {A} and {B} at the same time and scan {A} with {B}.",
"Pick {A} while picking {B} with the other arm, then scan {A}.",
"Use both arms in parallel for {A} and {B}, then perform the scan.",
"Lift {A} and {B} together before scanning {A} with {B}.",
"Hold the object {A} and scanner {B} in separate arms and scan.",
"Grasp both {A} and {B} simultaneously, then bring {B} to {A}.",
"Use {a} for {A} and {b} for {B} simultaneously, then scan {A}.",
"With {a}, hold {A}; with {b}, hold {B}; then scan {A}.",
"Pick {A} using {a} while {b} picks {B}, then scan {A}.",
"Use {a} and {b} together to lift {A} and {B}, then scan.",
"Simultaneously grasp {A} with {a} and {B} with {b}, then scan {A}.",
"Hold {A} using {a} and {B} using {b}, then scan {A}.",
"Pick up {A} and {B} in parallel with {a} and {b}, then scan.",
"Use {b} for scanner {B} and {a} for object {A}, grasping simultaneously.",
"Grasp {A} and {B} together using {a} and {b}; scan {A} with {B}.",
"Lift {A} with {a} as {b} lifts {B}, then scan {A}.",
"Take {A} and {B} together, one per arm, and scan {A}.",
"Secure {A} and {B} at once, then scan {A} using {B}.",
"Pick up the scanner {B} and object {A} simultaneously, then scan.",
"Hold {A} steady in one arm while the other uses {B} to scan it.",
"Use one arm for {A} and one for {B}; scan {A} with {B}.",
"Raise both {A} and {B} simultaneously and complete the scan.",
"Grasp {A} and {B} in parallel, then align {B} with {A}.",
"Pick both items up together and use {B} to scan {A}.",
"Hold {B} opposite {A} after lifting both at the same time.",
"Simultaneously secure {A} and {B}, then move {B} close to scan {A}."
],
"unseen": [
"Pick up {A} and {B} together, then scan {A} with {B}.",
"Grasp {A} and {B} simultaneously using separate arms, then scan.",
"Hold {A} in one arm and {B} in the other to scan {A}.",
"Lift both {A} and {B} at once before scanning {A}.",
"Use one arm for {A} and the other for {B}, then scan.",
"Raise {A} and {B} in parallel and scan {A} with {B}.",
"Secure both items simultaneously, holding {B} near {A} for scanning.",
"Pick the object {A} and scanner {B} up together, then scan.",
"Grab {A} while grabbing {B} with the other arm, then scan.",
"Hold {A} and {B} in separate arms and use {B} to scan {A}."
]
},
"sha256": "6748923128a9b4c523efc69f5b94d99630f6887b98558c82755dcba50f367436",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/scan_object.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/scan_object.py"
},
"task_instruction/stack_bowls_three": {
"full_description": "stack the three bowls on top of each other",
"schema": "{A} notifies the bowls",
"pools": {
"seen": [
"Place the bowls {A} in a stacking order.",
"Arrange {A} with the largest bowl at the base.",
"Pick up {A} and stack them from biggest to smallest.",
"Align bowls {A} in descending size, forming a stack.",
"Position {A} one on top of the other largest to smallest.",
"Grab {A}, stack from largest at the base to the smallest.",
"Form a tower with bowls {A}, placing smallest last.",
"Organize bowls {A} by stacking them in size order.",
"Stack {A}, starting with the largest bowl at the bottom.",
"Place {A} in a stack with the largest at the foundation.",
"Place each {A} on top of the previous one.",
"Grab {A}, arrange them vertically.",
"Lift each {A} and stack them together neatly.",
"Take {A}, stack them from bottom to top.",
"Arrange {A} one on top of another.",
"Stack {A} from the base up to the top.",
"Carefully stack {A} piece by piece.",
"Hold {A}, place them one after another.",
"Start with the bottom {A} and finish stacking.",
"Stack {A} by arranging them sequentially.",
"Place the bottom {A}, then add the other two on top.",
"Arrange all three {A} into a vertical stack.",
"Grab a {A}, set it down, and stack the rest on it.",
"Place the first {A} down, then stack the next two above it.",
"Start with one {A}, and stack the other two on top.",
"Arrange the three {A} by stacking them one over the other.",
"Take the bottom {A} and sequentially pile the other two above.",
"Pick each {A} and stack them in order one on top of another.",
"Place one {A} down and carefully stack the others above it.",
"Position the first {A}, and sequentially add the two above it.",
"Place three {A} on top of each other.",
"Use arms to stack each {A} carefully.",
"Stack {A} sequentially using your arms.",
"Stack all three {A} directly on top of each other.",
"Lift each {A} and stack it over the previous one.",
"Sequentially stack {A} using arms to align them.",
"Take each {A} and place them one by one on top.",
"Align and stack {A} step by step using arms.",
"Stack {A} without arms in a vertical sequence.",
"Use arms to place each {A} atop the previous one.",
"Place the first {A} down, then stack the remaining two.",
"Position the second {A} over the first, then the third on top.",
"Pick up each {A} and set them one over another.",
"Stack all three {A} by placing one on top of another.",
"Grab the first {A}, position the second, then add the third.",
"Use the arm to stack {A} one by one.",
"Place the first {A}, then align the others on top using the arm.",
"Start with the first {A}, adding the next two in sequence.",
"Stack all {A} sequentially while handling one at a time.",
"Align the second {A} atop the first, then add the third above."
],
"unseen": [
"Stack {A} by placing smallest on top.",
"Put {A} in a pile, largest to smallest.",
"Stack {A} together one by one.",
"Start stacking {A} from the bottom to the top.",
"Stack the three {A} one above the other.",
"Position one {A} and stack two others on it.",
"Grab {A}, stack them one by one.",
"Stack the first {A}, then the second, then the third.",
"Grab the first {A} and stack the others on top.",
"Pick up the first {A} and layer the rest above it."
]
},
"sha256": "49f5b5c96242ba8807104c2f8d30c35dc4f08dce262e708cd3f4c15567e4c02f",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_bowls_three.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_bowls_three.py"
},
"task_instruction/stack_blocks_three": {
"full_description": "build a three-block stack at the center by placing the red block first, the green block on red, and the blue block on green",
"schema": "{A} notifies the red block, {B} notifies the green block, {C} notifies the blue block, {a} notifies the arm to manipulate the red block, {b} notifies the arm to manipulate the green block, {c} notifies the arm to manipulate the blue block",
"pools": {
"seen": [
"Place {A} at the center, then {B} on {A}, then {C} on {B}.",
"Build a centered stack with {A} below {B} and {B} below {C}.",
"Set {A} down first, place {B} on it, and finish with {C}.",
"Stack {B} on {A}, then stack {C} on {B} at the center.",
"Create a stack with {A} at the bottom, {B} in the middle, and {C} on top.",
"Move {A} to the center, add {B}, then add {C}.",
"Place {A} as the base, {B} above it, and {C} at the top.",
"Center {A}, then put {B} on {A} and {C} on {B}.",
"Arrange {A}, {B}, and {C} as a bottom-to-top stack at the center.",
"Build upward from {A} to {B} to {C} at the table's center.",
"Use {a} for {A}, {b} for {B}, and {c} for {C}, stacking bottom-up.",
"With {a}, place {A}; with {b}, add {B}; with {c}, add {C}.",
"Move {A}, {B}, and {C} using {a}, {b}, and {c} to form a centered stack.",
"Use {a}, {b}, and {c} to stack {A}, {B}, and {C} from bottom to top.",
"Place {A} with {a}, then {B} with {b}, then {C} with {c}.",
"Using {a}, {b}, and {c}, build a stack with {A} below {B} below {C}.",
"Stack {A}, {B}, and {C} centrally with {C} on top.",
"Form a three-block tower: {A} bottom, {B} middle, {C} top.",
"Put {A} at the base and stack {B} and {C} above it in order.",
"At the center, place {B} on {A}, followed by {C} on {B}.",
"Make {A} the base, set {B} on it, and set {C} on {B}.",
"Relocate the blocks into a centered stack ordered {A}, {B}, {C} from bottom upward.",
"Position {A} centrally and build upward with {B} and then {C}.",
"Stack the blocks bottom-up: {A}, then {B}, then {C}.",
"Arrange {C} above {B} and {B} above {A} at the center.",
"Place {A} beneath {B} and {B} beneath {C} in one centered tower.",
"Move {A}, {B}, and {C} into a tower with {A} as its base.",
"Build the centered tower by adding {B} to {A}, then {C} to {B}.",
"Set {A} at the center and stack {B} and {C} above it.",
"Complete a centered stack with {A} supporting {B}, and {B} supporting {C}."
],
"unseen": [
"Place {A} at the center, then stack {B} on {A} and {C} on {B}.",
"Build a tower with {A} at the bottom, {B} in the middle, and {C} on top.",
"Stack {B} over {A}, then place {C} over {B}.",
"Move the blocks into a centered stack ordered {A}, {B}, {C} from bottom up.",
"Use {A} as the base, add {B}, and finish with {C}.",
"Arrange {A} below {B} and {B} below {C} at the center.",
"Build upward from {A} through {B} to {C}.",
"Center {A}, put {B} on it, and put {C} on {B}.",
"Create a three-level stack with {C} supported by {B}, which is supported by {A}.",
"At the table's center, stack {A}, {B}, and {C} from bottom to top."
]
},
"sha256": "fb6f2b798f977541d347ee7c3850594be96498644c6896252bd211440a964ad2",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_blocks_three.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_blocks_three.py"
},
"task_instruction/hanging_mug": {
"full_description": "Use left arm to pick the mug on the table, rotate the mug and put the mug down in the middle of the table, use the right arm to pick the mug and hang it onto the rack.",
"schema": "{A} notifies the mug, {B} notifies the rack",
"pools": {
"seen": [
"Use the left arm to grab {A}, rotate it, set it down, then hang {A} onto {B}.",
"Lift {A}, turn it, place it back, and move it onto {B} with the right arm.",
"Take {A}, rotate it, place it in the center, then hang it on {B}.",
"Grab {A}, rotate it, place it in the middle, and hang it on {B}.",
"Use your left arm to pick {A}, rotate it, set it down, and hang it onto {B}.",
"Use the right arm to lift {A}, rotate it, and attach it to {B} after setting it down.",
"Pick {A}, turn it, put it in the center, and transfer it to {B}.",
"Lift {A} from the table, rotate it, place it in the middle, and hang it on {B}.",
"Use the left arm to grab {A}, flip it, set it down, and then attach it to {B}.",
"Take {A}, rotate it, place it back on the table, and hang it on {B} afterward.",
"Using the left arm, pick {A}, turn it, place it down, and hang it on {B}.",
"Pick {A} up, twist it, place it back, then hang it onto {B}.",
"With the left arm, grab {A}, spin it, place it down, then use the right arm to hang it on {B}.",
"Take {A}, rotate it, set it in the middle, then hang it on {B}.",
"Using your left arm, lift {A}, rotate it, place it down, then your right arm to hang it onto {B}.",
"Grab {A}, turn it around, put it back, then attach it to {B}.",
"Lift {A}, twist it, set it back, and secure it onto {B}.",
"Use the left arm to grab {A}, rotate it, place it down, and hang it onto {B} with the right arm.",
"Take {A} from the table, spin it, place it in the center, then hang it on {B}.",
"Pick {A} using your left arm, turn it, set it on the table, and hang it on {B} with the right arm.",
"Grab {A}, rotate it, place it on the table, and hook it onto {B}.",
"Use the left arm to pick {A}, turn it, place it, then hang on {B}.",
"Pick {A} from the table using one hand, rotate, and hang it on {B}.",
"Grab {A} from the table, rotate it, place it, and hang it onto {B}.",
"Use your left arm to grab {A}, rotate it, set it down, then hang on {B}.",
"Take {A} from the table, turn it, set it down, and attach it to {B}.",
"With the left arm, pick {A}, rotate it, place it, then hang it onto {B}.",
"Lift {A}, turn it around, set it in the middle, and place it on {B}.",
"Use the left arm to lift {A}, rotate it, put it down, then hook onto {B}.",
"Pick {A} from the table, rotate it, place it, and then hang it onto {B}.",
"Lift {A}, give it a turn, and hang it onto {B}.",
"Take {A} with one arm, rotate it, and hang it onto {B}.",
"Use the left arm to grab {A}, rotate it, place it in the middle, then use the right arm to hang it onto {B}.",
"Lift {A} from the table, turn it, put it down in the middle, then hang it onto {B}.",
"Take {A}, rotate it, set it on the table's center, then hang it onto {B}.",
"Use your left arm to grab {A}, rotate it, place it in the middle, then use the right arm to hang it onto {B}.",
"Pick up {A}, turn it, place it centrally, then hang {A} onto {B}.",
"With the left arm, grab {A} from the table, rotate it, place it centrally, and with the right arm, hang it onto {B}.",
"Grab {A}, rotate it, place it in the middle, and hang it onto {B}.",
"Use one arm to grab {A}, turn it, set it centrally, and use the other to hang it onto {B}.",
"Lift {A}, rotate it, put it down in the table's center, then hang it onto {B}.",
"Take {A} from the table, rotate it, place it in the center, then hang it onto {B}."
],
"unseen": [
"Grab {A} from the table, rotate it, and set it in the center. Then hang {A} on {B}.",
"Pick up {A}, rotate it, place it on the table, and hang it on {B}.",
"Grab {A}, turn it, set it on the table, then hang it on {B}.",
"Lift {A}, rotate it, put it down, then attach it to {B}.",
"Pick {A} with the left arm, rotate, place it, then hang it on {B}.",
"Lift {A} from the table, spin it, set it down, and hang it on {B}.",
"Grab {A} on the table, rotate it, set it down in the middle, then hang it onto {B}.",
"Pick {A} from the table, rotate it, place it in the middle, and hang it onto {B}."
]
},
"sha256": "241be0ee8011f888c613575ec58a8789f22ab54c1829cefeb7a9fe6ee048eed2",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/hanging_mug.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/hanging_mug.py"
},
"task_instruction/put_object_cabinet": {
"full_description": "use one arm to hold the object and the other arm to open the cabinet drawer, then place the object inside",
"schema": "{A} identifies the object, {B} identifies the cabinet, {a} identifies the object arm, and {b} identifies the drawer arm",
"pools": {
"seen": [
"Open {B}'s drawer and place {A} inside it.",
"Access {B}'s drawer and set {A} inside.",
"Pull open {B}'s drawer and put {A} inside.",
"Open the drawer of {B} and place {A} into it.",
"Slide {B}'s drawer open and move {A} inside.",
"Slide open {B}'s drawer and set {A} inside.",
"Open {B}'s drawer and transfer {A} into it.",
"Pull open the drawer of {B} and place {A} inside.",
"Open {B}'s drawer and carefully drop {A} into it.",
"Pull open the drawer of {B} and move {A} into it.",
"Open the drawer of {B} and set {A} inside.",
"Open {B}'s drawer and move {A} into it.",
"Unlock the drawer of {B} and drop {A} into it.",
"Pull open {B}'s drawer and place {A} inside it.",
"Slide out the drawer of {B} and stick {A} inside.",
"Open the drawer of {B} and drop {A} inside.",
"Slide open the drawer of {B} and set {A} into it.",
"Pull open {B}'s drawer and place {A} into it.",
"Open the drawer of {B} and move {A} into it.",
"Slide open {B}'s drawer and drop {A} inside.",
"Pull open {B}'s drawer and place {A} inside.",
"Open the drawer of {B} and move {A} into the drawer.",
"Pull {B}'s drawer open and transfer {A} into it.",
"Slide open the drawer of {B} before putting {A} inside.",
"Put {A} into {B}'s drawer once it is opened.",
"Open the drawer of {B} before placing {A} inside it.",
"Set {A} into {B}'s drawer after opening it.",
"Open {B}'s drawer first, then place {A} inside.",
"Place {A} into the drawer of {B} after sliding it open."
],
"unseen": [
"Pull out the drawer of {B} and set {A} into it.",
"Open {B}'s drawer and set {A} inside with the other arm."
]
},
"sha256": "9351ba0992276b5f9fab1621aa1aaba9d50dc99cb2f9ee785b6305b2a98b8f8e",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/put_object_cabinet.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/put_object_cabinet.py"
},
"task_instruction/blocks_ranking_size": {
"full_description": "there are three blocks on the table, the color of the blocks is random, move the blocks to the center of the table, and arrange them from largest to smallest, from left to right",
"schema": "{A} notifies the large size block, {B} notifies the medium size block, {C} notifies the small size block, {a} notifies the arm to grab large size block, {b} notifies the arm to grab medium size block, {c} notifies the arm to grab small size block",
"pools": {
"seen": [
"Move {A}, {B}, and {C} to the center and align.",
"Arrange {A} leftmost, {B} in the middle, and {C} rightmost.",
"Take {A} with {a}, {B} with {b}, and {C} with {c} to the middle.",
"Use {a}, {b}, and {c} to center {A}, {B}, and {C} in order.",
"Center {A}, {B}, {C} with {a}, {b}, and {c} following size order.",
"Shift {A}, {B}, and {C} to the center and align by size.",
"Move {A}, {B}, and {C} to the table center in size order.",
"Relocate {A}, {B}, and {C} to the center and arrange them by size.",
"Move {C}, then {B}, then {A} to their center positions.",
"Use {a}, {b}, {c} to place {A}, {B}, and {C} by size at the center.",
"Position {C}, then {B}, then {A} at the center by size.",
"Grab {A}, {B}, {C}, move them, and arrange by size centrally.",
"Shift {A}, {B}, {C} to the center; align by size left to right.",
"Set {C} first, {B} second, and {A} third at the center.",
"Place {C}, then {B}, then {A}, arranging them by size centrally.",
"Position {A}, {B}, and {C} centrally, ordered from largest to smallest.",
"Grab {A}, {B}, {C}, and arrange them in size order at the center.",
"Move {A}, {B}, and {C} to the center, arranging them by size.",
"Place {A}, {B}, {C} centrally and arrange largest to smallest.",
"Grab {A}, {B}, and {C}, set them centrally, ordered by size.",
"Arrange blocks {A}, {B}, and {C} in decreasing size order.",
"Put {A}, {B}, and {C} in the center by size.",
"Using your tools, align {A}, {B}, {C} by size in the center.",
"Arrange {A}, {B}, {C} in size order, largest on the left.",
"Bring {A}, {B}, and {C} to the center, sorting largest to smallest.",
"Transfer {A}, {B}, {C} to the center, aligning from largest to smallest.",
"Use {a}, {b}, and {c} to arrange {A}, {B}, and {C} centrally by size.",
"Grab {A}, {B}, {C} with {a}, {b}, {c} and organize them by descending size.",
"Align {A}, {B}, and {C} in the center by size, using {a}, {b}, and {c}.",
"Place {A}, {B}, and {C} at the center and sort them from largest to smallest.",
"Organize {A}, {B}, and {C} centrally, with the largest leftmost.",
"Set {A}, {B}, and {C} in the center area, arranging from largest to smallest.",
"Arrange {A}, {B}, and {C} by size at the center.",
"Use {a}, {b}, and {c} to bring {A}, {B}, {C} to the center.",
"Move {A} with {a}, {B} with {b}, and {C} with {c} to arrange them.",
"Grab {A}, {B}, and {C} and align them by size at the center.",
"Bring {A}, {B}, and {C} to the center using {a}, {b}, and {c}.",
"Shift {A}, {B}, and {C} to the table's center and sort by size.",
"Use {a}, {b}, and {c} to arrange {A}, {B}, {C} in order here.",
"Align {A}, {B}, and {C} by size from left to right at the center.",
"Move {A} with {a}, {B} with {b}, and {C} with {c} to sort them.",
"Bring {A}, {B}, {C} to the table's center and position them left to right."
],
"unseen": [
"Place {A}, {B}, and {C} at the table center.",
"Take {A}, {B}, and {C} to the table center.",
"Place {A}, {B}, and {C} in order at the table's center.",
"Move {A}, {B}, and {C} to the center, arrange left to right.",
"Move {A}, {B}, and {C} to the table center.",
"Arrange {A}, {B}, and {C} from largest to smallest.",
"Place {A}, {B}, and {C} at the table center, largest to smallest.",
"Move {A}, {B}, and {C} to the center, ordering largest to smallest.",
"Place {A}, {B}, and {C} in order at the center.",
"Move {A}, {B}, and {C} to the center table."
]
},
"sha256": "815e02d899ceaf8852d758e32d0df8aeaeccfa34b63d6141397d2e95de1e6614",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/blocks_ranking_size.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/blocks_ranking_size.py"
},
"task_instruction/lift_pot": {
"full_description": "use BOTH!!! arms to lift the pot",
"schema": "{A} notifies the pot. Arm comes as literal here.",
"pools": {
"seen": [
"Hold {A} firmly, then lift.",
"Use both arms to raise {A}.",
"Secure {A} and lift upward.",
"Place hands on {A}, then lift.",
"Grasp {A} and elevate together.",
"Lift {A} using both arms now.",
"Engage arms to grip and lift {A}.",
"With arms, raise {A} upward slowly.",
"Hold {A} firmly and move upward.",
"Lift {A} carefully using both arms.",
"Use both arms to raise {A}",
"Grab {A} and lift it upwards",
"Pick up {A} with careful lifting",
"Secure {A} and lift it up",
"Raise {A} steadily using arms",
"Lift {A} upward with both arms",
"Take hold of {A} and lift up",
"Support {A} and raise it upward",
"Lift {A} up using your arms",
"Raise {A} upward with both hands",
"Raise {A} using both arms",
"Bring {A} up together",
"Hold {A} with both arms",
"Lift {A} up together",
"Raise {A} evenly with arms",
"Bring {A} upwards together",
"Grip {A} firmly and lift",
"Hold and raise {A} together",
"Lift {A} steadily using arms",
"Raise and hold {A} together",
"Hold {A} firmly with arms",
"Securely lift {A} together",
"Raise {A} with strong support",
"Carry {A} securely using arms",
"Grab {A} and lift together",
"Both arms lift {A} upright",
"Lift {A} carefully using arms",
"Hold and raise {A} together",
"Lift {A} steadily with support",
"Raise {A} securely with arms",
"Raise {A} together using arms",
"Grab {A} and lift it up",
"Hold {A} and lift upward",
"Lift {A} upwards with care",
"Grab {A} using both arms",
"Use arms to lift {A} upward",
"Pick up {A} with both arms",
"Hold {A} firmly and lift it",
"Lift {A} upward and hold it",
"Raise {A} together with arms"
],
"unseen": [
"Grab {A} with both arms.",
"Lift {A} upward using arms.",
"Lift {A} using both arms",
"Hold {A} firmly and lift it",
"Lift {A} with both arms",
"Together lift {A} up",
"Use both arms for {A}",
"Lift {A} using both arms",
"Lift {A} with both arms",
"Use both arms to lift {A}"
]
},
"sha256": "9b145355b15a87d72fa1561151d16d9a71faa242a3f287ffad546825c393f63b",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/lift_pot.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/lift_pot.py"
},
"task_instruction/adjust_bottle": {
"full_description": "Pick up the bottle on the table head-up with the correct arm",
"schema": "{A} notifies the bottle, {a} notifies the arm to manipulate the bottle",
"pools": {
"seen": [
"Lift {A} head-up from the table.",
"Pick {A} up with {a} ensuring it stays head-up.",
"Grab {A} from the table and hold it head-up.",
"Utilize {a} to lift {A} while keeping it head-up.",
"Lift {A} ensuring it remains upright.",
"Grab {A} head-up using {a} from the table.",
"Hold {A} head-up after lifting it.",
"Use {a} to pick {A} up and keep it head-up.",
"Pick {A} head-up and hold it steady.",
"Use {a} to grab and lift {A} head-up.",
"Grab {A} from the table with {a}",
"Lift {A} head-up from the table",
"Raise {A} in a head-up position",
"Use {a} to lift {A} head-up",
"Position {A} head-up and lift it",
"Grab {A} with {a} in a head-up way",
"Lift {A} up from the table",
"Pick {A} head-up using {a}",
"Grab {A} and lift it into a head-up position",
"Use {a} to pick up {A} in the correct orientation",
"Lift {A} from the table upright",
"Use {a} to hold {A} from the table",
"Identify {A} and grab it with {a}",
"Pick {A} upright from the table",
"Lift {A} using {a} and hold upright",
"Take {A} from the table and keep upright",
"Grab {A} and lift it with {a}",
"Pick up {A} upright from the table",
"Hold {A} upright after lifting with {a}",
"Lift {A} from the table and secure upright",
"Lift {A} from the table with {a}",
"Pick {A} upright from the table",
"Grab {A} and lift it upright",
"Lift {A} head-up from the table",
"Using {a}, pick {A} upright",
"Secure {A} upright with {a}",
"Hold {A} upright from the table",
"Pick {A} and keep it upright",
"Lift {A} upright carefully using {a}",
"Carefully grab {A} head-up",
"Pick up {A} from the table carefully.",
"Use {a} to pick up {A} from the table.",
"Locate {A} and lift it upright with {a}.",
"Raise {A} from the table using the correct arm, {a}.",
"Grab {A} and lift it upward from the table.",
"Use the correct arm to pick up {A}.",
"Lift {A} off the table and hold it upright.",
"Pick up {A} from the table using {a}.",
"Lift {A} from the table.",
"Find {A} on the table and raise it using {a}."
],
"unseen": [
"Pick up {A} from the table head-up.",
"Use {a} to grab {A} head-up.",
"Use {a} to grab {A}",
"Pick up {A} using the correct arm",
"Grab {A} from the table with {a}",
"Pick up {A} carefully using {a}",
"Pick up {A} using {a} in an upright position",
"Use {a} to grab {A} upright",
"Lift {A} from the table using {a}.",
"Grab {A} on the table and raise it."
]
},
"sha256": "62f87545deb98985db67c854bca2a49afe369688876b1087d41120622d2da26e",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/adjust_bottle.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/adjust_bottle.py"
},
"task_instruction/beat_block_hammer": {
"full_description": "there is a hammer and a block on the table, use the arm to <grab the hammer> and <beat the block>",
"schema": "{A} notifies the hammer, {a} notifies the arm to grab the hammer",
"pools": {
"seen": [
"Pick {A} and strike the block.",
"Lift {A} using {a} to hit the block.",
"Take {A} and smash the block.",
"Employ {a} to grab {A} and hit.",
"Hold {A} and pound the block.",
"Utilize {a} to hold {A} and strike.",
"Catch {A} and use it on the block.",
"Grab {A} with {a} and beat the block.",
"Grip {A} firmly and hit the block.",
"Make {a} grab {A} and strike the block.",
"Pick up {A} with {a}, strike the block.",
"Lift {A}, then beat the block.",
"Take {A} using {a}, hit the block.",
"Grab {A}, then strike the block.",
"With {a}, grab {A} and beat the block.",
"Use {A} to hammer the block.",
"With {a}, pick up {A} and strike the block.",
"Grab {A} to beat the block.",
"Pick up {A} using {a}, hammer the block.",
"Lift {A} and hit the block.",
"With {a}, grab {A} and hit the block",
"Pick up {A} and strike the block",
"Grab {A} using {a}, then beat the block",
"Take {A} and hammer the block",
"Grab {A} with {a} and hit the block",
"Pick up {A} and use it on the block",
"With {a}, grab {A} and hammer the block",
"Take {A} and beat the block",
"Grab {A} using {a} and strike the block",
"Lift {A} and hit the block",
"Beat the block after grabbing {A}",
"Grab {A} with {a} and strike block",
"Hold {A} then hit the block",
"Grab {A} using {a} then pound block",
"Pick {A} and smash the block",
"Lift {A} with {a} then strike block",
"Grab {A}, then hit the block",
"Use {a} to grab {A} and beat block",
"Take {A} and strike the block",
"Grab {A} with {a} and hit block",
"Use {a} to grab {A} and beat",
"Grab {A} using {a} and hit the block",
"Take {A} and strike the block",
"Pick up {A} using {a} then beat",
"Use {A} to beat after grabbing with {a}",
"Grab {A} and use it to hit",
"Use {a} to take {A} and strike",
"Pick {A} with {a} and hit the block",
"Take {A} and beat the block",
"Pick {A} from the table and strike"
],
"unseen": [
"Grab {A} and beat the block.",
"Use {a} to pick up {A}.",
"Use {a} to grab {A}, beat the block.",
"Grab {A} and hit the block.",
"Grab {A} and beat the block",
"Use {A} to strike the block",
"Grab {A} and hit the block",
"Use {a} to grab {A} then beat block",
"Grab {A} and strike the block",
"Pick {A} up and hit the block"
]
},
"sha256": "f2e419c385c80a3d8dac0bec0516b19eea6cdfa1985d754466afaff7211e8262",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/beat_block_hammer.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/beat_block_hammer.py"
},
"task_instruction/blocks_ranking_rgb": {
"full_description": "<Place> the red block, green block, and blue block <in the order> of red, green, and blue from left to right, <placing in a row>.",
"schema": "{A} notifies the red block, {B} notifies the green block, {C} notifies the blue block, {a} notifies the arm to grab red block, {b} notifies the arm to grab green block, {c} notifies the arm to grab blue block",
"pools": {
"seen": [
"Set {A}, {B}, and {C} side by side in the order of {A}, {B}, then {C}.",
"Use {a} to grab {A} and position it on the left, then {b} for {B}, and {c} for {C}.",
"Grab {A} using {a}, {B} with {b}, and {C} with {c}, aligning them consecutively in a row.",
"Start with {A}, followed by {B} and {C}, placing them in order left to right.",
"Position {A}, {B}, and {C} from left to right in the specified sequence.",
"Grab {A} with {a}, place it leftmost, then {B} using {b}, followed by {C} with {c}.",
"Begin by placing {A} on the left, then add {B} to the right, and finish with {C}.",
"Use {a} for {A}, then {b} for {B}, and {c} for {C}, arranging them left to right.",
"Arrange {A}, {B}, and {C} in sequence from leftmost to rightmost positions.",
"Pick up {A}, {B}, and {C} sequentially and place them in a row from left to right.",
"Position {A} first, followed by {B}, and end with {C} in a row from left to right.",
"Grab {A}, place it on the leftmost spot, add {B} to the middle, and set {C} last.",
"Arrange {A}, {B}, and {C} in a row using {a}, {b}, and {c}, keeping the left-to-right order.",
"Pick up {A}, position it on the left, add {B} next to it, and finally set {C} on the far right.",
"Use {a} to grab {A}, set it on the left, follow with {b} for {B}, and end with {c} for {C}.",
"Arrange {A} at the left edge, {B} to the right of it, and {C} next to {B} forming a row.",
"Pick up {A} using {a}, set it on the left, repeat the placement with {b} for {B}, and {c} for {C}.",
"First, place {A} on the far left, then {B} in the middle, and finish with {C} on the right.",
"Grab {A}, set it on the leftmost side, add {B} to its right, and complete with {C} on the far right.",
"Using {a}, {b}, and {c}, arrange {A}, {B}, and {C} sequentially from left to right in a single row.",
"Place {A} to the left, {B} in the middle, and {C} on the right in a linear fashion.",
"Position {A} first, {B} second, and {C} third in a row from left to right.",
"Using {a}, {b}, and {c}, arrange {A}, {B}, and {C} from left to right in the given order.",
"With {a}, {b}, and {c}, place {A}, {B}, and {C} sequentially from left to right as red, green, blue.",
"Arrange {A}, {B}, and {C} from left to right using {a}, {b}, and {c} in the order red, green, blue.",
"First, grab {A}, then {B}, then {C} with {a}, {b}, and {c}, and place them in order left to right.",
"Position {A}, {B}, and {C} on a surface from left to right in the order red, green, blue.",
"Grab {A}, {B}, and {C}, and place them steadily from left to right in the order red, green, blue.",
"Using {a}, {b}, and {c}, set {A}, {B}, and {C} from left to right in the sequence red, green, blue.",
"Put {A} first, {B} next, and {C} last in a straight line from left to right, using {a}, {b}, and {c}.",
"Grab and place {A} first, followed by {B}, and finish with {C} in a row.",
"Position {A}, {B}, and {C} in a left-to-right sequence, forming a row.",
"First, place {A}, then {B} beside it, and finally {C} next to {B}.",
"Using {a}, {b}, and {c}, align {A}, {B}, and {C} in a row from left to right.",
"Line up the objects in the order {A}, {B}, and {C}, starting from the left.",
"Pick up {A}, {B}, and {C} in sequence and position them in a left-to-right row.",
"Start with {A} on the left, add {B} next to it, and then place {C} on the right.",
"{A}, then {B}, and finally {C} should be placed in a row from left to right.",
"With {a}, {b}, and {c}, arrange {A}, {B}, and {C} sequentially in a horizontal row.",
"Place {A} first, set {B} beside it, and complete the row by positioning {C}.",
"Use {a} to place {A} on the left, then use {b} for {B} beside {A}, and finally {c} for {C} next to {B}.",
"Grab {A}, position it on the left. Next, grab {B} to place beside {A}, then grab {C} and set it to the right of {B}.",
"First, use {a} to grab {A} and place it on the left. Then grab {B} with {b} and position it next to {A}, followed by grabbing {C} with {c} and placing it next to {B}.",
"Start with {A} on the left, followed by {B} next to {A}, and end with {C} on the far right.",
"Pick {A} using {a}, place it far left. Then grab {B} with {b}, position next to {A}. Lastly, grab {C} using {c} and set right of {B}.",
"Position {A} in the first spot, then set {B} to the right of {A}, and finish by placing {C} to the right of {B}.",
"Move {A} with {a} to the far left, {B} with {b} just beside {A}, and finally {C} with {c} next to {B}.",
"Start by grabbing {A}, place it on the leftmost side. Next, position {B} beside {A}, and finally set {C} to the right of {B}.",
"Use {a} for {A} to set it leftmost, continue with {b} to position {B} next to {A}, and finish by placing {C} using {c} to the right of {B}.",
"Place {A} first on the far left, {B} next to it, and {C} last on the far right."
],
"unseen": [
"Arrange {A}, {B}, and {C} from left to right in a row.",
"Place {A}, {B}, and {C} sequentially in a row, starting with {A}.",
"Place {A} on the left, then set {B} to its right and {C} next to {B}.",
"Use {a} to arrange {A} first, then use {b} for {B}, and finally use {c} for {C} in a row.",
"Set {A}, {B}, and {C} in a row from left to right in the order red, green, blue.",
"Arrange {A}, {B}, and {C} in a row with {A} on the left, {B} in the middle, and {C} on the right.",
"Set {A} on the left, then {B} in the center, and finally {C} on the right.",
"Arrange {A}, {B}, and {C} side by side, starting with {A} on the left.",
"Pick up {A}, set it on the left. Then grab {B}, position it next to {A}. Finally, place {C} to the right of {B}.",
"Start by placing {A} to the left, followed by {B} next to {A}, and end with {C} on the far right."
]
},
"sha256": "c814cda100d7600659a3c790267851068cffca7d736d74475192e2aac0fba6aa",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/blocks_ranking_rgb.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/blocks_ranking_rgb.py"
},
"task_instruction/click_alarmclock": {
"full_description": "click the alarm clock's center of the top side button on the table",
"schema": "{A} notifies the alarm clock, {a} notifies the arm to click the alarm clock",
"pools": {
"seen": [
"{a} clicks the center top button on {A}",
"Locate and press the top button on {A}",
"Activate {A} by pressing the top button",
"Press the center top button on {A} with {a}",
"Use {a} to click the center button on {A}",
"Click the top center button of {A}",
"Press the button on {A}'s top side",
"{a} presses the center top button on {A}",
"Ensure {a} clicks the top center button of {A}",
"{a} activates {A} by clicking the top button",
"Tap the center button on {A}.",
"Click {A}'s top center button using {a}.",
"Touch {A}'s button on the top side.",
"Point {a} to press the button of {A}.",
"Click the button centered on {A}.",
"Use {a} to tap {A}'s central button.",
"Press the top button at {A}'s center.",
"Guide {a} to press the centered button on {A}.",
"Tap the button at {A}'s top center.",
"Direct {a} to click the button found on {A}.",
"Click the center of {A}'s top",
"Use {a} to press {A} button",
"Use {a} to click the top of {A}",
"Tap {A}'s top button with {a}",
"Push the top button on {A}",
"Activate {A} by pressing its top",
"Use {a} to activate {A}'s button",
"Press the center top button of {A}",
"Push the center area of {A}'s top",
"Use {a} to press the center top of {A}",
"Use {a} to press {A}'s top button",
"Press the top middle button of {A}",
"Touch {A}'s center top button with {a}",
"Locate and press {A}'s top center button",
"Activate {A} by clicking its top button",
"Push the top button of {A} using {a}",
"Click the middle button on {A}'s top side",
"Use {a} to tap {A}'s top button center",
"Hit the center of {A}'s top button",
"Press {A}'s top button using {a}",
"Use {a} to press {A}'s top center button.",
"Push the button on {A}'s top center.",
"Press the center button on {A}'s top.",
"Use {a} to tap {A}'s top center button.",
"Click the button centered on {A}'s top.",
"Press the top button in {A}'s center.",
"Use {a} to click the top center button on {A}.",
"Push the central button on {A}'s top side.",
"Use {a} to press the central button on {A}.",
"Click the center button on {A}'s top side."
],
"unseen": [
"Click the center top button of {A}",
"Press the top button on {A}",
"Press the top center of {A}.",
"Use {a} to click {A}'s top center button.",
"Click the top button of {A}",
"Press {A}'s center top button",
"Click the top button of {A}",
"Tap the center top button of {A}",
"Press {A}'s top center button.",
"Click the central top button on {A}."
]
},
"sha256": "46cc55f23d3224ff3bbdd5958b90d23fba6f2dbda0ac72471e0c5744697e0424",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/click_alarmclock.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/click_alarmclock.py"
},
"task_instruction/click_bell": {
"full_description": "click the <bell's top center> on the table",
"schema": "{A} notifies the bell, {a} notifies the arm to click the bell",
"pools": {
"seen": [
"Click {A}'s <top center> using {a}",
"Push {A}'s <top center> on the table",
"Press the center top of {A}.",
"Command {a} to press {A}'s top.",
"Direct {a} to touch {A}'s top.",
"Click the designated center of {A}.",
"Press the specified top area of {A}.",
"Ask {a} to interact with {A}'s top.",
"Press the center of {A} using {a}.",
"Tap {A}'s top center with {a}.",
"Tap the top center of {A}.",
"Press {A}'s top center on the table.",
"Click using {a} on {A}'s center.",
"Push the center of {A} using {a}.",
"Press down {A}'s top center gently.",
"Press down the top of {A} using {a}.",
"Click the top center of {A} on table.",
"Direct {a} to click the top of {A}.",
"Pinpoint {A} and click its top center.",
"Have {a} click at {A}'s top center.",
"Press the top center of {A} on table.",
"Make {a} interact with {A}'s top center.",
"Click {A} at its top center on table.",
"Guide {a} to click {A}'s top center.",
"Locate {A} and click its top center.",
"Use {a} to press {A}'s top section.",
"Click {A}'s top center using {a}.",
"Tap {A}'s top center with {a}.",
"Use {a} to touch {A}'s top center.",
"Activate {A} by pressing its top center.",
"Press {A}'s top center with {a} firmly."
],
"unseen": [
"Click the top center of {A}.",
"Direct {a} to click {A}'s top.",
"Click {A}'s top center on the table.",
"Use {a} to press {A}'s top center.",
"Find {A} and click its top center.",
"Use {a} to press {A}'s top center.",
"Use {a} to press {A}'s top center."
]
},
"sha256": "f0cc725a3cacb4182ee27b39f04139213af78fa2480f100f2abbf2ab0b83cd44",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/click_bell.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/click_bell.py"
},
"task_instruction/dump_bin_bigbin": {
"full_description": "Grab the small bin and pour the balls into the big bin",
"schema": "{A} notifies the small bin",
"pools": {
"seen": [
"Grab {A} and empty it into the bin.",
"Take {A} and pour the balls out.",
"Hold {A} and dump its balls.",
"Use the arm to move {A} and pour.",
"Direct the arm to grab {A} and tilt.",
"Control the arm to raise {A} and pour.",
"Use the arm to empty {A} into the bin.",
"Move the arm, take {A}, and pour.",
"Grab and tilt {A} to empty the balls.",
"Raise {A} to dump its contents out.",
"Lift {A} and pour balls into the bin.",
"Use the arm to grab {A} and pour.",
"Take {A} and empty balls into the bin.",
"Grab {A}, then pour balls into the bin.",
"Pick up {A} using the arm, pour balls.",
"Lift {A} using the arm to pour balls.",
"Take hold of {A} and dump the balls.",
"Use the arm to lift {A} and empty it.",
"Grab {A} and transfer balls to the bin.",
"Lift {A} and pour its contents into bin.",
"Pick up {A}, empty into the big bin",
"Lift {A}, pour contents into big bin",
"Use arm to pick {A}, pour in bin",
"Grab {A} with arm and pour contents",
"Hold {A}, dump balls in big bin",
"Use arm to grab {A}, dump contents",
"Pick {A} up, pour all balls inside bin",
"Take {A} using arm, pour contents inside",
"Lift {A}, pour the balls into big bin",
"Hold {A} and pour all balls into bin",
"Hold {A}, then pour contents.",
"Grab {A} and pour it out.",
"Lift {A}, pour into the big bin.",
"Pour balls from {A} into the bin.",
"Take {A} and empty its contents.",
"Grab {A}, pour its contents away.",
"Lift {A} and pour contents down.",
"Use {A} to pour the balls out.",
"Pick up {A} and pour into bin.",
"Pick {A}, pour its contents out.",
"Take {A} and pour contents.",
"Lift {A}, then pour the balls.",
"Grab {A} and transfer balls.",
"Pick up {A} and pour carefully.",
"Take hold of {A}, pour contents.",
"Secure {A} and pour the balls.",
"Grasp {A} and empty it out.",
"Hold {A} and pour the balls.",
"Lift up {A}, then pour balls.",
"Take {A} and pour the balls."
],
"unseen": [
"Pick up {A} and pour it.",
"Lift {A} and transfer the contents.",
"Grab {A} and pour the balls.",
"Pick up {A}, pour balls into the bin.",
"Grab {A} and pour into big bin",
"Take {A} and empty into big bin",
"Take {A} and empty it.",
"Pour {A} into the big bin.",
"Grab {A} and pour balls.",
"Lift {A} and empty it."
]
},
"sha256": "cbd1922bc3b793289acb349b77061ec9a668e922403323162aee2ae1420148de",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/dump_bin_bigbin.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/dump_bin_bigbin.py"
},
"task_instruction/grab_roller": {
"full_description": "use both arms to grab the roller on the table",
"schema": "{A} notifies the roller. 'arm' use literal here",
"pools": {
"seen": [
"Take hold of {A} using your arms.",
"Firmly grip {A} on the table now.",
"Grab {A} directly from the table.",
"Take both arms to grasp {A}.",
"Hold {A} on the table with hands.",
"Reach for {A} and grab it firmly.",
"Securely grab {A} using both arms.",
"Use both arms to grip {A} tightly.",
"Grasp {A} firmly from the table.",
"Lift {A} off the table with arms.",
"Secure {A} on the table using arms.",
"Take hold of {A} with both arms.",
"Hold {A} firmly from the table.",
"Lift {A} from the table carefully.",
"Take {A} directly from the table.",
"Grasp {A} on the table with arms.",
"Use arms to firmly grab {A}.",
"Both arms should grab {A} now.",
"Pick up {A} from the table directly.",
"Get hold of {A} using your arms",
"Secure {A} from the table using arms",
"Lift {A} off the table with both arms",
"Reach for {A} and hold it firmly",
"Lift {A} from its place on the table",
"Pick up {A} using both arms equally",
"Hold {A} with both arms to pick it up",
"Reach out to grab {A} from the table",
"Secure {A} with both arms.",
"Grab {A} placed on the table.",
"Lift {A} with your arms.",
"Pick up {A} using both arms.",
"Grasp {A} firmly with arms.",
"Hold {A} from the table.",
"Take hold of {A} with arms.",
"Lift {A} from the table.",
"Grip {A} firmly with arms.",
"Use both arms to grab {A}.",
"Take hold of {A}.",
"Secure {A} using your arms.",
"Pick up {A} from the table.",
"Bring both arms to grab {A}.",
"Place hands on {A} and lift.",
"Use arms to hold {A} tightly.",
"Grasp {A} on the table.",
"Firmly grab {A} using arms."
],
"unseen": [
"Grab {A} on the table with arms.",
"Use both arms to grab {A}.",
"Grab {A} on the table with arms.",
"Use both arms to grab {A}.",
"Grab {A} on the table using arms",
"Reach and grab {A} with both arms",
"Grab {A} with both arms.",
"Use arms to grab {A}.",
"Hold {A} with both arms.",
"Grab {A} on the table."
]
},
"sha256": "2148b70c6c6ea702c32578d333537a32b27b666dc14da0e57e9bd298e674fc87",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/grab_roller.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/grab_roller.py"
},
"task_instruction/handover_mic": {
"full_description": "Use one arm to grasp the microphone on the table and handover it to the other arm",
"schema": "{A} notifies the microphone, {a} notifies the arm to grab the microphone, {b} notifies the arm to hand over to",
"pools": {
"seen": [
"Pick {A} and transfer it to the other arm.",
"Hold {A} and pass it to the other hand.",
"Grasp {A}, then give it to the other arm.",
"Lift {A} and pass it across.",
"Secure {A} using one arm and transfer it.",
"Pick up {A} and hand it to the other side.",
"Grab {A} and give it to the opposite arm.",
"Take {A} and move it to the other hand.",
"Hold {A} firmly and pass it to the other arm.",
"Lift {A} and deliver it to the other side.",
"Use {a} to grab {A} and transfer it to {b}.",
"Lift {A} and hand it over to the other arm.",
"Grasp {A} and pass it across.",
"Take {A} and move it to another hand.",
"Hold {A} and deliver it to another side.",
"Lift {A} and hand it to someone else.",
"Use one hand to grab {A} and pass it.",
"Grasp {A} and switch it to another hand.",
"Secure {A} from the table and transfer it.",
"Use {a} to hold {A}, then give it to {b}.",
"Hold {A} securely and shift it to another arm.",
"Lift {A} using {a} and pass it to {b}.",
"Pick {A} from the surface and switch hands.",
"Hold {A} with {a} and give it to {b}.",
"Grasp {A} and shift it to the opposite hand.",
"Take {A} using {a} and transfer it to {b}.",
"Lift {A} and hand it over to the other side.",
"Grab {A} using {a} and pass it over to {b}.",
"Reach for {A} and move it to the other hand.",
"Hold {A} with one hand and transfer it",
"Grip {A} and pass it to the other side",
"Seize {A} and offer it to the other arm",
"Take {A} and pass it to another hand",
"Pick up {A} and move it to the opposite side",
"Grab {A} and transfer it to another hand",
"Use one arm to pick up {A} and give it to the other.",
"Pick up {A} and transfer it to the opposite side.",
"Hold {A} and shift it to the other arm.",
"Lift {A}, then pass it across without delay.",
"Grab {A} and smoothly give it to the other arm.",
"Take {A}, shift it, and release it to the other side.",
"Pick up {A}, pass it to the other arm, and release.",
"Lift {A} and hand it to the other side easily.",
"Grasp {A}, transfer it, then let go of it smoothly.",
"Take {A}, pass it, and release it to complete the task."
],
"unseen": [
"Grab {A} from the table and pass it over.",
"Use one arm to hold {A} and hand it over.",
"Pick up {A} and transfer it to the other hand.",
"Grab {A} from the table and pass it across.",
"Pick up {A} and hand it over",
"Grab {A} and pass it to the other arm.",
"Take hold of {A} and hand it over."
]
},
"sha256": "808af664ff5a7fd3303b55b8a09f5d6048287792e6ffa769df74af21a492fbfe",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/handover_mic.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/handover_mic.py"
},
"task_instruction/move_can_pot": {
"full_description": "there is a can and a pot on the table, use one arm to <pick up the can> and <move it to beside the pot>",
"schema": "{A} notifies the pot, {B} notifies the can, {a} notifies the arm to grab the can",
"pools": {
"seen": [
"Use {a} to grab {B} and move it next to {A}",
"Pick {B} up with {a} then place near {A}",
"Move {B} from its spot to near {A}",
"Lift {B} using {a} and drop it beside {A}",
"Grab {B}, shift it, and place it close to {A}",
"Take {B} with {a}, bring it, and set next to {A}",
"Pick {B} up and carefully position it beside {A}",
"Using {a}, lift {B} and place it by {A}",
"Pick {B} with {a} and relocate it near {A}",
"Lift {B} and move it near {A}",
"Pick {B} up and move it next to {A}",
"Grab {B} with {a} and set it near {A}",
"Place {B} beside {A} after picking it up",
"Use {a} to lift {B}, then move it next to {A}",
"Move {B} beside {A} after lifting it",
"Grab {B} with {a} and position it beside {A}",
"Lift {B}, then place it next to {A}",
"Use {a} to grab {B} and move it beside {A}",
"Set {B} near {A} after picking it up",
"Use {a} to lift {B} and place it near {A}",
"Use {a} to take {B} to {A}",
"Lift {B} and place it next to {A}",
"Use {a} to move {B} beside {A}",
"Pick up {B} with {a} and set by {A}",
"Grab {B}, move it, and place by {A}",
"Take {B} to {A} using {a}",
"Set {B} right next to {A}",
"With {a}, grab {B} and move to {A}",
"Lift {B} and set it beside {A}",
"Move {B} to {A} with {a}",
"Lift {B} and set it next to {A}",
"Use {a} to grab {B} and transfer it near {A}",
"Pick up {B} and put it beside {A}",
"Lift {B} using {a} and position it by {A}",
"Move {B} to be next to {A}",
"Use {a} to pick {B} up and set it beside {A}",
"Place {B} next to {A}",
"Grab {B} with {a} and move it close to {A}",
"Bring {B} over and set it near {A}",
"Use {a} to lift {B} and place it next to {A}",
"Lift {B} and set it next to {A}",
"Pick up {B} using {a}, transfer it beside {A}",
"Grab {B}, move it to {A}'s side",
"Take {B} with {a}, place it near {A}",
"Pick {B} and position it next to {A}",
"Use {a} to grab {B}, move it beside {A}",
"Lift {B}, place it by {A}",
"Take {B} using {a}, set it next to {A}",
"Grab {B} and move it close to {A}",
"Use {a} to pick {B}, position it near {A}"
],
"unseen": [
"Pick up {B} and move it near {A}",
"Grab {B} and set it beside {A}",
"Lift {B} and set it beside {A}",
"Use {a} to grab {B} and place it by {A}",
"Pick up {B} and set it beside {A}",
"Grab {B} and move it near {A}",
"Grab {B} and place it near {A}",
"Use {a} to pick up {B} and move it beside {A}",
"Grab {B} and place it beside {A}",
"Use {a} to pick up {B}, move it near {A}"
]
},
"sha256": "a82cfb64ee7d642b2b8c1da7cd9a0fcad522574782575653e1e89e740ab7afe5",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_can_pot.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_can_pot.py"
},
"task_instruction/move_pillbottle_pad": {
"full_description": "Use one arm to pick the pillbottle and place it onto the pad.",
"schema": "{A} notifies the pillbottle, {a} notifies the arm to move the pillbottle",
"pools": {
"seen": [
"Move {A} with one arm to the pad",
"Lift {A} with {a} and drop on pad",
"Pick {A} and place it on the pad",
"Use {a} to move {A} to the pad",
"Grab {A} and drop it onto the pad",
"Lift {A} with {a} and set it down",
"Take {A} and put it onto the pad",
"Use {a} to set {A} onto the pad",
"Move {A} and position it on the pad",
"Grab and transfer {A} with {a} to pad",
"Use {a} to lift {A} and place it",
"Move {A} using {a} and drop it on pad",
"Place {A} on pad after lifting with {a}",
"Lift {A} and carefully place it on pad",
"Pick {A} with {a} and position it onto pad",
"Grab {A} and drop it on the pad",
"Use {a} to pick {A}, then place it on pad",
"Pick {A} up and set it onto the pad",
"Set {A} on pad after lifting it with {a}",
"Move {A} to the pad and let it rest there",
"Grab {A} and place it on the pad",
"Use {a} to grab {A} and place it",
"Pick {A} up and drop it onto the pad",
"Move {A} onto the pad using {a}",
"Lift {A} and set it on the pad",
"Use {a} to lift {A} and position it",
"Take {A} and place it onto the pad",
"Use {a} to take {A} and move it",
"Pick {A} using {a} and set it on pad",
"Move {A} to the pad and leave it there",
"Grab {A} with {a} and move it to the pad.",
"Place {A} onto the pad after picking it.",
"Lift {A} using {a} and position it on the pad.",
"Move {A} to the pad and release it there.",
"Pick {A} with {a} and drop it onto the pad.",
"Set {A} down on the pad after picking it.",
"Use {a} to grab {A} and put it on the pad.",
"Place {A} on the pad after lifting it up.",
"Grab {A} and carefully set it onto the pad.",
"Use {a} to pick and place {A} onto the pad.",
"Move {A} and drop it on the pad",
"Pick {A} with {a} and place it down",
"Grab {A} and position it on the pad",
"Use {a} to move {A} to the pad",
"Lift {A} and gently lower onto the pad",
"Control {a} to pick {A} and set it down",
"Grab {A} carefully and drop it on pad",
"Use {a} to place {A} on the pad",
"Hold {A} and position it on the pad",
"Direct {a} to grab {A} and drop it there"
],
"unseen": [
"Pick {A} and set it on the pad",
"Use {a} to grab {A} and place it",
"Grab {A} and set it on the pad",
"Pick {A} and put it onto the pad",
"Pick {A} and set it on the pad",
"Use {a} to move {A} onto the pad",
"Use {a} to pick {A} and place it.",
"Pick {A} and set it onto the pad.",
"Pick {A} and set it on the pad",
"Use {a} to grab {A} and place it"
]
},
"sha256": "37fe85c95f87ac30506a597bfcd01064265cf0c09a8adb8fc5a91f54859f6d12",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_pillbottle_pad.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_pillbottle_pad.py"
},
"task_instruction/move_playingcard_away": {
"full_description": "use the arm to <pick up the playing card> and <move it away from the table>.For example, if the playing card is on the outward side of the table, you should move it further outward side of the table.",
"schema": "{A} notifies the playing card, {a} notifies the arm to grab the playing card",
"pools": {
"seen": [
"Move {A} further outward after picking it up.",
"Pick up {A} using {a} and shift it outward.",
"Lift {A} and relocate it off the table.",
"With {a}, pick up {A} and slide it outward.",
"Grab {A} and move it further outward.",
"Pick up {A} with {a} and place it outward.",
"Lift {A} and set it away from the table.",
"Use {a} to grab {A} and move it aside.",
"Pick up {A} and shift it further outward.",
"Using {a}, lift {A} and move it outward.",
"Lift {A} and push it off the table.",
"Pick up {A} and move it away.",
"Move {A} outward from the table.",
"Shift {A} off the table to the side.",
"Take {A} and place it further outward.",
"Slide {A} off the table outward.",
"Grab {A} and move it further away.",
"Lift {A} and shift it outward.",
"Place {A} away from the table outward.",
"Move {A} off the table outward.",
"Use {a} to grab {A} and move it away.",
"Move {A} farther from the table using {a}.",
"Grab {A} and take it away from the table.",
"Pick up {A} and move it farther outward.",
"Use {a} to pick {A} and shift it outward.",
"Take {A} and move it away from the table.",
"Lift {A} and place it farther away with {a}.",
"Shift {A} outward by grabbing it with {a}.",
"Pick {A} and move it outward from the table.",
"Grab {A} and shift it farther away from the table.",
"Move {A} away from its position on the table.",
"Grab {A} from the table and shift it outward.",
"Lift {A} using {a} and transfer it outward.",
"Relocate {A} farther outward using {a}.",
"Pick up {A} and place it further away.",
"Shift {A} outward after grabbing it.",
"Use {a} to pick up {A} and move it.",
"Pick {A} and slide it further outward.",
"Lift {A} from the table and move it outward.",
"Grab {A} using {a} and move it outward.",
"Lift {A} and slide it off the table.",
"Grab {A} with {a} and move it outward.",
"Take {A} and push it further away.",
"Use {a} to pick up {A} and push it outward.",
"Grab {A} and set it beyond the table.",
"Lift {A} with {a} and move it outward.",
"Pick {A} from the table and shift it outward.",
"Use {a} to pick {A} and move it outward.",
"Take {A} and place it beyond the table.",
"Grab {A} using {a} and push it outward."
],
"unseen": [
"Use {a} to grab {A} and move it outward.",
"Grab {A} and move it off the table.",
"Grab {A} and move it outward.",
"Pick up {A} and shift it outward.",
"Pick up {A} and move it outward.",
"Lift {A} from the table and shift it.",
"Pick up {A} and move it outward.",
"Use {a} to grab {A} and relocate it.",
"Pick up {A} and move it outward.",
"Use {a} to grab {A} and relocate it."
]
},
"sha256": "c65cfdbc0bb65132adeeb8ffcd4ccc76d388df36fc3942b18b7b58e30f49b81b",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_playingcard_away.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_playingcard_away.py"
},
"task_instruction/move_stapler_pad": {
"full_description": "use appropriate arm to move the stapler to a colored mat",
"schema": "{A} notifies the stapler, {B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the stapler",
"pools": {
"seen": [
"Grab {A} and drop it on {B} mat.",
"{a} moves {A} to the {B} mat.",
"Set {A} onto the {B} colored mat.",
"{a} places {A} on the {B} mat.",
"Drop {A} onto the {B} mat.",
"Stick {A} onto the {B} colored mat.",
"{a} grabs {A} and sets it on {B} mat.",
"Slide {A} to the {B} colored mat.",
"{a} transfers {A} to the {B} mat.",
"Stick {A} on the {B} mat.",
"Grab {A} using {a} and set it on {B} mat.",
"Move {A} to the {B} mat.",
"Transfer {A} to the {B} colored mat.",
"Use {a} and place {A} on {B} mat.",
"Set {A} on the {B} mat with {a}.",
"Position {A} on the {B} mat.",
"Pick {A} using {a} and move it to {B} mat.",
"Place {A} onto the {B} colored mat.",
"Relocate {A} to the {B} mat.",
"Grab {A} with {a} and drop it on {B} mat.",
"Grab {A}, place it on the {B} mat",
"Using {a}, set {A} on the {B} colored mat",
"Put {A} on the {B} mat",
"Lift {A} to the {B} mat using {a}",
"Place {A} onto the {B} colored mat",
"Set {A} down on the {B} mat",
"With {a}, position {A} on the {B} mat",
"Transfer {A} to the {B} mat",
"Move {A} with {a} to the {B} mat",
"Drop {A} carefully on the {B} mat",
"Place {A} on the {B} mat using {a}",
"Lift {A} and drop it onto {B} mat",
"Shift {A} manually to the {B} mat",
"Move {A} to the {B} mat with {a}",
"Grab {A} and stick it onto {B} mat",
"Use {a} to grab {A} and place it on {B} mat",
"Pick {A} up and position it on {B} mat",
"Carry {A} and drop it onto the {B} mat",
"Use {a} to shift {A} onto the {B} mat",
"Pick {A} with {a} and place it on {B} mat",
"Set {A} down on the {B} mat",
"Pick up {A} and place it on {B} mat",
"Grab {A} using {a} and shift it to {B}",
"Relocate {A} to the {B} colored mat",
"Use {a} to place {A} onto the {B} mat",
"Shift {A} to the {B} mat",
"Pick up {A} with {a} and set it on {B}",
"Carry {A} to the {B} colored mat",
"With {a}, move {A} to the {B} mat"
],
"unseen": [
"Move {A} to the {B} mat.",
"Place {A} on the {B} colored mat.",
"Use {a} to move {A} to {B} mat.",
"Place {A} on the {B} colored mat.",
"Use {a} to move {A} to the {B} mat",
"Move {A} to the {B} colored mat",
"Grab {A} and set it on {B} mat",
"Use {a} to move {A} to {B} mat",
"Move {A} to the {B} mat",
"Place {A} on the {B} mat"
]
},
"sha256": "69b41ecebdbc2c9fb8492b571505a1468116e4b1c588b1f0f2d10d8690179eb0",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/move_stapler_pad.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/move_stapler_pad.py"
},
"task_instruction/open_laptop": {
"full_description": "use one arm to open the laptop",
"schema": "{A} notifies the laptop. {a} notifies the arm used to open the laptop.",
"pools": {
"seen": [
"Raise {A} lid with {a}.",
"Fully open {A}.",
"Use {a} to open {A}.",
"Lift {A} lid completely.",
"Raise {A} lid using {a}.",
"Open {A} entirely.",
"Fully lift {A} using {a}.",
"Open {A} completely.",
"Use {a} to raise {A}.",
"Lift {A} to open.",
"Open {A} carefully with {a}.",
"Lift and open {A}.",
"Pull {A} upward lightly.",
"Raise {A} using {a}.",
"Pull {A} open with {a}.",
"Gently open {A}.",
"Use {a} to raise {A}.",
"Lift {A} slightly.",
"Raise and open {A}.",
"Use {a} to open {A}.",
"Use {a} to open {A}",
"Raise the top of {A}",
"Gently lift {A} using {a}",
"Pull open {A}",
"Carefully open {A} using {a}",
"Lift {A} to open it up",
"Use {a} to lift {A}",
"Pull up the lid of {A}",
"Open {A} lifting with {a}",
"Raise {A} to expose the screen",
"Lift {A}'s lid upwards.",
"Use {a} to raise {A}.",
"Raise {A} using {a}.",
"Grip and lift {A}'s lid.",
"Hold {A} steady, lift lid.",
"Gently raise {A} using {a}.",
"Open {A} by lifting its lid.",
"Lift {A}'s lid using {a}.",
"With {a}, open {A}'s lid.",
"Pull the lid of {A} upward.",
"Raise the lid of {A}.",
"Use {a} to open {A}.",
"Lift {A} open with {a}.",
"Raise {A}'s top section.",
"Pull {A}'s lid upward.",
"Gently open {A} upward.",
"Push {A}'s lid upward using {a}.",
"Raise {A} using {a} firmly.",
"Slide {A} open with {a}.",
"Pull the screen of {A}."
],
"unseen": [
"Open {A} using {a}.",
"Lift {A}'s lid fully.",
"Grab {A} and open it.",
"Lift {A} using {a}.",
"Lift {A} using {a}",
"Open {A} with care",
"Pull up {A}'s lid.",
"Open {A} with one motion.",
"Lift {A}'s lid gently.",
"Open {A} carefully using {a}."
]
},
"sha256": "7b549a1ca76c67955a2b89256a26eb6cfcaa400c28758eb5df1455bea95faa29",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/open_laptop.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/open_laptop.py"
},
"task_instruction/open_microwave": {
"full_description": "Use one arm to open the microwave.",
"schema": "{A} notifies the microwave, {a} notifies the arm to open the microwave",
"pools": {
"seen": [
"Use {a} to pull open the door of {A}.",
"Pull the handle to open {A}.",
"Grab the handle and open {A} with {a}.",
"Open {A} by grasping its handle.",
"Pull open the door of {A} using {a}.",
"Pull the door of {A} to open it.",
"Use {a} to grab and open {A}.",
"Open {A} by pulling its door with {a}.",
"Open {A} by pulling its handle.",
"Pull the handle of {A} to open it.",
"Pull the door to open {A}.",
"Grab the handle and open {A}.",
"Use {a} to pull {A} open.",
"Engage {a} to open {A}.",
"Pull and open {A}.",
"Open {A} by pulling with {a}.",
"Use the handle to open {A}.",
"Engage {A} using {a} to open.",
"Pull the handle to open {A}.",
"Open {A} using {a}.",
"Get {A} open.",
"Access the inside by opening {A}.",
"Activate the door to open {A}.",
"Pull to open {A}.",
"Grip {A}'s handle and pull it open.",
"Handle {A} and open it with {a}.",
"Use {a} to engage {A}'s opening mechanism.",
"Engage {A}'s handle and open it.",
"Utilize {a} to pull {A} open.",
"Open {A} by pulling its handle.",
"Pull {A}'s handle using {a}.",
"Grasp {A}'s handle and pull to open.",
"Pull the handle of {A} with {a}.",
"Open {A} by pulling on its handle.",
"Use {a} to grab and pull {A}.",
"Pull the handle to open {A}.",
"Grab and pull {A} using {a}.",
"Pull {A}'s handle to open it.",
"Use {a} to open {A} by pulling."
],
"unseen": [
"Locate {A} and open it using {a}.",
"Open {A} by pulling its door handle.",
"Move {a} and open {A}.",
"Open {A} using {a}.",
"Use {a} to open {A}.",
"Pull {A} open with {a}.",
"Grab {A}'s handle and pull to open it.",
"Use {a} to pull the handle of {A}."
]
},
"sha256": "c75c294f0591e6ab4b2198833d4871a3ad553250884680d02ba6959a74fe4261",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/open_microwave.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/open_microwave.py"
},
"task_instruction/pick_diverse_bottles": {
"full_description": "simultaneously pick up the two different bottles, one with each arm",
"schema": "{A} identifies the left bottle and {B} identifies the right bottle; arm names are literal",
"pools": {
"seen": [
"Pick up {A} and {B} simultaneously.",
"Use one arm for {A} and the other for {B}.",
"Lift both different bottles, {A} and {B}, together.",
"Grab {A} and {B} at the same time.",
"Use separate arms to lift {A} and {B}.",
"Pick {A} and {B} up in parallel.",
"Raise {A} with one arm and {B} with the other.",
"Secure both {A} and {B} simultaneously.",
"Use both arms to grasp {A} and {B} together.",
"Take hold of {A} and {B} at once.",
"Each arm should grab one bottle: {A} and {B}.",
"Lift {A} and {B} in one synchronized motion.",
"Grasp the different bottles {A} and {B} simultaneously.",
"Hold {A} in one arm and {B} in the other.",
"Pick up both {A} and {B} using separate arms.",
"Reach for {A} and {B} with both arms at once.",
"Catch {A} and {B} together.",
"Raise both bottles at once: {A} and {B}.",
"Assign one arm to {A} and one to {B}.",
"Simultaneously grasp and lift {A} and {B}.",
"Pick {A} while the other arm picks {B}.",
"Use each arm to secure one of {A} and {B}.",
"Lift {A} and {B} together with both arms.",
"Grab both bottles in parallel, {A} and {B}.",
"Take {A} and {B} together, one per arm.",
"Use both arms simultaneously for {A} and {B}.",
"Hold both {A} and {B}, one in each arm.",
"Raise {A} and {B} at the same time.",
"Pick up the pair {A} and {B} together.",
"Grasp {A} as the other arm grasps {B}."
],
"unseen": [
"Grab {A} and {B} at the same time.",
"Pick up both {A} and {B} together.",
"Use one arm for {A} and the other for {B}.",
"Lift {A} and {B} simultaneously with separate arms.",
"Use each arm to grab one of {A} and {B}.",
"Pick up {A} and {B} in parallel.",
"Raise both different bottles, {A} and {B}, together.",
"Grasp {A} and {B} simultaneously.",
"Take hold of {A} and {B} at once.",
"Lift {A} as the other arm lifts {B}."
]
},
"sha256": "e96317aca064a30699ec2244d058a184fc143f007ed53175efb3ef750c630b49",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/pick_diverse_bottles.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/pick_diverse_bottles.py"
},
"task_instruction/pick_dual_bottles": {
"full_description": "simultaneously pick up one bottle with each arm",
"schema": "{A} identifies the left bottle and {B} identifies the right bottle; arm names are literal",
"pools": {
"seen": [
"Pick up {A} and {B} simultaneously.",
"Use each arm to grab one of {A} and {B}.",
"Lift {A} and {B} together with both arms.",
"Grasp {A} and {B} at the same time.",
"Use one arm for {A} and the other for {B}.",
"Raise both {A} and {B} simultaneously.",
"Grab {A} and {B} together.",
"Pick {A} and {B} up in parallel.",
"Lift {A} with one arm and {B} with the other.",
"Secure {A} and {B} simultaneously with separate arms.",
"Use both arms to lift {A} and {B} together.",
"Take hold of {A} and {B} at once.",
"Grasp both bottles, {A} and {B}, simultaneously.",
"Pick up both {A} and {B} using separate arms.",
"Each arm should lift one bottle: {A} and {B}.",
"Catch {A} and {B} in parallel.",
"Raise {A} and {B} at the same time.",
"Hold {A} in one arm and {B} in the other.",
"Use both arms together to pick {A} and {B}.",
"Simultaneously grasp and lift {A} and {B}.",
"Pick {A} as the other arm picks {B}.",
"Take {A} and {B} together, one per arm.",
"Use separate arms to grasp {A} and {B} simultaneously.",
"Lift the two bottles {A} and {B} together.",
"Hold both {A} and {B}, one in each arm.",
"Reach for {A} and {B} with both arms simultaneously.",
"Grab both bottles at once: {A} and {B}.",
"Use each arm to secure one bottle, {A} and {B}.",
"Raise both bottles together, {A} and {B}.",
"Pick up {A} and {B} in one synchronized motion."
],
"unseen": [
"Pick up {A} and {B} simultaneously.",
"Hold {A} in one arm and {B} in the other.",
"Grab {A} and {B} together with both arms.",
"Use one arm for {A} and the other for {B}.",
"Lift {A} and {B} at the same time.",
"Grasp both bottles in parallel: {A} and {B}.",
"Raise {A} and {B} together.",
"Use separate arms to pick {A} and {B} simultaneously.",
"Take hold of {A} and {B} at once.",
"Pick both {A} and {B} up in parallel."
]
},
"sha256": "aedbdd5d0f9c562a4f6bc7c3459996e1b786a648cbac41c955faee9c0eb75085",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/pick_dual_bottles.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/pick_dual_bottles.py"
},
"task_instruction/place_a2b_left": {
"full_description": "use appropriate arm to place object A on the left of object B",
"schema": "{A} notifies the object A, {B} notifies the object B, {a} notifies the arm to grab the object A",
"pools": {
"seen": [
"Grab {A} using {a} and place left of {B}.",
"Place {A} on the left of {B}.",
"With {a}, position {A} left of {B}.",
"Position {A} to the left of {B}.",
"Using {a}, move {A} left of {B}.",
"Move {A} to the left of {B}.",
"Use {a} and place {A} left of {B}.",
"Set {A} left of {B}.",
"With {a}, set {A} on the left of {B}.",
"Carefully position {A} to the left of {B}.",
"Place {A} left of {B} using {a}",
"Move {A} to the left of {B}",
"Put {A} on the left side of {B}",
"Grab {A} with {a} and set left of {B}",
"Shift {A} leftward to the side of {B}",
"Use {a} to move {A} to {B}'s left",
"Adjust {A} to rest on {B}'s left",
"Use {a} to position {A} left of {B}",
"Place {A} carefully to {B}'s left",
"Grab {A} using {a} and move left of {B}",
"Use {a}, move {A} left of {B}",
"Position {A} to the left of {B}",
"Place {A} exactly to the left of {B}",
"Using {a}, put {A} on left of {B}",
"Set {A} carefully on the left of {B}",
"Move {A} to the left side of {B}",
"Place {A} to rest left of {B} using {a}",
"With {a}, position {A} left of {B}",
"Set {A} directly to the left of {B}",
"Using {a}, place {A} on the left of {B}",
"Move {A} to the left of {B}.",
"Grab {A} with {a} and shift it left of {B}.",
"Place {A} directly to the left of {B}.",
"With {a}, move {A} to the left side of {B}.",
"Shift {A} and position it left of {B}.",
"Use {a} to move {A} to the left of {B}.",
"Set {A} on the left side of {B}.",
"Grab {A} using {a} and place it left of {B}.",
"Position {A} carefully to the left of {B}.",
"Using {a}, set {A} to the left of {B}.",
"Put {A} to the left of {B}",
"Use {a} to set {A} left of {B}",
"Drop {A} on the left side of {B}",
"With {a}, stick {A} left of {B}",
"Set {A} to the left of {B}",
"Place {A} left of {B} using {a}",
"Stick {A} on the left of {B}",
"Use {a} to put {A} left of {B}",
"Drop {A} to the left of {B}",
"With {a}, place {A} left of {B}"
],
"unseen": [
"Use {a} to put {A} left of {B}.",
"Set {A} on the left side of {B}.",
"Set {A} to the left of {B}",
"Position {A} on the left of {B}",
"Grab {A} and place left of {B}",
"Set {A} down to the left of {B}",
"Pick {A} and set it left of {B}.",
"Use {a} to place {A} left of {B}.",
"Set {A} on the left side of {B}",
"Place {A} to the left of {B} using {a}"
]
},
"sha256": "4b8a3c065fc3b37412efb393e54149f7ac35f24a275b87657383a2af727a34e9",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_a2b_left.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_a2b_left.py"
},
"task_instruction/place_a2b_right": {
"full_description": "use appropriate arm to place object A on the right of object B",
"schema": "{A} notifies the object A, {B} notifies the object B, {a} notifies the arm to grab the object A",
"pools": {
"seen": [
"Use {a} to set {A} right of {B}.",
"Position {A} to the right of {B}.",
"Move {A} to {B}'s right position.",
"Grab {A} with {a} and place it right of {B}.",
"Ensure {A} is placed on the right of {B}.",
"Grab {A} using {a} and set it to {B}'s right.",
"Move {A} and place it carefully to {B}'s right.",
"Take {A} with {a} and position it right of {B}.",
"Set {A} neatly on the right side of {B}.",
"Grab {A} using {a}, then move it to {B}'s right.",
"Set {A} on the right side of {B}.",
"Use {a} to position {A} to {B}'s right.",
"Move {A} and place it to {B}'s right.",
"Put {A} using {a} on the right of {B}.",
"Set {A} right next to {B}'s right side.",
"Grasp {A} with {a} and move it to {B}'s right.",
"Place {A} directly on {B}'s right.",
"Using {a}, position {A} to the right of {B}.",
"Set {A} carefully on {B}'s right side.",
"Grab {A} using {a} and place it right of {B}.",
"Use {a} to place {A} right of {B}.",
"Position {A} directly to the right of {B}.",
"Move {A} and set it to {B}'s right.",
"With {a}, move {A} to {B}'s right.",
"Set {A} down on {B}'s right side.",
"Bring {A} to the right position of {B}.",
"Using {a}, position {A} to the right of {B}.",
"Place {A} precisely to the right of {B}.",
"Move {A} using {a} to {B}'s right position.",
"Set {A} properly on the right of {B}.",
"Set {A} on {B}'s right side",
"Position {A} to {B}'s right using {a}",
"Shift {A} to the right of {B}",
"Move {A} right of {B} with {a}",
"Stick {A} on {B}'s right side",
"Place {A} using {a} at {B}'s right",
"Position {A} at the right side of {B}",
"Move {A} to {B}'s right using {a}",
"Put {A} at the right of {B}",
"Set {A} using {a} at {B}'s right",
"Use {a} to place {A} right of {B}.",
"Position {A} to the right of {B}.",
"Move {A} to the right beside {B}.",
"Ensure {A} is on the right of {B}.",
"Direct {a} to place {A} right of {B}.",
"Put {A} exactly to the right of {B}.",
"Use {a} to set {A} right of {B}.",
"Place {A} on the right of {B}.",
"Grab {A} with {a} and set right of {B}.",
"Make sure {A} is placed right of {B}."
],
"unseen": [
"Put {A} to the right of {B}.",
"Place {A} on {B}'s right side.",
"Put {A} to the right of {B}.",
"Grab {A} and place it right of {B}.",
"Place {A} on the right of {B}.",
"Set {A} to the right of {B}.",
"Put {A} to the right of {B}",
"Place {A} rightward of {B} using {a}",
"Put {A} to the right of {B}.",
"Set {A} on the right of {B}."
]
},
"sha256": "c3466a444a36faf555bc16bf30b974c9a017ca2fa1c797887669dc6f55ca47b7",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_a2b_right.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_a2b_right.py"
},
"task_instruction/place_bread_basket": {
"full_description": "place every bread on the table into the basket, using the available arm or arms",
"schema": "{A} identifies the basket, {B} identifies the only or first bread, {C} identifies the second bread when present, and {a} identifies the arm configuration used",
"pools": {
"seen": [
"Place {B} in {A}.",
"Pick up {B} and put it in {A}.",
"Move {B} from the table into {A}.",
"Grab {B} and place it inside {A}.",
"Transfer {B} to {A}.",
"Lift {B} and set it in {A}.",
"Put the bread {B} into {A}.",
"Take {B} and drop it in {A}.",
"Use {a} to place {B} in {A}.",
"With {a}, move {B} into {A}.",
"Pick {B} using {a} and set it in {A}.",
"Use {a} to transfer {B} to {A}.",
"Move the single bread {B} into {A}.",
"Set {B} inside the basket {A}.",
"Relocate {B} from the table to {A}.",
"Place {B} and {C} in {A}.",
"Pick up both {B} and {C} for {A}.",
"Move both breads, {B} and {C}, into {A}.",
"Put {B} and {C} inside {A}.",
"Transfer both {B} and {C} to {A}.",
"Lift {B} and {C} and place them in {A}.",
"Move every bread, {B} and {C}, into {A}.",
"Set the two breads {B} and {C} in {A}.",
"Grab {B} and {C} and put them in {A}.",
"Take {B} and {C} from the table to {A}.",
"Deposit {B} and {C} inside {A}.",
"Place both breads {B} and {C} into {A}.",
"Relocate {B} and {C} into the basket {A}.",
"Ensure {B} and {C} are both inside {A}.",
"Collect {B} and {C} in {A}."
],
"unseen": [
"Place {B} into {A}.",
"Use {a} to move {B} into {A}.",
"Pick up {B} and set it in {A}.",
"Transfer the bread {B} to {A}.",
"Put {B} inside the basket {A}.",
"Place {B} and {C} into {A}.",
"Move both {B} and {C} inside {A}.",
"Transfer {B} and {C} from the table to {A}.",
"Put the two breads {B} and {C} in {A}.",
"Collect {B} and {C} inside {A}."
]
},
"sha256": "3a88066872b1ced991e7b76d9a759329fdde0da835ee31597f63eba31053cd8c",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_bread_basket.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_bread_basket.py"
},
"task_instruction/place_bread_skillet": {
"full_description": "use one arm to lift and hold the skillet while the other arm places the bread into it",
"schema": "{A} identifies the skillet, {B} identifies the bread, and {a} identifies the arm that holds the skillet; the other arm moves the bread",
"pools": {
"seen": [
"Place {B} inside {A}.",
"Pick up {B} and put it in {A}.",
"Move {B} from the table into {A}.",
"Lift {B} and place it inside {A}.",
"Transfer {B} into {A}.",
"Set {B} inside {A}.",
"Put {B} into the center of {A}.",
"Grab {B} and place it in {A}.",
"Take {B} from the table to {A}.",
"Position {B} inside {A}.",
"Keep {A} raised with {a}; the other arm places {B}.",
"Use {a} for {A}; the other arm moves {B}.",
"Lift {A} with {a} while the other arm places {B}.",
"Keep {A} steady with {a} while placing {B} inside.",
"Hold {A} with {a}; the other arm places {B}.",
"Raise {A} with {a}; the other arm places {B}.",
"Hold {A} in {a} while the other arm transfers {B}.",
"Support {A} with {a}; the other arm sets {B} inside.",
"Lift and hold {A} with {a} while placing {B} inside.",
"Use {a} for {A} and the other arm for {B}.",
"Place {B} from the table into the lifted {A}.",
"Move {B} into {A} while keeping the skillet raised.",
"Pick up {B} and set it inside the held {A}.",
"Lift the skillet {A} and place {B} inside it.",
"Hold {A} up and transfer {B} into it.",
"Raise {A}, then place {B} inside with the other arm.",
"Keep {A} lifted while putting {B} into it.",
"Move and hold {A}, then place {B} inside.",
"Lift both objects and set {B} inside {A}.",
"Hold {A} in one arm; place {B} with the other."
],
"unseen": [
"Take {B} and put it in {A}.",
"Grab {B} and place it in {A}.",
"Pick up {B} and set it inside {A}.",
"Move {B} from the table into {A}.",
"Position {B} in the lifted {A}.",
"Hold {A} with {a}; the other arm places {B}.",
"Use {a} for {A} and the other arm for {B}.",
"Lift {A} using {a} while the other arm moves {B}.",
"Keep {A} raised and place {B} inside it.",
"Hold {A} in one arm; move {B} with the other."
]
},
"sha256": "9d29f1289b11755b02089431bd5bb9b4dd4b762419fb073022513b32418b8345",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_bread_skillet.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_bread_skillet.py"
},
"task_instruction/place_burger_fries": {
"full_description": "simultaneously pick up the hamburger and fries with both arms, then place both foods on the tray",
"schema": "{A} notifies the hamburg, {B} notifies the tray, {C} notifies the frenchfries",
"pools": {
"seen": [
"Use both arms to move {A} and {C} to {B}.",
"Lift {A} and {C}, placing them neatly on {B}.",
"Place {A} and {C} on {B} after picking them up.",
"Take {A} and {C} with both arms and set on {B}.",
"Move {A} and {C} to {B} using both arms.",
"Pick up {A} and {C}, then put both on {B}.",
"Using both arms, grab {A} and {C} for {B}.",
"Set {A} and {C} down on {B} after picking them.",
"Grab {A} with one arm and {C} with the other for {B}.",
"Take {A} and {C} to {B} and set them there.",
"Grab {A} and {C} simultaneously, then set both onto {B}.",
"With dual arms, move {A} and {C} onto {B}.",
"Place {A} and {C} together onto {B}.",
"Lift {A} and {C} simultaneously, then set both on {B}.",
"Move {A} and {C} with dual arms to {B}.",
"Take {A} and {C}, place them onto {B}.",
"Use both arms to transfer {A} and {C} to {B}.",
"Pick up {A} and {C} simultaneously, then place them onto {B}.",
"Using dual arms, move {A} and {C} onto {B}.",
"Grab {A} and {C}, use both arms to set on {B}.",
"Use dual arms to place {A} and {C} onto {B}",
"Put {A} and {C} on {B} using both arms",
"Lift {A} and {C}, position them on {B}",
"Pick up {A} and {C} simultaneously, then place them on {B}",
"Move {A} and {C} to {B} with both arms",
"Place {A} and {C} onto {B} using dual arms",
"Grab {A} and {C} simultaneously, then set them on {B}",
"Transfer {A} and {C} to {B} with both arms",
"Pick up {A} and {C}, then put them on {B}",
"Use dual arms to move {A} and {C} onto {B}",
"Lift {A} and {C} with separate arms and place them on {B}.",
"Set {A} and {C} on {B} using two arms.",
"Grab {A} and {C}, then put them on {B}.",
"Move {A} and {C} onto {B} with both arms.",
"Take {A} and {C} together, then place them onto {B}.",
"With two arms, pick {A} and {C} for {B}.",
"Lift {A} and {C} and position them on {B}.",
"Using both arms, set {A} and {C} onto {B}.",
"Pick {A} and {C}, and set them on {B}.",
"Position {A} and {C} on {B} with both arms.",
"Place {A} and {C} onto {B} after picking them up.",
"Pick {A}, {C}, and place them on {B} using both arms.",
"Grab {A} and {C} simultaneously, then set them on {B}.",
"Using both arms, pick {A} and {C} and drop them on {B}.",
"Pick up {A} and {C} together and place them on {B}.",
"Place both {A} and {C} on {B} after grabbing them with both arms.",
"Grab {A} and {C} and position them on {B}.",
"Using dual arms, lift {A} and {C} and drop them on {B}.",
"Pick {A} and {C} at the same time, then place them on {B}.",
"Use dual arms to grab {A} and {C} and set them on {B}."
],
"unseen": [
"Pick {A} and {C}, then place them on {B}.",
"Grab {A} and {C} together, setting them on {B}.",
"Pick up {A} and {C}, then place on {B}.",
"Use both arms to place {A} and {C} on {B}.",
"Grab {A} and {C}, then set them on {B}",
"Pick up {A} and {C} together, then drop on {B}",
"Pick {A} and {C}, place them on {B}.",
"Place {A} and {C} onto {B}.",
"Pick up {A} and {C} and place them on {B}.",
"Use both arms to grab {A} and {C} and set them on {B}."
]
},
"sha256": "af9a9d757e79b408f39a8a3a22a5e727f23369b3dcbd0e7a064a7f67055b8664",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_burger_fries.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_burger_fries.py"
},
"task_instruction/place_can_basket": {
"full_description": "use one arm to pick up the can, put it into the basket, and use another arm to lift the basket",
"schema": "{A} identifies the can, {B} identifies the basket, and {a} identifies the arm that moves the can; the opposite arm lifts the basket",
"pools": {
"seen": [
"Place {A} in {B} and then lift {B}.",
"Pick {A} with {a}, drop it in {B}, lift {B} with another arm.",
"Pick {A}, set it in {B}, then lift {B}.",
"Use one arm for {A}, then the other arm lifts {B}.",
"Take {A} in {a}, place it into {B}, another arm lifts {B}.",
"Grab and drop {A} in {B}, lift {B}.",
"Pick up {A} with {a}, place into {B}, the other arm raises {B}.",
"Take {A}, set it into {B}, and raise {B}.",
"Use {a} to grab {A} and place in {B}, lift {B} with another arm.",
"Pick up {A}, place it in {B}, and then lift {B}.",
"Place {A} in {B} and then use another arm to lift {B}.",
"Pick up {A}, set it inside {B}, then lift {B}.",
"Use {a} to put {A} in {B}; the other arm lifts {B}.",
"Use {a} to place {A} in {B}; another arm lifts {B}.",
"Take {A} and put it in {B}, then lift {B}.",
"Drop {A} into {B} using {a}, then lift {B} with another arm.",
"Pick up {A}, place it into {B}, then lift {B}.",
"Use {a} to put {A} in {B}; the other arm raises {B}.",
"Grab {A}, drop it into {B}, then use another arm for {B}.",
"Place {A} inside {B}, then lift {B}.",
"Use {a} to place {A} in {B}; the other arm lifts {B}.",
"Lift {A}, drop it into {B}, then carry {B}.",
"Grab {A} with {a}, put it into {B}, and lift {B} with the other arm.",
"Lift {A}, place it in {B}, pick up {B} afterward.",
"Pick {A} with one arm, place it in {B}, and lift {B} using another arm.",
"Grab {A}, set it into {B}, then raise {B}.",
"Pick up {A}, put it into {B}, and lift {B}.",
"Use {a} to put {A} in {B}; another arm lifts {B}.",
"Grab {A}, place it in {B}, and raise {B} using the other arm.",
"Lift {A}, put it in {B}, and carry {B} afterward.",
"Pick up {A}, put it in {B}, and lift {B}.",
"Use {a} to set {A} in {B}; another arm lifts {B}.",
"Take {A}, place it into {B}, then lift {B}.",
"Grab {A}, drop it into {B}, and raise {B} with the other arm.",
"Pick {A}, set it in {B}, and lift {B} upward.",
"Use {a} to grab {A}, put it into {B}, and lift {B} with another arm.",
"Lift {A}, place it in {B}, and raise {B}.",
"Take {A} with {a}, drop it into {B}, and lift {B} using another arm.",
"Grab {A}, place it in {B}, and lift {B} upwards.",
"Pick {A} using {a}, drop it in {B}, and lift {B} with the other arm.",
"Grab {A}, place it in {B}, and then lift {B}.",
"Use {a} to drop {A} in {B}; the other arm lifts {B}.",
"Lift {A}, set it in {B}, and elevate {B}.",
"Use {a} to set {A} in {B}; the other arm lifts {B}.",
"Grab {A}, drop it into {B}, and raise {B}.",
"Pick {A} with {a}, set it in {B}, and lift {B} using another arm.",
"Lift {A}, place it inside {B}, and elevate {B}.",
"Use {a} to insert {A} in {B}; the other arm lifts {B}.",
"Grab {A}, put it in {B}, then raise {B}.",
"Use {a} to lower {A} into {B}; the other arm lifts {B}."
],
"unseen": [
"Grab {A}, put it in {B}, lift {B}.",
"Use {a} to pick up {A}, put it into {B}, the other arm lifts {B}.",
"Grab {A} and put it in {B}, then lift {B}.",
"Use {a} to put {A} in {B}; the other arm lifts {B}.",
"Grab {A}, drop it into {B}, lift {B} with another arm.",
"Pick {A}, put it in {B}, then lift {B}.",
"Grab {A}, drop it in {B}, and lift {B}.",
"Use {a} to place {A} in {B}; the other arm lifts {B}.",
"Pick up {A}, place it in {B}, then lift {B}.",
"Use {a} to set {A} in {B}; another arm lifts {B}."
]
},
"sha256": "c72a58e58e33b7179406018ed480be9dd7305b7f42a4f1105658d587b533d88d",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_can_basket.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_can_basket.py"
},
"task_instruction/place_cans_plasticbox": {
"full_description": "simultaneously pick up both cans with separate arms, then place the left can and right can into the plastic box",
"schema": "{A} notifies the left can, {B} notifies the plasticbox, {C} notifies right can",
"pools": {
"seen": [
"Use both arms to move {A} and {C} into {B}.",
"Lift {A} and {C} together, then place both in {B}.",
"With both arms, transfer {A} and {C} into {B}.",
"Pick {A} and {C} simultaneously, then place them inside {B}.",
"Pick {A} and {C} together, then move both into {B}.",
"Use dual arms to pick {A} and {C}, placing both in {B}.",
"Place {A} in {B}, follow with {C} using each arm.",
"Transfer {A} to {B}, then transfer {C} to {B}.",
"First move {A} to {B}, then move {C} into {B}.",
"Use your arms to set {A} and {C} gently into {B}.",
"Move {A} to {B} and repeat with {C}.",
"Use both arms to place {A} and {C} inside {B}.",
"Pick {A} and {C} together; place {A}, then {C}, in {B}.",
"Grip {A} and {C} simultaneously, then insert both into {B}.",
"Move {A} and {C} into {B} using separate arms.",
"Grasp {A} and {C} together; transfer {A}, then {C}, to {B}.",
"Place {A} and {C} into {B} using both arms.",
"Use arms to set {A} and {C} into {B}.",
"Pick and drop {A} and {C} into {B}.",
"Lift {A} and {C} together, then place each in {B}.",
"Use both arms to move {A} and {C} into {B}",
"Lift {A} and {C}, then set them inside {B}",
"Pick {A} and {C} using both arms and put them in {B}",
"Place {A} and {C} into {B} with dual arms",
"Pick {A} and {C} together, then move each into {B}",
"Transfer {A} and {C} into {B} using dual arms",
"Pick {A} and {C} together, then drop each into {B}",
"Using dual arms, place {A} and {C} inside {B}",
"Lift {A} and {C}, and stick them into {B}",
"Drop {A} and {C} into {B} with both arms",
"Use both arms to grab {A} and {C}, place them in {B}.",
"Grab {A} and {C} together, then insert each into {B}.",
"Place {A} and {C} in {B} using both arms.",
"Place {A} into {B}, then place {C} into {B}.",
"Pick up {A} and {C} with separate arms, then fill {B}.",
"Use both arms to pick {A} and {C} together for {B}.",
"Grasp {A} and {C} simultaneously, then place both in {B}.",
"Grab {A} and {C} together, then transfer them to {B}.",
"Both arms lift {A} and {C}, then place them in {B}.",
"Pick {A} and {C} together, then put both inside {B}.",
"Use both arms to place {A} and {C} into {B}.",
"First grasp {A} and {C} together, then place both in {B}.",
"Lift {A} and {C} simultaneously, then set them into {B}.",
"Use the arms to transfer {A} and {C} into {B}.",
"After grasping {A} and {C} together, place each into {B}.",
"Use both arms, position {A} and {C} within {B}.",
"Begin with {A}, place it in {B}, finish with {C} into {B}.",
"Utilize the arms to deposit both {A} and {C} into {B}.",
"Transfer {A} into {B}, then position {C} within {B}.",
"Employ both arms to pick {A} and {C}, and place them inside {B}."
],
"unseen": [
"Pick {A} and {C} simultaneously, then place both in {B}.",
"Grab {A} and {C} together, then drop them in {B}.",
"Pick {A} and {C} at once, then place them into {B}.",
"Grab {A} and {C} in parallel, then put both into {B}.",
"Grab {A} and {C} and place them in {B}",
"Pick up {A} and {C} together, then drop each into {B}",
"Pick {A} and {C} together, then set both in {B}.",
"Lift {A} and {C}, drop both into {B}.",
"Grasp {A} and {C} together, then move each into {B}.",
"Grab {A} and {C} simultaneously, then drop both into {B}."
]
},
"sha256": "58c5e951f5daac2a21bd127c36fe63d7a6341ea5ce048e7564a6314901820475",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_cans_plasticbox.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_cans_plasticbox.py"
},
"task_instruction/place_container_plate": {
"full_description": "place the container onto the plate",
"schema": "{A} identifies the plate, {B} identifies the container, and {a} identifies the arm that moves the container",
"pools": {
"seen": [
"Place {B} onto {A}.",
"Move {B} onto {A}.",
"Set {B} on top of {A}.",
"Use {a} to place {B} onto {A}.",
"Lift {B} with {a} and set it on {A}.",
"Transfer {B} to the top of {A}.",
"Position {B} securely on {A}.",
"Pick up {B} and place it on {A}.",
"Use {a} to move {B} onto {A}.",
"Center {B} on top of {A}.",
"Carry {B} to {A} and set it down.",
"Grab {B} with {a} and place it on {A}.",
"Put {B} on the center of {A}.",
"Relocate {B} from the table onto {A}.",
"Place {B} squarely on top of {A}.",
"Use {a} to position {B} on {A}."
],
"unseen": [
"Place {B} on {A}.",
"Move {B} onto the top of {A}.",
"Use {a} to set {B} on {A}.",
"Position {B} at the center of {A}."
]
},
"sha256": "096eb4b5b1ceda0c3d724058e6088e3387d249d9a6c630d9bef3c0b12828cfc6",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_container_plate.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_container_plate.py"
},
"task_instruction/place_empty_cup": {
"full_description": "use an arm to place the empty cup on the coaster",
"schema": "{A} notifies the empty cup, {B} notifies the coaster",
"pools": {
"seen": [
"Move {A} to {B}",
"Place {A} on top of {B}",
"Slide {A} onto {B}",
"Set {A} down on {B}",
"Use an arm to drop {A} on {B}",
"Stick {A} onto {B} using the arm",
"Position {A} carefully on {B}",
"Use arm to place {A} on {B}",
"Set {A} carefully onto {B}",
"Drop {A} firmly on {B} using arm",
"Use the arm to set {A} on {B}",
"Lift {A} and place it over {B}",
"Move {A} onto {B} with the arm",
"Align {A} and set it down on {B}",
"Use an arm to place {A} on {B}",
"Grab {A} and lower it onto {B}",
"Position {A} above and drop it on {B}",
"Using the arm, align {A} over {B}",
"Relocate {A} precisely onto {B} with arm",
"Carefully place {A} onto {B} without arm",
"Use the arm to put {A} onto {B}.",
"Pick {A} up and drop it on {B}.",
"Grab {A}, then place it onto {B}.",
"Move {A} to {B} using the arm.",
"Stick {A} onto {B} using the arm.",
"Drop {A} on top of {B}.",
"Slide {A} onto {B} with the arm.",
"Use the arm to slide {A} onto {B}.",
"Grab {A} and set it onto {B}.",
"Set {A} on {B} using the arm.",
"Move {A} to {B} and set it down.",
"Using the arm, drop {A} onto {B}.",
"Grab {A} and place it on {B}.",
"Set {A} securely on {B} using the arm.",
"Use the arm to position {A} on {B}.",
"Stick {A} onto {B} carefully.",
"Position {A} on {B} with the arm.",
"Direct {A} to {B} and let it rest.",
"Lift {A} and place it onto {B}.",
"Using the arm, slide {A} onto {B}.",
"Use an arm to drop {A} on {B}.",
"Lift {A} and stick it onto {B}.",
"Grab {A} and place it over {B}.",
"Move {A} using the arm onto {B}.",
"Slide {A} gently onto {B} via the arm.",
"Make sure {A} ends up on {B}.",
"Position {A} squarely on top of {B}.",
"Use the arm to position {A} onto {B}.",
"Lift {A} up and drop it on {B}.",
"Set {A} onto {B} using the arm."
],
"unseen": [
"Place {A} onto {B}",
"Use arm to set {A} on {B}",
"Place {A} carefully onto {B}",
"Pick {A} and position it on {B}",
"Place {A} onto {B}.",
"Set {A} on top of {B}.",
"Place {A} onto {B} gently.",
"Set {A} on top of {B}.",
"Set {A} down on {B}.",
"Place {A} on top of {B}."
]
},
"sha256": "95de3567883298db94e311e4c363f5474a9a7545dcbd55751b273f4e0523d86e",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_empty_cup.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_empty_cup.py"
},
"task_instruction/place_fan": {
"full_description": "grab the fan and place it on a colored mat, <make sure the fan is facing the robot!(THIS MUST BE REFERRED TO>",
"schema": "{A} notifies the fan,{B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the fan",
"pools": {
"seen": [
"Place {A} on the {B} mat after grabbing it with {a} and align it toward the robot.",
"Grab {A} with {a} and ensure it's positioned on the {B} mat facing the robot.",
"Grab {A} and position it on the {B} mat, ensuring it faces the robot.",
"Lift {A}, place it on the {B} mat, and ensure it's facing the robot.",
"Use {a} to pick {A}, set it on the {B} mat, and face it toward the robot.",
"Grab {A} and carefully place it on the {B} mat facing toward the robot.",
"Pick up {A} with {a}, place it on the {B} mat, and turn it toward the robot.",
"Lift {A} and set it on the {B} mat, ensuring it faces the robot.",
"Use {a} to grab {A}, then align it on the {B} mat facing the robot.",
"Pick {A}, place it on the {B} mat, and ensure it points toward the robot.",
"Use {a} to grab {A}, put it on the {B} mat, and face it toward the robot",
"Lift {A} with {a}, place it on the {B} mat, and point it at the robot",
"Set {A} on the {B} mat and make sure it faces the robot",
"With {a}, grab {A} and position it on the {B} mat facing the robot",
"Take {A}, place it on the {B} mat, ensure it points at the robot",
"Grab {A} with {a}, set it on the {B} mat, and align it to face the robot",
"Lift {A} and put it on the {B} mat so it faces the robot",
"Use {a} to pick {A}, set it on the {B} mat, and direct it toward the robot",
"Place {A} on the {B} mat and confirm it is pointing at the robot",
"Take {A} with {a}, put it on the {B} mat, and make it face the robot",
"Use {a} to pick up {A} and place it on {B} mat.",
"Pick up {A} and ensure it faces the robot on the {B} mat.",
"Set {A} onto the {B} colored mat, oriented towards the robot.",
"Grab {A} with {a}, making sure it faces the robot on the {B} mat.",
"Place {A} on the {B} mat and position it to face the robot.",
"Lift {A} using {a} and put it on the {B} mat facing the robot.",
"Position {A} on the {B} mat so it faces the robot.",
"Grab {A} with {a}, place it on the {B} mat, ensure it faces the robot.",
"Pick up {A} and place it on the {B} mat with it facing the robot.",
"Use {a} to grab {A}, set it on {B} mat, and make it face the robot.",
"Pick {A}, align it toward the robot, and drop it on the {B} mat.",
"With {a}, grab {A}, align it to face the robot, and put it on the {B} mat.",
"Pick up {A} and place it on the {B} mat ensuring it faces the robot.",
"Grab {A} using {a} and set it on the {B} colored mat, facing the robot.",
"Grab {A}, position it to face the robot, and place it on the {B} mat.",
"Pick {A} with {a}, ensure it faces the robot, and put it on the {B} mat.",
"Lift {A}, align it toward the robot, and position it on the {B} mat.",
"Using {a}, grab {A}, face it towards the robot, and set it on the {B} mat.",
"Take {A} and place it on the {B} mat, making sure it faces the robot.",
"Pick {A} with {a}, align it to face the robot, and set it on the {B} mat.",
"Place {A} on the {B} mat and ensure it faces the robot.",
"Using {a}, grab {A} and put it on the {B} mat facing the robot.",
"Set {A} on the {B} colored mat ensuring it faces the robot.",
"Grab {A} using {a} and place it on the {B} mat ensuring it faces the robot.",
"Place {A} on the {B} mat and verify it is facing the robot.",
"Pick {A} with {a} and set it on the {B} mat facing the robot.",
"Put {A} on the {B} mat and make sure it faces the robot.",
"Grab {A} using {a} and position it on the {B} mat facing the robot.",
"Place {A} on the {B} colored mat ensuring it faces the robot.",
"Using {a}, grab {A} and set it on the {B} mat facing the robot."
],
"unseen": [
"Pick up {A} and set it on the {B} mat facing the robot.",
"Use {a} to grab {A}, then place it on the {B} mat facing the robot.",
"Grab {A} and set it on the {B} mat facing the robot",
"Pick {A}, place it on the {B} mat, face it toward the robot",
"Grab {A} and set it on the {B} mat.",
"Place {A} onto the {B} colored mat facing the robot.",
"Grab {A} and set it on the {B} mat facing the robot.",
"Use {a} to grab {A} and place it on the {B} mat facing the robot.",
"Pick {A} and set it on the {B} mat facing the robot.",
"Grab {A} with {a} and position it on the {B} mat facing the robot."
]
},
"sha256": "915a824f58307dd30e7b13375dd901a906bead2fda3bb7be6c1d883a05658102",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_fan.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_fan.py"
},
"task_instruction/place_mouse_pad": {
"full_description": "grab the mouse and place it on a colored mat",
"schema": "{A} notifies the mouse, {B} notifies the color of the mat(YOU SHOULD SAY {B} mat, or {B} colored mat), {a} notifies the arm to grab the mouse",
"pools": {
"seen": [
"Take {A} and place it on the {B} mat.",
"Lift {A} using {a} and move it to the {B} mat.",
"Use {a} to grab {A} and set it on the {B} mat.",
"Pick up {A} with {a} and place it on the {B} mat.",
"Grip {A} and move it onto the {B} mat.",
"Hold {A} and transfer it to the {B} mat.",
"Take hold of {A} and place it on the {B} mat.",
"Lift {A} and position it on the {B} mat.",
"Using {a}, grab {A} and set it on the {B} mat.",
"Pick up {A} with {a} and move it to the {B} mat.",
"Use {a} to grab {A} and drop it on the {B} colored mat.",
"Lift {A} with {a} and place it on the {B} mat.",
"Grab {A} and move it onto the {B} mat.",
"Use {a} to pick {A} and place it on the {B} mat.",
"Take {A} and put it on the {B} mat.",
"With {a}, grab {A} and position it on the {B} mat.",
"Pick up {A} and set it on the {B} colored mat.",
"Lift {A} using {a} and drop it on the {B} colored mat.",
"Take {A} and place it onto the {B} mat.",
"Pick {A} with {a} and move it to the {B} mat.",
"Take {A} and place it on the {B} colored mat.",
"Use {a} to grab {A} and position it onto the {B} mat.",
"Lift {A} and set it down on the {B} mat.",
"Grip {A} using {a} and move it to the {B} mat.",
"Hold {A} and carefully place it on the {B} mat.",
"Grab {A} with {a} and lay it onto the {B} colored mat.",
"Take {A} and adjust it to rest on the {B} mat.",
"Lift {A} up with {a} and stick it onto the {B} mat.",
"Grab {A} and place it firmly on the {B} mat.",
"Use {a} to pick {A} up and set it on the {B} colored mat.",
"Grab {A} using {a} and place it on the {B} mat.",
"Use {a} to lift {A} and set it on the {B} mat.",
"Grab {A} and position it onto the {B} mat.",
"Pick {A} and place it on the {B} colored mat.",
"Lift {A} using {a} and stick it on the {B} mat.",
"Take hold of {A} with {a} and drop it on the {B} mat.",
"Slide {A} onto the {B} mat gently.",
"Use {a} to grab {A} and place it on the {B} colored mat.",
"Position {A} on the {B} mat by picking it up.",
"Lift {A} and put it down onto the {B} mat.",
"Lift {A} and place it onto {B} mat.",
"With {a}, grab {A} and position it on {B} mat.",
"Take {A} and put it onto {B} mat.",
"Using {a}, grab {A} and place it on {B} colored mat.",
"Pick up {A} and move it to {B} mat.",
"With {a}, pick up {A} and lay it on {B} mat.",
"Lift {A} and stick it on {B} mat.",
"Using {a}, pick {A} and position it on {B} colored mat.",
"Grab {A} and drop it on {B} mat.",
"With {a}, take {A} and set it on {B} mat."
],
"unseen": [
"Pick up {A} and set it on the {B} mat.",
"Grab {A} and position it on the {B} mat.",
"Grab {A} and set it on the {B} mat.",
"Pick {A} and position it on the {B} colored mat.",
"Grab {A} and set it on the {B} mat.",
"Pick up {A} with {a} and drop it onto the {B} mat.",
"Pick up {A} and set it on the {B} mat.",
"Lift {A} and drop it on the {B} mat.",
"Grab {A} and set it on {B} mat.",
"Use {a} to pick up {A} and drop it on {B} mat."
]
},
"sha256": "2b839baba447bc28528533e585445ca090ffa776414e41063d00f97e69fcee90",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_mouse_pad.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_mouse_pad.py"
},
"task_instruction/place_object_basket": {
"full_description": "use one arm to grab the target object and put it in the basket, then use the other arm to grab the basket, and finally move the basket slightly away",
"schema": "{A} notifies the target object, {B} notifies the basket, {a} notifies the arm to grab the target object. {b} notifies the arm to grab the basket",
"pools": {
"seen": [
"Use {a} to pick {A}, then use {b} for {B}.",
"Grab {A}, drop it in {B}, then move {B}.",
"Place {A} into {B} and push {B} slightly away.",
"Lift {A} using {a}, drop it in {B}, then push {B} via {b}.",
"Grab {A}, place it in {B}, then move {B} away.",
"Pick up {A}, put it in {B}, shift {B} a little.",
"Use {a} to grab {A}, place it in {B}, and move {B} using {b}.",
"Lift {A}, drop it in {B}, then slightly relocate {B}.",
"Pick {A}, place it in {B}.",
"Grab {A}, set it into {B}.",
"Pick {A}, put it inside {B}.",
"Grab {A} and drop it in {B}.",
"Use one arm to place {A} in {B}.",
"Pick and move {A}, then shift {B}.",
"Lift {A}, place it into {B}, move {B}.",
"Grab {A}, drop it in {B}, shift {B}.",
"Move {A} to {B}, then shift {B}.",
"Put {A} in {B} and pull {B} away.",
"Grab {A}, drop in {B}, and move {B}.",
"Pick {A}, place it in {B}, shift {B}.",
"Put {A} in {B}, then move {B} away slightly.",
"Pick up {A} and set it inside {B}.",
"Place {A} in {B}, then grab {B}.",
"Pick up {A}, place it in {B}, grab {B}.",
"Set {A} in {B}, and shift {B} away.",
"Pick up {A} and drop it in {B}, then move {B}.",
"Take {A}, set it in {B}, shift {B} lightly.",
"Use one arm to place {A} in {B}, adjust {B}.",
"Pick {A} and position it in {B}, move {B} slightly.",
"Grab {A} with one arm, drop {A} in {B}.",
"Take {A}, put {A} into {B}, shift {B}.",
"Use one arm to grab {A}, place it in {B}, then move {B}.",
"Pick {A}, drop {A} in {B}, slide {B} lightly."
],
"unseen": [
"Grab {A} and put it into {B}.",
"Pick up {A}, place it in {B}, move {B}.",
"Grab {A} and place into {B}.",
"Move {A} to {B}, then shift {B}.",
"Pick up {A} and drop in {B}.",
"Place {A} in {B} and move it.",
"Grab {A} and put it in {B}.",
"Grab {A}, put it in {B}, move {B}.",
"Use one arm to grab {A}, place it in {B}."
]
},
"sha256": "2d7972e2c184abe1cb65d97f992ece56c56dfb5f8cdc22761ce2e1bfd1f9fc79",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_object_basket.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_object_basket.py"
},
"task_instruction/place_object_scale": {
"full_description": "use one arm to grab the object and put it on the scale",
"schema": "{A} notifies the scale, {B} notifies the object, {a} notifies the arm to grab the object",
"pools": {
"seen": [
"Use {a} to grab {B} for {A}",
"Place {B} on {A} after picking it",
"Grab {B} with {a} and set it on {A}",
"Lift {B} with {a} and position it on {A}",
"Pick {B} and carefully move it to {A}",
"Grab {B}, then place it smoothly on {A}",
"Use {a} to hold {B} and drop it on {A}",
"Lift {B} and stick it on {A} carefully",
"Hold {B} with {a}, set it down on {A}",
"Pick {B} and lay it down gently onto {A}",
"Set {B} down on {A} using one arm",
"Place {B} on {A} with one arm",
"Put {B} on {A} without mention of arm",
"Lift {B} and place on {A}",
"Pick up {B} and set it on {A}",
"Use one arm to place {B} on {A}",
"Lift {B} with one arm and set on {A}",
"Set {B} onto {A} after grabbing",
"Grab {B} and drop it on {A}",
"Carry {B} with one arm to {A}",
"Pick up {B} and drop it on {A}.",
"Lift {B} with {a} and set it on {A}.",
"Place {B} onto {A} using {a}.",
"Move {B} to {A} and leave it there.",
"Pick {B} up and set it on {A}.",
"Use {a} to lift {B} and place on {A}.",
"Transport {B} to {A} and put it there.",
"Set {B} on {A} after grabbing it with {a}.",
"After grabbing {B}, place it on {A}.",
"Using {a}, grab {B} and transfer it to {A}.",
"Pick up {B} and set it on {A}",
"Using {a}, pick {B} then place it on {A}",
"Lift {B} and drop it onto {A}",
"With {a}, lift {B} to set it on {A}",
"Take {B} and place it over {A}",
"Using {a}, grab {B} and put it on {A}",
"Pick up {B} and drop it on {A}",
"With {a}, secure {B} then release it on {A}",
"Take {B} and lay it onto {A}",
"Using {a}, grasp {B} and position it on {A}",
"Use {a} to lift {B} onto {A}",
"Place {B} carefully on {A} using {a}",
"Lift {B} and position it on {A}",
"Grab {B} and carefully set it on {A}",
"Utilize {a} to grab {B} and place on {A}",
"Pick {B} with {a} and move it to {A}",
"Take {B} and put it down on {A}",
"Using {a}, grab {B} and place on {A}",
"Move {B} to the position on {A}",
"With {a}, pick {B} and position it on {A}"
],
"unseen": [
"Grab {B} and drop it on {A}",
"Pick {B} up and put it on {A}",
"Grab {B} and set it on {A}",
"Use one arm to pick {B} for {A}",
"Grab {B} and place it on {A}.",
"Use {a} to put {B} on {A}.",
"Grab {B} and place it on {A}",
"With {a}, grab {B} and position it on {A}",
"Grab {B} and put it on {A}",
"Pick up {B} and set it on {A}"
]
},
"sha256": "f2f55311cc540b79d50a767c4d07cd238e1c17ebdc23ef46bde5a31065baf7a2",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_object_scale.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_object_scale.py"
},
"task_instruction/place_object_stand": {
"full_description": "use appropriate arm to place the object on the stand",
"schema": "{A} notifies the object, {B} notifies the stand, {a} notifies the arm to grab the object",
"pools": {
"seen": [
"Grab {A} and set it on {B}",
"Pick {A} and position it on {B}",
"Move {A} using {a} and place on {B}",
"Set {A} on {B} using {a}",
"Grab and put {A} on {B}",
"Lift {A} and position on {B}",
"Position {A} on {B} with {a}",
"Pick {A} up and place on {B}",
"Grab {A} with {a} and move to {B}",
"Take {A} and set it on {B}",
"Use {a} to position {A} on {B}.",
"Move {A} onto {B}.",
"Grab {A} with {a} and place on {B}.",
"Set {A} in position on {B}.",
"Use {a} to move {A} onto {B}.",
"Place {A} on {B}.",
"Transfer {A} using {a} to {B}.",
"Move {A} to {B} using {a}.",
"Position {A} on {B}.",
"Place {A} precisely on {B}.",
"Grab {A} and set it onto {B}.",
"Set {A} in position on {B}.",
"Pick {A} with {a} and place on {B}.",
"Transfer {A} to {B} securely with {a}.",
"Move {A} to {B} and set it there.",
"Carefully place {A} onto {B}.",
"Lift {A} with {a} and position on {B}.",
"Grab and place {A} directly on {B}.",
"Pick up {A} and drop it on {B}.",
"Use {a} to lift {A} and set on {B}.",
"Pick up {A} with {a} and set it on {B}",
"Lift {A} and position it on {B}",
"Select {a}, grab {A}, and move it to {B}",
"Put {A} on {B} after picking it",
"Grab {A} using {a} and place it on {B}",
"Move {A} to {B} and release it",
"Use {a} to lift {A} and set it on {B}",
"Place {A} on {B} after grabbing it",
"With {a}, pick {A} and position it on {B}",
"Set {A} on {B} after moving it",
"Pick up {A} and set it on {B}.",
"Place {A} precisely on top of {B}.",
"Use {a} to grab {A} and place on {B}.",
"Lift {A} with {a} and align it on {B}.",
"Grab and move {A} to position it on {B}.",
"Locate {A}, pick it up, and place on {B}.",
"Pick up {A} using {a} and set it on {B}.",
"Take {A} with {a} and put it on {B}.",
"Pick {A} and place it carefully onto {B}.",
"Bring {A} to {B} and set it in place."
],
"unseen": [
"Use {a} to place {A} on {B}",
"Place {A} onto {B} with {a}",
"Place {A} on {B} with {a}.",
"Set {A} on {B}.",
"Use {a} to place {A} on {B}.",
"Place {A} on {B} using {a}.",
"Use {a} to grab {A} and place it on {B}",
"Grab {A}, then place it on {B}",
"Grab {A} using {a} and place on {B}.",
"Set {A} onto {B} using {a}."
]
},
"sha256": "0d83ea204b1e3fe6a74c58f6072524f7f5f2b446c9e52f804246f20bd1a84878",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_object_stand.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_object_stand.py"
},
"task_instruction/place_phone_stand": {
"full_description": "pick up the phone and put it on the phone stand",
"schema": "{A} identifies the phone, {B} identifies the phone stand, and {a} identifies the arm that moves the phone",
"pools": {
"seen": [
"Move {A} onto {B}.",
"Take {A} to {B}.",
"Put {A} atop {B}.",
"Carry {A} to {B}.",
"Lift {A} onto {B}."
],
"unseen": [
"Set {A} on {B}."
]
},
"sha256": "8411896081df6efc4a895dbe1a4813becfa812ee429286fc7b756212e2fee733",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_phone_stand.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_phone_stand.py"
},
"task_instruction/place_shoe": {
"full_description": "use one arm to grab the shoe from the table and place it on the mat",
"schema": "{A} notifies the shoe, {a} notifies the arm to manipulate the shoe",
"pools": {
"seen": [
"Use {a} to grab {A} and put it on the mat",
"Take {A} off the table and put it on the mat",
"Lift {A} from the table using {a} and place it on the mat",
"Pick {A} off the table and position it on the mat",
"Use {a} to lift {A} from the table and set it on the mat",
"Grab {A} on the table and move it to the mat",
"Take {A} from the table using {a} and drop it on the mat",
"Lift {A} from the table and place it onto the mat",
"Use {a} to grab {A} from the table and set it on the mat",
"Pick {A} from the table and place it gently on the mat",
"Take {A} from the table and place it on the mat",
"Use {a} to pick {A} off the table and move it onto the mat",
"With {a}, grab {A} from the table and place it on the mat",
"Lift {A} from the table and gently place it onto the mat",
"Use {a} to lift {A} from the table and set it on the mat",
"Take {A} from the table and carefully drop it on the mat",
"Grab {A} using {a}, move it from the table to the mat",
"Lift {A} using {a} from the table and place it on the mat",
"Pick {A} up from the table and drop it directly on the mat",
"Move {A} from the table to the mat in one fluid motion",
"Use {a} to grab {A} from the table and move it to the mat",
"Lift {A} from the table and place it carefully on the mat",
"Pick up {A} with {a} from the table and place it on the mat",
"Retrieve {A} from the table and set it on the mat",
"Use {a} to pick up {A} from the table and drop it on the mat",
"Take {A} from the table and put it on the mat",
"With {a}, grab {A} off the table and place it onto the mat",
"Move {A} from the table and place it down on the mat",
"Use {a} to lift {A} from the table and set it on the mat",
"Pick {A} up from the table and put it on the mat",
"Pick up {A} and move it to the mat",
"Grab {A} from the table with {a} and place it on the mat",
"Take {A} and put it on the mat",
"Use {a} to grab {A} and transfer it to the mat",
"Lift {A} and place it on the mat",
"Use {a} to pick {A} and position it on the mat",
"Pick up {A} from the table and set it on the mat",
"Grab {A} using {a} and drop it on the mat",
"Move {A} from the table to the mat",
"Take {A} with {a} and place it carefully on the mat",
"Move {A} from the table to the mat",
"Lift {A} off the table using {a} and drop it on the mat",
"Grab {A} from the table and place it on the mat",
"With {a}, pick {A} up from the table and put it on the mat",
"Take {A} from the table and position it on the mat",
"Using {a}, grasp {A} from the table and place it onto the mat",
"Remove {A} from the table and lay it on the mat",
"Pick up {A} with {a}, move it from the table, and set it on the mat",
"Transfer {A} from the table to the mat",
"Using {a}, lift {A} from the table and place it onto the mat"
],
"unseen": [
"Grab {A} from the table and set it on the mat",
"Pick up {A} from the table and place it on the mat",
"Pick up {A} from the table and set it on the mat",
"Grab {A} off the table and drop it on the mat",
"Grab {A} from the table and place it on the mat",
"Pick up {A} from the table and set it down on the mat",
"Grab {A} and set it on the mat",
"Use {a} to lift {A} and drop it on the mat",
"Pick up {A} from the table and set it on the mat",
"Use {a} to grab {A} from the table and place it on the mat"
]
},
"sha256": "f325857f6e9fc110f397cf9fed23d0ac3e3c78d156a301e59b38b86a2c69948d",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/place_shoe.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/place_shoe.py"
},
"task_instruction/press_stapler": {
"full_description": "Use one arm to press the stapler.",
"schema": "{A} notifies the stapler, {a} notifies the arm to press the stapler",
"pools": {
"seen": [
"Push {A} using one arm",
"Push down on {A} to staple",
"Press {A} until it works",
"Apply pressure to {A} firmly",
"Push {A} down completely",
"Lower {A} using an arm",
"Use an arm to press {A}",
"Push the top of {A} down",
"Apply force to {A} with {a}",
"Press {A} firmly to staple",
"Press on {A} using {a}.",
"Push {A} down firmly.",
"Press {A} to complete the task.",
"Apply force to {A} to staple.",
"Use one arm to press {A}.",
"Push the stapler {A} with {a}.",
"Push {A} until it staples.",
"Push down on {A} firmly.",
"Apply pressure to {A} with {a}.",
"Firmly push down on {A}.",
"Firmly press {A} using an arm.",
"Push down on the stapler {A}.",
"Apply pressure on {A} until it works.",
"Press on {A} to activate it.",
"Use your {a} to press the stapler {A}.",
"Firmly push {A} using {a} to operate it.",
"Push the stapler {A} to activate it.",
"Press down on {A} until it functions.",
"Press the stapler {A} using an arm {a}.",
"Apply enough force to {A} to press it.",
"Place pressure on {A} to staple.",
"Use one arm {a} to press {A}.",
"Push down on {A} to staple papers.",
"Apply pressure to {A} using one arm {a}.",
"Press {A} to staple the sheets together.",
"Use your arm {a} to push {A} down.",
"Push down firmly on {A} to complete.",
"Apply one arm {a} to press {A} firmly.",
"Press {A} downward using your arm {a}.",
"Firmly press down on {A} to staple.",
"Push down on the stapler {A}.",
"Apply pressure to {A} with {a}.",
"Push the stapler {A} to operate it.",
"Lower {a} onto the stapler {A}.",
"Push down hard on {A} with {a}.",
"Press down on the stapler {A} firmly.",
"Operate {A} by pressing it with {a}.",
"Push down forcefully on the stapler {A}.",
"Engage {A} by using {a} to press it.",
"Simply press the stapler {A} downward."
],
"unseen": [
"Press down on {A} with {a}",
"Use {a} to press on {A}",
"Press down on {A} with {a}.",
"Use {a} to press {A}.",
"Press down on {A} firmly using {a}.",
"Use {a} to press the stapler {A}.",
"Push {A} down with one arm {a}.",
"Press {A} firmly using your arm.",
"Press the stapler {A} with the arm {a}.",
"Use {a} to press down on {A}."
]
},
"sha256": "7062168b216b2a5a6f575741ff834a07f88bca17ea885cd372460eb4d5a8bf82",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/press_stapler.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/press_stapler.py"
},
"task_instruction/rotate_qrcode": {
"full_description": "Use arm to catch the qrcode board on the table, pick it up, rotate to let the qrcode face towards you, then put it back on the table and release it",
"schema": "{A} notifies the qrcode board. {a} notifies the arm to pick the qrcode board",
"pools": {
"seen": [
"Pick up {A}, rotate it so the QR code faces you, then set it down",
"Use {a} to grab {A}, lift and turn it QR forward, then set it down",
"Lift {A} from the table, rotate it towards you, then put it back down",
"Catch {A}, raise it, turn the QR code to face you, then lower it back",
"Grab {A}, lift it, rotate it QR front, then return it to the table",
"Take {A} with {a}, turn the QR to you, then put it down and release",
"Lift {A}, adjust its angle towards you, then place it back down",
"Employ {a} to seize {A}, raise it, rotate it QR-forward, then put it back",
"Take {A}, lift it, orient it so the QR faces you, then set it down",
"Use {a} to grab {A}, rotate it until the QR faces forward, then set it down",
"Find {A}, grab it, turn it towards yourself, then set it back down.",
"Use {a} to grab {A}, rotate the qrcode to face you, then set it down.",
"Slide {A} off the table, turn it to face you, then put it back down.",
"Grab {A} with {a}, rotate it to face yourself, then set it back down.",
"Locate {A}, pick it up, adjust its angle, then put it back down.",
"Use {a} to lift {A} from the table, face the qrcode, then set it down.",
"Catch {A}, lift it, turn the qrcode towards you, then put it back.",
"Grab {A} using {a}, rotate it until the qrcode faces you, then set it down.",
"Pick up {A}, face the qrcode towards you, then put it back down.",
"Lift {A} with {a}, rotate it to make the qrcode visible, then place it back.",
"Catch and lift {A}, turn it to show the QR code, then set it down.",
"Use {a} to grab {A}, rotate the QR code towards you, then put it down.",
"Grab {A} using {a}, lift and rotate until the QR faces you, then set it down.",
"Catch {A} with {a}, rotate to make the QR code visible, then put it back.",
"Lift {A}, rotate it so the code faces you, then place it back down.",
"Using {a}, catch {A}, rotate it to face the QR code, then set it down.",
"Catch {A} using {a}, turn it to face the QR code, then put it down.",
"Lift {A}, rotate it until the QR code faces you, then place it back.",
"Use {a} to grab {A}, face the QR code to you, then set it down.",
"Catch {A}, pick it up, rotate to show the QR code, then put it down.",
"Catch {A}, lift it, rotate it QR facing, then lower it back down.",
"Use {a} to grab {A}, point the QR code to you, then set it down.",
"Lift {A} from the table, turn it QR code forward, then place it down.",
"Take {A} from the table, rotate it QR code toward you, then set it down.",
"Use {a} to lift {A}, rotate it QR code toward you, then place it back.",
"Pick {A} up, turn its QR code to you using {a}, then set it down.",
"Catch {A}, lift it, adjust its QR code to face you, then put it down.",
"Grab {A} using {a}, rotate the QR code to face forward, then place it back.",
"Lift {A}, orient its QR code to you with {a}, then set it back down.",
"Pick {A} up, rotate the QR code to face you, then put it back down.",
"Lift {A}, turn it to face you, then set it back down.",
"Catch {A}, pick it up, rotate to view the qrcode, then put it down.",
"Take {A}, raise it, make the qrcode face you, then place it back down.",
"Use {a} to pick {A}, turn it towards you, then set it back down.",
"Lift {A}, rotate until its qrcode faces you, then place it down again.",
"Catch {A} off the table, rotate its qrcode to you, then set it down.",
"Pick {A} up, rotate to make its qrcode visible, then put it down.",
"Grab {A}, pick it up, turn its qrcode toward you, then place it back.",
"Lift {A}, rotate for its qrcode to face you, then set it down again.",
"Catch {A}, lift, rotate to align the qrcode to you, then put it down."
],
"unseen": [
"Catch {A} from the table, rotate it, then set it back down",
"Grab {A}, lift it, turn it to face you, then put it back down",
"Catch {A} from the table, make it face you, then place it down.",
"Pick {A} off the table using {a}, rotate it, then set it back down.",
"Pick {A} up from the table, rotate it, then put it back down.",
"Grab {A}, lift it, rotate until the QR code faces you, then set it down.",
"Catch {A}, pick it up and rotate it, then set it back down.",
"Pick up {A}, rotate its QR code to face you, then set it down.",
"Pick up {A}, rotate it facing you, then put it back on the table.",
"Grab {A}, lift it, rotate to see the qrcode, then set it down."
]
},
"sha256": "8873ecfa306b98774fdf0450fd01e50dce3ac1ef3dec23a88c512ec15dd011fc",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/rotate_qrcode.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/rotate_qrcode.py"
},
"task_instruction/shake_bottle": {
"full_description": "Shake the bottle with proper arm",
"schema": "{A} notifies the bottle, {a} notifies the arm to pick the bottle",
"pools": {
"seen": [
"Use {a} to grab {A} and shake it.",
"Grab {A} and give it a shake.",
"Pick {A} up using {a} and shake it.",
"Lift {A} and shake it thoroughly.",
"Grasp {A} with {a} and shake it.",
"Secure {A} and perform a shake.",
"Utilize {a} to hold {A} and shake it.",
"Hold {A} steady, then shake it.",
"Take {A} using {a} and give it a shake.",
"Catch {A} and shake it instantly.",
"Shake {A} after grabbing it.",
"Grab {A} with {a} and shake.",
"Hold {A}, shake it briefly.",
"Grip {A} using {a} and shake.",
"Lift {A} and shake it gently.",
"Shake {A} firmly after grabbing.",
"Pick {A} up with {a} and shake.",
"Use {a} to lift and shake {A}.",
"Grab {A} and shake it steadily.",
"Hold {A} with {a} and shake lightly.",
"Shake {A} thoroughly after grabbing it.",
"Use {a} to pick and shake {A}.",
"Lift {A} with {a} and shake it.",
"Grab {A} and move it to shake.",
"Shake {A} properly after lifting.",
"Grab and shake {A} using {a}.",
"Pick {A}, shake it with {a}.",
"Shake {A} after holding it firmly.",
"Use {a} to lift and shake {A}.",
"Hold and shake {A} carefully.",
"Use {a} to grab {A} and shake properly.",
"Shake {A} after grabbing it.",
"Lift {A} with {a} and give it a shake.",
"Grab {A} firmly, shake it, and put it down.",
"Using {a}, shake {A} and then place it back.",
"Pick up {A} and shake it well.",
"With {a}, pick {A} and shake properly.",
"Shake {A} after lifting it.",
"Use {a} to hold {A} and shake it.",
"Secure {A}, shake it, and place it down.",
"Pick up {A} and shake it.",
"Shake {A} after grabbing it.",
"Grab {A} using {a}, then shake.",
"Lift {A} with {a} and shake.",
"Hold {A} and shake it properly.",
"Shake {A} using {a} after grabbing.",
"Pick {A} and perform shaking motion.",
"Use {a} to lift and shake {A}.",
"Grab {A} carefully and shake.",
"Lift up {A} using {a}, then shake."
],
"unseen": [
"Shake {A} after picking it with {a}.",
"Pick up {A} and shake it.",
"Pick up {A} and shake it.",
"Use {a} to grab {A} and shake.",
"Pick and shake {A} with {a}.",
"Grab {A} and give it a shake.",
"Pick up {A} with {a} and shake.",
"Grab {A}, shake it properly, then set it down.",
"Grab {A} and shake it.",
"Use {a} to pick {A}."
]
},
"sha256": "ed6db88170f6f5c95fda09a3386078f43d1bc85b7ef5f74f64026866d7f9248f",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/shake_bottle.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/shake_bottle.py"
},
"task_instruction/shake_bottle_horizontally": {
"full_description": "Shake the bottle horizontally with proper arm",
"schema": "{A} notifies the bottle, {a} notifies the arm to pick the bottle",
"pools": {
"seen": [
"Pick {A} using {a} and move it horizontally.",
"Lift {A} and shake it horizontally.",
"Use {a} to hold {A} and shake it sideways.",
"Grab {A} and shake in a horizontal motion.",
"Hold {A} with {a} and move it left and right.",
"Pick {A}, then shake it horizontally.",
"Lift {A} with {a}, then shake it side to side.",
"Grip {A}, then shake it back and forth.",
"Use {a} to pick {A} and shake it horizontally.",
"Hold {A} and shake it side to side.",
"Pick up {A} using {a} and shake sideways.",
"Shake {A} side-to-side after grabbing it.",
"Use {a} to grab {A} and shake horizontally.",
"Grab {A} and move it side-to-side repeatedly.",
"Secure {A} with {a}, shake in horizontal motion.",
"Hold {A} steady and shake it horizontally.",
"Take {A} in {a} and shake it back and forth.",
"Move {A} side-to-side after grabbing it.",
"Using {a}, grab {A} and shake it sideways.",
"Grab {A}, shake it horizontally, then release.",
"Shake {A} horizontally.",
"Grab {A} using {a} and move it side-to-side.",
"Pick up {A} and shake it horizontally.",
"Hold {A} with {a} and shake horizontally.",
"Shake {A} smoothly without using {a} reference.",
"Utilize {a} to grab {A} and shake sideways.",
"Simply shake {A} horizontally without {a} details.",
"Take hold of {A} using {a} and move horizontally.",
"Grab and shake {A} horizontally.",
"Use {a} to hold {A} firmly and shake horizontally.",
"Hold {A} and move it side to side.",
"Grab {A} with {a} and shake horizontally.",
"Pick {A} up and shake it horizontally.",
"Lift {A} using {a} and shake it sideways.",
"Shake {A} from side to side.",
"Use {a} to grab {A} and move it horizontally.",
"Pick up {A} and shake it side to side.",
"Hold {A} using {a} and shake it horizontally.",
"Lift {A} and move it back and forth.",
"With {a}, grab {A} and shake it horizontally.",
"Pick up {A} with {a}, shake it sideways.",
"Using {a}, shake {A} horizontally.",
"Lift {A} and move it side-to-side.",
"Shake {A} horizontally after lifting with {a}.",
"Pick up {A} and shake it from side to side.",
"Using {a}, pick up {A} and shake sideways.",
"Shake {A} side-to-side after grabbing it.",
"Lift {A} using {a} and shake horizontally.",
"Hold {A} and move it side to side.",
"Pick up {A} using {a}, shake it horizontally."
],
"unseen": [
"Grab {A} with {a} and shake horizontally.",
"Shake {A} side-to-side after picking it up.",
"Grab {A} with {a}, shake horizontally.",
"Shake {A} horizontally after grabbing it.",
"Grip {A} and shake it horizontally.",
"Use {a} to hold {A} and shake sideways.",
"Grab {A} and shake it horizontally.",
"Use {a} to pick {A} and shake it.",
"Shake {A} horizontally after grabbing.",
"Grab {A}, shake it horizontally."
]
},
"sha256": "2e71dd47b716f61ee4ee33776bcb2c2e6a9346e0012d0129903d46449b373759",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/shake_bottle_horizontally.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/shake_bottle_horizontally.py"
},
"task_instruction/stack_blocks_two": {
"full_description": "there are two blocks on the table, the color of the blocks is <red, green>, <move the blocks to the center of the table>, and <stack the geen block on the red block>",
"schema": "{A} notifies the red block, {B} notifies the green block, {a} notifies the arm to manipulate the red block, {b} notifies the arm to manipulate the green block",
"pools": {
"seen": [
"{a} grabs {A}, places it in the center, {b} stacks {B} on {A}.",
"Shift {A} and {B} to the center and stack {B} on {A}.",
"{a} relocates {A} and {b} moves {B}, then stacks {B} on {A}.",
"Set {A} and {B} at the center, stacking {B} atop {A}.",
"Place {A} and {B} centrally, then stack {B} on {A}.",
"Move {A} and {B} to the center, then stack {B} above {A}.",
"{a} takes {A}, sets it in the center, {b} places {B} on {A}.",
"Relocate {A} and {B} to the center, then layer {B} over {A}.",
"{a} moves {A} to the center, {b} stacks {B} onto {A}.",
"Shift {A} and {B} to the middle, then stack {B} over {A}.",
"Grab {A} using {a}, position it at the center, and do the same for {B} using {b}, stacking {B} on {A}.",
"Pick up {A} with {a} and {B} with {b}, move both to the table's center and stack {B} over {A}.",
"Use {a} to move {A} and {b} to move {B} to the center, then place {B} onto {A}.",
"Relocate {A} and {B} to the table's midpoint, and stack {B} on top of {A}.",
"Pick up {A} and {B}, set them at the center, then position {B} above {A}.",
"Place {A} in the center, then move {B} there and stack {B} on {A}.",
"Utilize {a} to grab {A} and {b} to grab {B}, move them to the middle, and stack {B} above {A}.",
"Set {A} at the center, then stack {B} over {A} after placing it alongside.",
"Move {A} and {B} to the center, using {a} and {b}, and stack {B} on top of {A}.",
"Shift {A} and {B} to the center, then position {B} on {A}.",
"Use {a} to move {A}, then {b} to stack {B} on {A} at the center.",
"Place {A} and {B} at the center and then put {B} on {A}.",
"Center {A} and {B} on the table and stack {B} on top of {A}.",
"Set {A} and {B} at the table's center, then stack {B} on {A}.",
"Move {A} to the center using {a}, then stack {B} on {A} using {b}.",
"Place {A} and {B} together at the center, then stack {B} on top.",
"Use {a} to move {A} and {b} to stack {B}.",
"Bring {A} to the center, then stack {B} over it.",
"Relocate {A} to the middle and place {B} on it.",
"Move {A} with {a}, then stack {B} on it using {b}.",
"Position {A} at the center and stack {B} above it.",
"Use {a} to center {A}, then stack {B} with {b}.",
"Shift {A} to the center and place {B} on top.",
"Use {a} to move {A} and {b} to position {B}.",
"Move {A} to the middle and put {B} on top of it.",
"Center {A} using {a}, then stack {B} with {b} on top.",
"Move {A} and {B} to the center; stack {B} on top of {A}.",
"Grab {A}, set it in the center, then stack {B} over it.",
"Use {a} for {A}, place it in the center, then use {b} to stack {B} above {A}.",
"Position {A} and {B} at the center, then stack {B} on {A}.",
"Set {A} in the center, then position {B} on top of it.",
"Use {a} to place {A} in the center; stack {B} on it with {b}.",
"Put {A} in the center, then add {B} above it.",
"Place {A} and {B} in the center, then stack {B} above {A}."
],
"unseen": [
"Move {A} and {B} to the center, then stack {B} on {A}.",
"Bring {A} and {B} to the center, then position {B} above {A}.",
"Take {A} and {B}, move them to the table's center, then stack {B} on {A}.",
"Move {A} and {B} to the center and place {B} atop {A}.",
"Move {A} and {B} to the table's center, then stack {B} on {A}.",
"Grab {A}, place it at the center, then stack {B} on {A}.",
"Place {A} in the middle, then stack {B} on it.",
"Move {A} to the center, then put {B} on top.",
"Place {A} in the center, then stack {B} on it.",
"Use {a} to move {A} to the center, then set {b} and stack {B} on {A}."
]
},
"sha256": "0229ae6057d5304c9aa145b8925fb5ec31c358392ebbe3c26b144d096d18a498",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_blocks_two.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_blocks_two.py"
},
"task_instruction/stack_bowls_two": {
"full_description": "stack the two bowls on top of each other",
"schema": "{A} identifies the bottom bowl, {B} identifies the top bowl, {a} identifies the arm that moves {A}, and {b} identifies the arm that moves {B}",
"pools": {
"seen": [
"Lift {A}, put it on the table, and stack {B} above.",
"Pick up {A}, place it down, then position {B} on top.",
"Grab {A}, set it down, then place {B} over it.",
"Place {A} on the surface, then stack {B} above it.",
"Pick {A}, position on the table, and place {B} over it.",
"Lift {A}, lay it down, and stack {B} on top.",
"Take {A}, position it, then stack {B} directly above.",
"Grab {A}, then carefully place {B} on top.",
"Set {A} down, then add {B} over it.",
"Lift {B}, stack it precisely on top of {A}.",
"Pick {A}, then stack {B} on it.",
"Grab {A}, position it, and place {B} on top.",
"Align {A} and {B}, then stack {B} on {A}.",
"Place {A} down, then set {B} on top of {A}.",
"Position {A}, lift {B}, and place {B} on {A}.",
"Pick up {A}, grab {B}, and stack {B} on {A}.",
"Arrange {A}, lift {B} with the arm, and stack them.",
"Use the arm to place {A}, then stack {B} on top.",
"Position {A} with the arm, then set {B} above it.",
"Grasp {A}, then use the arm to align and stack {B}.",
"Grab {A}, then stack {B} on top.",
"Lift {A}, position {B} above it, and stack.",
"Set {B} over {A} to create the stack.",
"Position {B} carefully on {A}.",
"Hold {A} and stack {B} neatly atop.",
"Take {A}, align {B}, and stack them.",
"Place {A} down, then set {B} above it.",
"Lift {B} and position it neatly over {A}.",
"Stack {B} securely on top of {A}.",
"Align {B} over {A}, then complete the stack.",
"Place {A} down and stack {B} on top.",
"Lift {A}, grab {B}, and set {B} on {A}.",
"{A} goes at the bottom, {B} rests above.",
"Pick {A}, position {B}, and place it over {A}.",
"Put {A} first, then bring {B} to stack above.",
"Stack {B} carefully over {A}.",
"Set down {A} and drop {B} on top.",
"Grab {A}, lift it up, position {B}, and stack them.",
"Hold {A} steady and slide {B} on.",
"Take {A}, place {B} above, and let go.",
"Pick up {A} and set {B} on it.",
"Take {A}, place it, and stack {B} on top.",
"Lift {B}, then stack it on {A}.",
"Position {A} and stack {B} securely onto it.",
"Grab {A} with {a}, place it, and stack {B} with {b}.",
"Pick up {A} using {a}, then stack {B} using {b}.",
"With {a}, lift {A} and stack {B} using {b}.",
"Use {a} for {A}, place it, and stack {B} with {b}.",
"Lift {A} using {a}, set it down, and stack {B} using {b}."
],
"unseen": [
"Take {A}, set it down, and stack {B} on top.",
"Stack {B} on top of {A}.",
"Place {B} carefully over {A} to stack them.",
"Stack {B} directly over {A}.",
"Place {B} onto {A} to form a stack.",
"Grab {A}, then set {B} on top.",
"Pick up {A} and stack {B} above.",
"Grab {A} and stack {B} on it.",
"Place {A} down, then put {B} on top."
]
},
"sha256": "89cd4827e78dde5928ce35a49dc850d1cef9cadbb80efa90181564cb383c129c",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stack_bowls_two.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stack_bowls_two.py"
},
"task_instruction/stamp_seal": {
"full_description": "Grab the stamp and stamp onto the specific color mat",
"schema": "{A} notifies the stamp, {B} notifies the mat color, {a} notifies the arm to pick the stamp",
"pools": {
"seen": [
"Press {A} firmly onto {B}",
"Position {A} over {B} and stamp",
"Grab {A}, align it with {B}",
"Use {a} to pick {A} for {B}",
"Lift {A} and press onto {B}",
"Position {A} on {B}, apply pressure",
"Use {a} to grab {A}, press {B}",
"Pick {A} and press down on {B}",
"Stamp {B} after grabbing {A}.",
"With {a}, take {A} and mark {B}.",
"Place {A} onto {B} after grabbing.",
"Use {a} to lift {A}, then stamp {B}.",
"Pick {A} and apply it onto {B}.",
"Grab {A} with {a}, press it onto {B}.",
"Take {A} and stamp it on {B}.",
"With {a}, secure {A} and mark {B}.",
"Grab {A} and press on {B}.",
"Use {a}, take {A}, and apply to {B}.",
"Place {A} onto {B}",
"Stamp {A} on {B}",
"Press {A} onto {B}",
"Set {A} on {B}",
"Use {A} to stamp {B}",
"Grab {A} and press onto {B}",
"Stamp {B} after grabbing {A}",
"Pick up {A} and press onto {B}",
"Hold {A} with {a} and stamp {B}",
"Grab {A} to press onto {B}",
"Use {a} for {A} and stamp {B}",
"Pick {A} and stamp it on {B}",
"Press {A} onto {B} with {a}",
"Bring {A} to {B} and stamp",
"Use {a} to press {A} on {B}",
"{a} grabs {A}, stamps {B}",
"Pick {A} and press on {B}",
"{a} picks {A}, stamps {B}",
"Take {A} and stamp {B}",
"Use {A} to mark {B}",
"{a} holds {A}, presses {B}",
"Grab {A} and press onto {B}",
"Pick up {A}, stamp {B}",
"{a} uses {A} to stamp {B}",
"Hold {A} and press onto {B}"
],
"unseen": [
"Grab {A}, press onto {B}",
"Pick {A} and stamp on {B}",
"Pick {A} and press on {B}.",
"Use {a} to grab {A}, stamp {B}.",
"Pick {A} and stamp {B}",
"Grab {A} using {a} and stamp {B}",
"Pick {A} to stamp {B}",
"Grab {A} and stamp {B}",
"Stamp {B} using {A}"
]
},
"sha256": "d1b32ae177638dcf379b534a78c8977125a7e554c2193c377d481a45ff5b182c",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/stamp_seal.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/stamp_seal.py"
},
"task_instruction/turn_switch": {
"full_description": "use the robotic arm to click the switch",
"schema": "{A} notifies the switch, {a} notifies the arm to click the switch",
"pools": {
"seen": [
"Press {A} using {a}.",
"Activate {A} with {a}.",
"Move to {A} and click it.",
"Click {A} directly.",
"Press {A} to activate.",
"Engage {A} with a press.",
"Interact with {A}.",
"Push {A} via {a}.",
"Toggle {A} with {a}.",
"Engage {A} using {a}.",
"Engage {a} to press {A}",
"Press {A} directly",
"Use {a} to interact with {A}",
"Trigger {A} without referencing {a}",
"Command {a} to engage {A}",
"Set the switch at {A}",
"Activate {A} with robotic precision",
"Direct {a} to operate {A}",
"Switch {A} to its active state",
"Deploy {a} to press {A}",
"Engage {A} using the robotic arm",
"Press {A} using robotic control",
"Click {A} with robotic precision",
"Activate {A} directly",
"Press {A} via automation",
"Click {A} using automated tools",
"Deploy {a} to operate {A}",
"Use {a} to engage {A}",
"Set {a} to press {A}",
"Operate {A} with {a}",
"Activate {A} via {a}",
"Trigger {A} with precision",
"Tap {A} to engage it",
"Locate and press {A}",
"Initiate {A} by clicking",
"Engage {A} using {a}",
"Approach and tap {A} via {a}",
"Click on {A} precisely",
"Interact with {A} directly",
"Press {A} carefully with {a}",
"Directly interact with {A}",
"Activate {A} using {a}",
"Press {A} with {a}",
"Click {A} to activate it",
"Operate {a} to engage {A}",
"Engage with {A} manually",
"Trigger {A} using {a}",
"Locate and press {A}",
"Use {a} for switching {A}",
"Activate {A} by pressing it"
],
"unseen": [
"Click {A} with {a}.",
"Use {a} to press {A}.",
"Click {A} using {a}",
"Activate the switch at {A}",
"Direct {a} to click {A}",
"Click {A} with {a}",
"Click {A} with {a}",
"Press {A} using {a}",
"Move and click {A}",
"Use {a} to press {A}"
]
},
"sha256": "05d97ea19651a875e7b7fff73e21aebc0dfe69c62620db5ad64c3aa7870d90d5",
"revision": "ea8b21121ebb3cd201ff5b3fe361944ac94eda3f",
"source_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/description/task_instruction/turn_switch.json",
"verifier_url": "https://github.com/RoboTwin-Platform/RoboTwin/blob/ea8b21121ebb3cd201ff5b3fe361944ac94eda3f/envs/turn_switch.py"
}
}
}