Kitchen scene
Package A: Make carrot slices
A1: pick(source="table", target="carrots")(Single arm, 5 seconds)
A2: place(source="carrots", target="cutting_board")(Single arm, 7 seconds)
A3: pick(source="knife", target="counter")(Single arm, 10 seconds)
A4: cut(source="knife", target="carrots")(Dual arm, 5 seconds)
A5: place(source="counter", target="knife")(Single arm, 5 seconds)
Kitchen scene
Package B: Make apple salad
B1: pick(source="table", target="apples")(Single arm, 5 seconds)
B2: place(source="apples", target="cutting_board")(Single arm, 7 seconds)
B3: pick(source="counter", target="knife")(Single arm, 5 seconds)
B4: cut(source="knife", target="apples")(Dual arm, 10 seconds)
B5: place(source="knife", target="counter")(Single arm, 5 seconds)
Kitchen scene
Package C: Make cream bread
C1: pick(source="shelf", target="plate")(Single arm, 5 seconds)
C2: place(source="plate", target="table")(Single arm, 6 seconds)
C3: pick(source="table", target="bread")(Single arm, 5 seconds)
C4: place(source="bread", target="plate")(Single arm, 8 seconds)
C5: flap_open(target="refrigerator")(Single arm, 3 seconds)
C6: pick(source="refrigerator", target="butter")(Single arm, 5 seconds)
C7: flap_close(target="refrigerator")(Single arm, 3 seconds)
C8: stick_on(source="butter", target="bread")(Single arm, 8 seconds)
C9: place(source="butter", target="table")(Single arm, 8 seconds)
Kitchen scene
Package D: Make cheese sandwich
D1: pick(source="shelf", target="plate")(Single arm, 5 seconds)
D2: place(source="plate", target="table")(Single arm, 6 seconds)
D3: pick(source="table", target="bread")(Single arm, 5 seconds)
D4: place(source="bread", target="plate")(Single arm, 6 seconds)
D5: flap_open(target="refrigerator")(Single arm, 3 seconds)
D6: pick(source="refrigerator", target="cheese")(Single arm, 5 seconds)
D7: flap_close(target="refrigerator")(Single arm, 3 seconds)
D8: stick_on(source="cheese", target="bread")(Single arm, 6 seconds)
D9: place(source="cheese", target="table")(Single arm, 5 seconds)
Kitchen scene
Package E: Make chicken slices
E1: flap_open(target="fridge")(Single arm, 3 seconds)
E2: pick(source="fridge", target="chicken_breast")(Single arm, 8 seconds)
E3: flap_close(target="fridge")(Single arm, 3 seconds)
E4: place(source="chicken_breast", target="cutting_board")(Single arm, 7 seconds)
E5: pick(source="counter", target="knife")(Single arm, 5 seconds)
E6: cut(source="knife", target="chicken_breast")(Dual arm, 12 seconds)
E7: place(source="knife", target="counter")(Single arm, 5 seconds)
Kitchen scene
Package F: Make milk oatmeal porridge
F1: flap_open(target="cabinet")(Single arm, 3 seconds)
F2: pick(source="cabinet", target="oats")(Single arm, 5 seconds)
F3: flap_close(target="cabinet")(Single arm, 3 seconds)
F4: place(source="oats", target="pot")(Single arm, 5 seconds)
F5: flap_open(target="fridge")(Single arm, 3 seconds)
F6: pick(source="fridge", target="milk_carton")(Single arm, 6 seconds)
F7: pour_into(source="milk_carton", target="pot")(Dual arm, 8 seconds)
F8: place(source="milk_carton", target="fridge")(Single arm, 5 seconds)
F9: flap_close(target="fridge")(Single arm, 3 seconds)
F10: press_open(target="stove")(Single arm, 3 seconds)
F11: press_close(target="stove")(Single arm, 3 seconds)
Kitchen scene
Package G: Make orange juice
G1: pick(source="table", target="oranges")(Single arm, 5 seconds)
G2: place(source="oranges", target="juicer")(Single arm, 6 seconds)
G3: press_open(target="juicer")(Single arm, 5 seconds)
G4: press_close(target="juicer")(Single arm, 3 seconds)
G5: pick(source="shelf_bottom", target="cup")(Single arm, 5 seconds)
G6: place(source="cup", target="table")(Single arm, 5 seconds)
G7: pick(source="juicer", target="juice")(Single arm, 5 seconds)
G8: pour_into(source="juice", target="cup")(Dual arm, 8 seconds)
G9: place(source="juice", target="juicer")(Single arm, 5 seconds)
Kitchen scene
Package H: Make butter spinach and tomato sandwich
H1: pick(source="table", target="bread")(Single arm, 5 seconds)
H2: place(source="bread", target="cutting_board")(Single arm, 6 seconds)
H3: pick(source="counter", target="butter")(Single arm, 5 seconds)
H4: stick_on(source="butter", target="bread")(Dual arm, 8 seconds)
H5: place(source="butter", target="counter")(Single arm, 5 seconds)
H6: pick(source="table", target="spinach")(Single arm, 5 seconds)
H7: place(source="spinach", target="bread")(Single arm, 6 seconds)
H8: pick(source="table", target="tomatoes")(Single arm, 5 seconds)
H9: place(source="tomatoes", target="bread")(Single arm, 6 seconds)
H10: pick(source="shelf", target="plate")(Single arm, 5 seconds)
H11: place(source="plate", target="table")(Single arm, 6 seconds)
Kitchen scene
Package I: Cut apples and bananas
I1: pick(source="table", target="apples")(Single arm, 5 seconds)
I2: place(source="apples", target="cutting_board")(Single arm, 7 seconds)
I3: pick(source="table", target="bananas")(Single arm, 5 seconds)
I4: place(source="bananas", target="cutting_board")(Single arm, 7 seconds)
I5: pick(source="counter", target="knife")(Single arm, 5 seconds)
I6: cut(source="knife", target="apples")(Dual arm, 10 seconds)
I7: place(source="knife", target="counter")(Single arm, 5 seconds)
I8: pick(source="counter", target="knife")(Single arm, 5 seconds)
I9: cut(source="knife", target="bananas")(Dual arm, 10 seconds)
I10: place(source="knife", target="counter")(Single arm, 5 seconds)
Kitchen scene
Package J: Make chocolate cake
J1: slide_open(target="cabinet")(Single arm, 3 seconds)
J2: pick(source="cabinet", target="chocolate")(Single arm, 6 seconds)
J3: slide_close(target="cabinet")(Single arm, 3 seconds)
J4: place(source="chocolate", target="mixing_bowl")(Single arm, 5 seconds)
J5: flap_open(target="fridge")(Single arm, 3 seconds)
J6: pick(source="fridge", target="egg")(Single arm, 5 seconds)
J7: flap_close(target="fridge")(Single arm, 3 seconds)
J8: place(source="egg", target="mixing_bowl")(Single arm, 5 seconds)
J9: pick(source="drawer", target="whisk")(Single arm, 5 seconds)
J10: stir(source="whisk", target="mixing_bowl")(Dual arm, 20 seconds)
J11: place(source="whisk", target="drawer")(Single arm, 5 seconds)
J12: pick(source="table", target="mixing_bowl")(Single arm, 5 seconds)
J13: place(source="mixing_bowl", target="oven")(Single arm, 6 seconds)
J14: press_open(target="oven")(Single arm, 3 seconds)
J15: press_close(target="oven")(Single arm, 3 seconds)
Kitchen scene
Package K: Make carrot noodles
K1: pick(source="table", target="carrots")(Single arm, 5 seconds)
K2: place(source="carrots", target="cutting_board")(Single arm, 7 seconds)
K3: pick(source="counter", target="knife")(Single arm, 5 seconds)
K4: cut(source="knife", target="carrots")(Dual arm, 10 seconds)
K5: place(source="knife", target="counter")(Single arm, 5 seconds)
K6: slide_open(target="cabinet")(Single arm, 3 seconds)
K7: pick(source="cabinet", target="pot")(Single arm, 5 seconds)
K8: slide_close(target="cabinet")(Single arm, 3 seconds)
K9: place(source="pot", target="stove")(Single arm, 6 seconds)
K10: pick(source="sink", target="water")(Single arm, 8 seconds)
K11: pour_into(source="water", target="pot")(Single arm, 8 seconds)
K12: place(source="water", target="sink")(Single arm, 8 seconds)
K13: slide_open(target="cabinet")(Single arm, 3 seconds)
K14: pick(source="cabinet", target="noodles")(Single arm, 5 seconds)
K15: slide_close(target="cabinet")(Single arm, 3 seconds)
K16: place(source="noodles", target="pot")(Single arm, 6 seconds)
K17: press_open(target="stove")(Single arm, 3 seconds)
K18: press_close(target="stove")(Single arm, 3 seconds)
Kitchen scene
Package L: Make seaweed mushroom soup
L1: slide_open(target="vegetable_drawer")(Single arm, 3 seconds)
L2: pick(source="vegetable_drawer", target="mushroom")(Single arm, 5 seconds)
L3: slide_close(target="vegetable_drawer")(Single arm, 3 seconds)
L4: place(source="mushroom", target="cutting_board")(Single arm, 7 seconds)
L5: pick(source="counter", target="knife")(Single arm, 5 seconds)
L6: cut(source="knife", target="mushroom")(Dual arm, 10 seconds)
L7: place(source="knife", target="counter")(Single arm, 5 seconds)
L8: slide_open(target="cabinet")(Single arm, 3 seconds)
L9: pick(source="cabinet", target="seaweed_pack")(Single arm, 5 seconds)
L10: slide_close(target="cabinet")(Single arm, 3 seconds)
L11: pick(source="cabinet", target="pot")(Single arm, 5 seconds)
L12: place(source="pot", target="stove")(Single arm, 6 seconds)
L13: pick(source="sink", target="water")(Single arm, 8 seconds)
L14: pour_into(source="water", target="pot")(Single arm, 8 seconds)
L15: place(source="water", target="sink")(Single arm, 8 seconds)
L16: pick(source="cutting_board", target="mushroom")(Single arm, 5 seconds)
L17: place(source="mushroom", target="pot")(Single arm, 5 seconds)
L18: place(source="seaweed_pack", target="pot")(Single arm, 5 seconds)
L19: press_open(target="stove")(Single arm, 3 seconds)
L20: press_close(target="stove")(Single arm, 3 seconds)
Kitchen scene
Package M: Make creamy pasta
M1: flap_open(target="cabinet")(Single arm, 3 seconds)
M2: pick(source="cabinet", target="noodles")(Single arm, 5 seconds)
M3: flap_close(target="cabinet")(Single arm, 3 seconds)
M4: place(source="noodles", target="cutting_board")(Single arm, 6 seconds)
M5: pick(source="stove", target="pan")(Single arm, 5 seconds)
M6: place(source="pan", target="stove")(Single arm, 5 seconds)
M7: pick(source="sink", target="water")(Single arm, 8 seconds)
M8: pour_into(source="water", target="pan")(Dual arm, 10 seconds)
M9: place(source="water", target="sink")(Single arm, 8 seconds)
M10: pick(source="cutting_board", target="noodles")(Single arm, 5 seconds)
M11: place(source="noodles", target="pan")(Single arm, 6 seconds)
M12: flap_open(target="refrigerator")(Single arm, 3 seconds)
M13: pick(source="refrigerator", target="cheese")(Single arm, 5 seconds)
M14: flap_close(target="refrigerator")(Single arm, 3 seconds)
M15: place(source="cheese", target="pan")(Single arm, 6 seconds)
M16: pick(source="counter", target="butter")(Single arm, 5 seconds)
M17: place(source="butter", target="pan")(Single arm, 6 seconds)
Kitchen scene
Package N: Make fried eggs
N1: pick(source="table", target="eggs")(Single arm, 5 seconds)
N2: slide_open(target="cabinet")(Single arm, 3 seconds)
N3: pick(source="cabinet", target="pan")(Single arm, 5 seconds)
N4: slide_close(target="cabinet")(Single arm, 3 seconds)
N5: place(source="pan", target="stove")(Single arm, 6 seconds)
N6: place(source="eggs", target="pan")(Single arm, 6 seconds)
N7: press_open(target="stove")(Single arm, 3 seconds)
N8: slide_open(target="drawer")(Single arm, 3 seconds)
N9: pick(source="drawer", target="spatula")(Single arm, 5 seconds)
N10: slide_close(target="drawer")(Single arm, 3 seconds)
N11: stir(source="spatula", target="eggs")(Dual arm, 15 seconds)
N12: place(source="spatula", target="pan")(Single arm, 15 seconds)
N13: press_close(target="stove")(Single arm, 3 seconds)
N14: pick(source="shelf", target="plate")(Single arm, 5 seconds)
N15: place(source="plate", target="table")(Single arm, 6 seconds)
N16: pick(source="pan", target="eggs")(Single arm, 6 seconds)
N17: place(source="eggs", target="plate")(Single arm, 6 seconds)
Kitchen scene
Package O: Make stir-fried rice with green peppers
O1: pick(source="cabinet", target="wok")(Single arm, 5s)
O2: place(source="wok", target="stove")(Single arm, 6s)
O3: pick(source="vegetable_drawer", target="green_pepper")(Single arm, 5s)
O4: place(source="green_pepper", target="cutting_board")(Single arm, 7s)
O5: pick(source="counter", target="knife")(Single arm, 5s)
O6: cut(source="knife", target="green_pepper")(Dual arm, 10s)
O7: place(source="knife", target="counter")(Single arm, 5s)
O8: pick(source="cabinet", target="rice")(Single arm, 5s)
O9: place(source="rice", target="wok")(Single arm, 6s)
O10: pick(source="spice_rack", target="oil")(Single arm, 5s)
O11: pour_into(source="oil", target="wok")(Dual arm, 8s)
O12: place(source="oil", target="spice_rack")(Single arm, 5s)
O13: pick(source="cutting_board", target="green_pepper")(Single arm, 5s)
O14: place(source="green_pepper", target="wok")(Single arm, 6s)
O15: press_open(target="stove")(Single arm, 3s)
O16: slide_open(target="drawer")(Single arm, 3s)
O17: pick(source="drawer", target="spatula")(Single arm, 5s)
O18: slide_close(target="drawer")(Single arm, 3s)
O19: stir(source="spatula", target="wok")(Dual arm, 20s)
O20: place(source="spatula", target="cutting_board")(Single arm, 5s)
O21: press_close(target="stove")(Single arm, 3s)
Office scene
Package A: Open the drawer, take out a pen, and write
A1: slide_open(target="drawer") (Single arm, 3 seconds)
A2: pick(source="drawer", target="pen") (Single arm, 4 seconds)
A3: slide_close(target="drawer") (Single arm, 3 seconds)
A4: place(source="pen", target="desk") (Single arm, 4 seconds)
A5: pick(source="desk", target="pen") (Single arm, 4 seconds)
A6: write(source="pen", target="notepad") (Single arm, 8 seconds)
A7: place(source="pen", target="pen_holder") (Single arm, 4 seconds)
Office scene
Package B: Prepare Coffee for Guest
B1: pick(source="shelf_top", target="coffee_beans") (Single arm, 5 seconds)
B2: place(source="coffee_beans", target="coffee_machine") (Single arm, 6 seconds)
B3: press(target="coffee_machine_button") (Single arm, 3 seconds)
B4: pick(source="shelf_bottom", target="cup") (Single arm, 5 seconds)
B5: place(source="cup", target="coffee_machine") (Single arm, 5 seconds)
Office scene
Package C: Clean the Office Desk
C1: slide_open(target="drawer") (Single arm, 3 seconds)
C2: pick(source="drawer", target="cleaning_cloth") (Single arm, 4 seconds)
C3: slide_close(target="drawer") (Single arm, 3 seconds)
C4: wipe(source="cleaning_cloth", target="desk_surface") (Single arm, 10 seconds)
C5: place(source="cleaning_cloth", target="desk_corner") (Single arm, 4 seconds)
Office scene
Package D: Arrange Books on Bookshelf
D1: pick(source="desk", target="book_1") (Single arm, 5 seconds)
D2: place(source="book_1", target="bookshelf") (Single arm, 6 seconds)
D3: pick(source="desk", target="book_2") (Single arm, 5 seconds)
D4: place(source="book_2", target="bookshelf") (Single arm, 6 seconds)
Office scene
Package E: Distribute Office Memos
E1: pick(source="printer", target="memo_stack") (Single arm, 5 seconds)
E2: place(source="memo_stack", target="desk_A") (Single arm, 5 seconds)
E3: pick(source="printer", target="memo_stack") (Single arm, 5 seconds)
E4: place(source="memo_stack", target="desk_B") (Single arm, 5 seconds)
Office scene
Package F: Print the report and bind it
F1: pick(source="desk", target="document_pile") (Single arm, 5 seconds)
F2: place(source="document_pile", target="printer") (Single arm, 5 seconds)
F3: press(target="printer_button") (Single arm, 5 seconds)
F4: pick(source="printer", target="printed_document") (Single arm, 5 seconds)
F5: place(source="printed_document", target="stapler_area") (Single arm, 5 seconds)
F6: press(target="stapler") (Single arm, 3 seconds)
F7: pick(source="stapler_area", target="stapled_document") (Single arm, 5 seconds)
F8: place(source="stapled_document", target="desk") (Single arm, 5 seconds)
Office scene
Package G: Clean and organize the desk
G1: slide_open(target="drawer") (Single arm, 3 seconds)
G2: pick(source="drawer", target="cleaning_cloth") (Single arm, 4 seconds)
G3: place(source="cleaning_cloth", target="desk_corner") (Single arm, 4 seconds)
G4: pick(source="drawer", target="cleaning_spray") (Single arm, 5 seconds)
G5: place(source="cleaning_spray", target="desk_surface") (Single arm, 4 seconds)
G6: slide_close(target="drawer") (Single arm, 3 seconds)
G7: pick(source="desk_corner", target="cleaning_cloth") (Single arm, 4 seconds)
G8: wipe(source="cleaning_cloth", target="desk_surface") (Single arm, 10 seconds)
G9: place(source="cleaning_cloth", target="desk_corner") (Single arm, 4 seconds)
G10: pick(source="desk", target="loose_papers") (Single arm, 5 seconds)
G11: place(source="loose_papers", target="document_tray") (Single arm, 5 seconds)
G12: pick(source="desk", target="coffee_cup") (Single arm, 5 seconds)
G13: place(source="coffee_cup", target="pantry_counter") (Single arm, 6 seconds)
Office scene
Package H: Set up the projector and prepare for the meeting
H1: flap_open(target="cabinet") (Single arm, 3 seconds)
H2: pick(source="cabinet", target="projector") (Single arm, 6 seconds)
H3: place(source="projector", target="meeting_table") (Single arm, 6 seconds)
H4: flap_close(target="cabinet") (Single arm, 3 seconds)
H5: pick(source="drawer", target="HDMI_cable") (Single arm, 4 seconds)
H6: place(source="HDMI_cable", target="projector") (Single arm, 6 seconds)
H7: press(target="projector_power_button") (Single arm, 3 seconds)
H8: pick(source="shelf", target="laser_pointer") (Single arm, 4 seconds)
H9: place(source="laser_pointer", target="podium") (Single arm, 4 seconds)
H10: pick(source="desk", target="presentation_file") (Single arm, 4 seconds)
H11: place(source="presentation_file", target="laptop") (Single arm, 5 seconds)
Office scene
Package I: Projector Setup and Desk Organization
I1: flap_open(target="cabinet") (Single arm, 3 seconds)
I2: pick(source="cabinet", target="projector") (Single arm, 6 seconds)
I3: flap_close(target="cabinet") (Single arm, 3 seconds)
I4: place(source="projector", target="meeting_table") (Single arm, 6 seconds)
I5: pick(source="drawer", target="cleaning_cloth") (Single arm, 4 seconds)
I6: wipe(source="cleaning_cloth", target="projector") (Single arm, 10 seconds)
I7: place(source="cleaning_cloth", target="drawer") (Single arm, 4 seconds)
I8: pick(source="desk", target="loose_papers") (Single arm, 5 seconds)
I9: place(source="loose_papers", target="tray") (Single arm, 5 seconds)
I10: pick(source="drawer", target="remote_control") (Single arm, 4 seconds)
I11: place(source="remote_control", target="podium") (Single arm, 5 seconds)
Office scene
Package J: Office Tool Preparation
J1: slide_open(target="drawer") (Single arm, 3 seconds)
J2: pick(source="drawer", target="shears") (Single arm, 4 seconds)
J3: place(source="shears", target="desk") (Single arm, 4 seconds)
J4: pick(source="drawer", target="tape") (Single arm, 4 seconds)
J5: place(source="tape", target="desk") (Single arm, 4 seconds)
J6: slide_close(target="drawer") (Single arm, 3 seconds)
J7: pick(source="desk", target="shears") (Single arm, 4 seconds)
J8: cut(source="shears", target="tape") (Dual arm, 8 seconds)
J9: place(source="shears", target="desk") (Single arm, 4 seconds)
J10: pick(source="shelf", target="label_sticker") (Single arm, 4 seconds)
J11: stick_on(source="label_sticker", target="package_box") (Single arm, 4 seconds)
J12: place(source="label_sticker", target="shelf") (Single arm, 4 seconds)
J13: pick(source="desk", target="pen") (Single arm, 4 seconds)
J14: write(source="pen", target="label_sticker") (Single arm, 6 seconds)
J15: place(source="pen", target="pen_holder") (Single arm, 4 seconds)
Office scene
Package K: Prepare and Seal a Delivery
K1: slide_open(target="drawer") (Single arm, 3 seconds)
K2: pick(source="drawer", target="tape") (Single arm, 6 seconds)
K3: place(source="tape", target="desk") (Single arm, 3 seconds)
K4: pick(source="table", target="invoice") (Single arm, 4 seconds)
K5: place(source="invoice", target="box") (Single arm, 5 seconds)
K6: pick(source="drawer", target="scissors") (Single arm, 4 seconds)
K7: cut(source="scissors", target="tape") (Dual arm, 8 seconds)
K8: place(source="scissors", target="drawer") (Single arm, 4 seconds)
K9: slide_close(target="drawer") (Single arm, 3 seconds)
K10: pick(source="shelf", target="label_sticker") (Single arm, 4 seconds)
K11: stick_on(source="label_sticker", target="box") (Single arm, 5 seconds)
K12: place(source="label_sticker", target="delivery_cart") (Single arm, 6 seconds)
K13: pick(source="pen_holder", target="pen") (Single arm, 4 seconds)
K14: write(source="pen", target="label_sticker") (Single arm, 6 seconds)
K15: place(source="pen", target="pen_holder") (Single arm, 4 seconds)
Office scene
Package L: Clean Up and Organize Supplies
L1: pick(source="desk", target="markers") (Single arm, 4 seconds)
L2: place(source="markers", target="supply_box") (Single arm, 5 seconds)
L3: pick(source="shelf", target="glue") (Single arm, 4 seconds)
L4: stick_on(source="glue", target="label_paper") (Single arm, 5 seconds)
L5: place(source="glue", target="supply_box") (Single arm, 5 seconds)
L6: pick(source="supply_box", target="shears") (Single arm, 4 seconds)
L7: cut(source="shears", target="paper_strip") (Dual arm, 8 seconds)
L8: place(source="shears", target="supply_box") (Single arm, 4 seconds)
L9: pick(source="drawer", target="cleaning_cloth") (Single arm, 4 seconds)
L10: wipe(source="cleaning_cloth", target="supply_box") (Single arm, 10 seconds)
L11: place(source="cleaning_cloth", target="drawer") (Single arm, 4 seconds)
L12: pick(source="pen_holder", target="pen") (Single arm, 4 seconds)
L13: write(source="pen", target="label_paper") (Single arm, 6 seconds)
L14: place(source="pen", target="pen_holder") (Single arm, 4 seconds)
Office scene
Package M: Prepare Training Material and Workspace
M1: pick(source="new_cabinet", target="binder") (Single arm, 5 seconds)
M2: place(source="binder", target="meeting_table") (Single arm, 6 seconds)
M3: pick(source="shelf", target="training_docs") (Single arm, 5 seconds)
M4: stick_on(source="training_docs", target="binder") (Single arm, 5 seconds)
M5: place(source="training_docs", target="desk") (Single arm, 5 seconds)
M6: pick(source="drawer", target="label_sticker") (Single arm, 4 seconds)
M7: stick_on(source="label_sticker", target="binder") (Single arm, 5 seconds)
M8: place(source="label_sticker", target="trash_bin") (Single arm, 4 seconds)
M9: pick(source="pen_holder", target="pen") (Single arm, 4 seconds)
M10: write(source="pen", target="label_sticker") (Single arm, 6 seconds)
M11: place(source="pen", target="pen_holder") (Single arm, 4 seconds)
M12: pick(source="new_cabinet", target="marker_box") (Single arm, 5 seconds)
M13: wipe(source="marker_box", target="whiteboard") (Single arm, 10 seconds)
M14: place(source="marker_box", target="whiteboard_shelf") (Single arm, 5 seconds)
M15: pick(source="new_cabinet", target="pointer") (Single arm, 4 seconds)
M16: place(source="pointer", target="lectern") (Single arm, 4 seconds)
M17: pick(source="desk", target="new_binder") (Single arm, 5 seconds)
M18: place(source="new_binder", target="meeting_table") (Single arm, 6 seconds)
Office scene
Package N: Setup Office Station and Deliver Supplies
N1: pick(source="pen_holder", target="pen") (Single arm, 4 seconds)
N2: write(source="pen", target="logbook") (Single arm, 6 seconds)
N3: place(source="pen", target="pen_holder") (Single arm, 4 seconds)
N4: pick(source="cabinet", target="notepad") (Single arm, 5 seconds)
N5: place(source="notepad", target="desk") (Single arm, 5 seconds)
N6: pick(source="shelf", target="calculator") (Single arm, 5 seconds)
N7: wipe(source="calculator", target="desk") (Single arm, 10 seconds)
N8: place(source="calculator", target="desk") (Single arm, 5 seconds)
N9: pick(source="cabinet", target="glue_stick") (Single arm, 4 seconds)
N10: stick_on(source="glue_stick", target="envelope") (Single arm, 5 seconds)
N11: place(source="glue_stick", target="cabinet") (Single arm, 4 seconds)
N12: pick(source="desk", target="envelope") (Single arm, 5 seconds)
N13: place(source="envelope", target="delivery_tray") (Single arm, 5 seconds)
N14: pick(source="drawer", target="cleaning_cloth") (Single arm, 4 seconds)
N15: wipe(source="cleaning_cloth", target="monitor") (Dual arm, 10 seconds)
N16: place(source="cleaning_cloth", target="drawer") (Single arm, 4 seconds)
Office scene
Package O: Prepare Conference Room and Supply Tools
O1: pick(source="red_cabinet", target="laser_pointer") (Single arm, 4 seconds)
O2: place(source="laser_pointer", target="meeting_table") (Single arm, 5 seconds)
O3: pick(source="shelf", target="notepad") (Single arm, 5 seconds)
O4: place(source="notepad", target="meeting_table") (Single arm, 5 seconds)
O5: pick(source="pen_holder", target="pencil") (Single arm, 4 seconds)
O6: place(source="pencil", target="meeting_table") (Single arm, 4 seconds)
O7: pick(source="drawer", target="cloth") (Single arm, 4 seconds)
O8: wipe(source="cloth", target="meeting_table") (Single arm, 10 seconds)
O9: place(source="cloth", target="drawer") (Single arm, 4 seconds)
O10: pick(source="storage_box", target="HDMI_cable") (Single arm, 5 seconds)
O11: stick_on(source="HDMI_cable", target="projector") (Single arm, 5 seconds)
O12: place(source="HDMI_cable", target="cable_hook") (Single arm, 4 seconds)
O13: pick(source="red_cabinet", target="presentation_file") (Single arm, 5 seconds)
O14: place(source="presentation_file", target="laptop") (Single arm, 5 seconds)
O15: press(target="projector_power_button") (Single arm, 3 seconds)
agricultural greenhouse scene
Package A: Harvest and Pack Cucumbers
A1: pick(source="storage_shelf", target="cucumber")(Single arm, 5 seconds)
A2: place(source="cucumber", target="washing_basket")(Single arm, 6 seconds)
A3: pick(source="counter", target="scissors")(Single arm, 5 seconds)
A4: cut(source="scissors", target="cucumber_stem")(Dual arm, 10 seconds)
A5: place(source="scissors", target="counter")(Single arm, 5 seconds)
agricultural greenhouse scene
Package B: Prepare Seed Tray for Sprouting
B1: pick(source="storage_shelf", target="seed_tray")(Single arm, 5 seconds)
B2: place(source="seed_tray", target="work_table")(Single arm, 6 seconds)
B3: pick(source="seed_bin", target="lettuce_seeds")(Single arm, 5 seconds)
B4: pour_into(source="lettuce_seeds", target="seed_tray")(Single arm, 7 seconds)
B5: place(source="lettuce_seeds", target="seed_bin")(Single arm, 5 seconds)
B6: pick(source="water_station", target="watering_can")(Single arm, 5 seconds)
B7: pour_into(source="watering_can", target="seed_tray")(Single arm, 8 seconds)
B8: place(source="watering_can", target="water_station")(Single arm, 5 seconds)
agricultural greenhouse scene
Package C: Plant chili peppers and label for management
C1: pick(source="seed_box", target="pepper_seeds")(Single arm, 5 seconds)
C2: place(source="pepper_seeds", target="soil_tray")(Single arm, 6 seconds)
C3: pick(source="tool_shelf", target="trowel")(Single arm, 5 seconds)
C4: place(source="trowel", target="tool_shelf")(Single arm, 5 seconds)
C5: pick(source="rack", target="label_marker")(Single arm, 5 seconds)
C6: stick_on(source="label_marker", target="soil_tray")(Single arm, 6 seconds)
C7: place(source="label_marker", target="rack")(Single arm, 5 seconds)
agricultural greenhouse scene
Package D: Cut and Sort Tomato Vines
D1: pick(source="tool_shelf", target="pruning_shears")(Single arm, 5 seconds)
D2: cut(source="pruning_shears", target="tomato_vine")(Dual arm, 10 seconds)
D3: place(source="pruning_shears", target="tool_shelf")(Single arm, 5 seconds)
D4: pick(source="ground", target="cut_vine")(Single arm, 5 seconds)
D5: place(source="cut_vine", target="compost_bin")(Single arm, 6 seconds)
D6: pick(source="counter", target="rag")(Single arm, 5 seconds)
D7: wipe(source="rag", target="work_gloves")(Single arm, 6 seconds)
D8: place(source="rag", target="counter")(Single arm, 5 seconds)
agricultural greenhouse scene
Package E: Transport Planting Pot with Soil
E1: pick(source="greenhouse_corner", target="planting_pot")(Single arm, 5 seconds)
E2: place(source="planting_pot", target="soil_station")(Single arm, 6 seconds)
E3: pick(source="tool_rack", target="shovel")(Single arm, 5 seconds)
E4: place(source="shovel", target="tool_rack")(Single arm, 5 seconds)
E5: pick(source="soil_station", target="planting_pot")(Single arm, 5 seconds)
E6: place(source="planting_pot", target="seedling_area")(Single arm, 6 seconds)
agricultural greenhouse scene
Package F: Collect mushrooms, weigh them, and pack for refrigeration
F1: pick(source="mushroom_bed", target="mushroom")(Single arm, 5 seconds)
F2: place(source="mushroom", target="weighing_scale")(Single arm, 6 seconds)
F3: pick(source="weighing_scale", target="mushroom")(Single arm, 5 seconds)
F4: place(source="mushroom", target="crate")(Single arm, 6 seconds)
F5: flap_open(target="cold_storage")(Single arm, 3 seconds)
F6: pick(source="crate_area", target="crate")(Single arm, 6 seconds)
F7: place(source="crate", target="cold_storage")(Single arm, 7 seconds)
F8: flap_close(target="cold_storage")(Single arm, 3 seconds)
agricultural greenhouse scene
Package G: Adjust Environment and Water Tomatoes
G1: pick(source="storage_cabinet", target="watering_can")(Single arm, 5 seconds)
G2: pour_into(source="watering_can", target="tomato_bed")(Single arm, 8 seconds)
G3: place(source="watering_can", target="storage_cabinet")(Single arm, 5 seconds)
G4: pick(source="sensor_station", target="humidity_sensor")(Single arm, 5 seconds)
G5: inspect(source = "humidity_sensor", target="tomato_bed")(Single arm, 6 seconds)
G6: place(source="humidity_sensor", target="sensor_station")(Single arm, 5 seconds)
G7: pick(source="control_panel", target="light_switch")(Single arm, 3 seconds)
G8: place(source="light_switch", target="control_panel")(Single arm, 3 seconds)
agricultural greenhouse scene
Package H: Full Tomato Cultivation Routine
H1: pick(source="storage_shelf", target="seed_tray") (Single arm, 5 seconds)
H2: place(source="seed_tray", target="planting_table") (Single arm, 6 seconds)
H3: pick(source="seed_bin", target="tomato_seeds") (Single arm, 5 seconds)
H4: pour_into(source="tomato_seeds", target="seed_tray") (Single arm, 7 seconds)
H5: place(source="tomato_seeds", target="seed_bin") (Single arm, 5 seconds)
H6: pick(source="water_station", target="watering_can") (Single arm, 5 seconds)
H7: pour_into(source="watering_can", target="seed_tray") (Single arm, 8 seconds)
H8: place(source="watering_can", target="water_station") (Single arm, 5 seconds)
H9: pick(source="drawer", target="humidity_sensor") (Single arm, 5 seconds)
H10: inspect(source = "humidity_sensor", target="planting_table") (Single arm, 6 seconds)
H11: place(source="humidity_sensor", target="drawer") (Single arm, 5 seconds)
H12: pick(source="light_panel_box", target="led_panel") (Single arm, 4 seconds)
H13: place(source="led_panel", target="germination_frame") (Single arm, 6 seconds)
agricultural greenhouse scene
Package I: Clean and Inspect Strawberry Beds
I1: pick(source="cleaning_station", target="rag") (Single arm, 5 seconds)
I2: wipe(source="rag", target="bed_frame") (Single arm, 8 seconds)
I3: place(source="rag", target="cleaning_station") (Single arm, 5 seconds)
I4: pick(source="sensor_storage", target="humidity_sensor") (Single arm, 5 seconds)
I5: inspect(source = "humidity_sensor", target="strawberry_bed") (Single arm, 6 seconds)
I6: place(source="humidity_sensor", target="sensor_storage") (Single arm, 5 seconds)
I7: pick(source="inspection_shelf", target="magnifier") (Single arm, 5 seconds)
I8: place(source="magnifier", target="inspection_shelf") (Single arm, 5 seconds)
I9: pick(source="floor", target="fallen_leaf") (Single arm, 5 seconds)
I10: place(source="fallen_leaf", target="trash_bin") (Single arm, 5 seconds)
agricultural greenhouse scene
Package J: Prepare Lettuce Beds for Seedling Transplant
J1: pick(source="rack", target="empty_pot") (Single arm, 5 seconds)
J2: place(source="empty_pot", target="soil_table") (Single arm, 6 seconds)
J3: pick(source="cabinet", target="fertilizer_bag") (Single arm, 5 seconds)
J4: pour_into(source="fertilizer_bag", target="soil_table") (Single arm, 8 seconds)
J5: place(source="fertilizer_bag", target="cabinet") (Single arm, 5 seconds)
J6: pick(source="shovel_rack", target="shovel") (Single arm, 5 seconds)
J7: place(source="shovel", target="shovel_rack") (Single arm, 5 seconds)
J8: pick(source="shelf", target="lettuce_seedling_tray") (Single arm, 5 seconds)
J9: place(source="lettuce_seedling_tray", target="pot") (Single arm, 6 seconds)
J10: pick(source="support_bin", target="bamboo_stick") (Single arm, 5 seconds)
J11: bind(source="bamboo_stick", target="lettuce_seedling_tray") (Dual arm, 10 seconds)
J12: place(source="bamboo_stick", target="support_bin") (Single arm, 6 seconds)
agricultural greenhouse scene
Package K: Harvest and Package Grapes
K1: pick(source="vineyard_row", target="grape_cluster") (Single arm, 5 seconds)
K2: place(source="grape_cluster", target="cutting_board") (Single arm, 6 seconds)
K3: pick(source="tool_rack", target="scissors") (Single arm, 5 seconds)
K4: cut(source="scissors", target="grape_stem") (Dual arm, 10 seconds)
K5: place(source="scissors", target="tool_rack") (Single arm, 5 seconds)
K6: pick(source="cutting_board", target="grape_cluster") (Single arm, 5 seconds)
K7: place(source="grape_cluster", target="washing_basket") (Single arm, 6 seconds)
K8: pick(source="washing_station", target="watering_can") (Single arm, 5 seconds)
K9: pour_into(source="watering_can", target="washing_basket") (Single arm, 8 seconds)
K10: place(source="watering_can", target="washing_station") (Single arm, 5 seconds)
K11: pick(source="washing_basket", target="grape_cluster") (Single arm, 5 seconds)
K12: place(source="grape_cluster", target="drying_rack") (Single arm, 6 seconds)
K13: pick(source="drying_rack", target="grape_cluster") (Single arm, 5 seconds)
K14: place(source="grape_cluster", target="packaging_box") (Single arm, 6 seconds)
K15: pick(source="label_bin", target="label") (Single arm, 4 seconds)
K16: stick_on(source="label", target="packaging_box") (Single arm, 5 seconds)
K17: place(source="label", target="label_bin") (Single arm, 4 seconds)
agricultural greenhouse scene
Package L: Full Broccoli Bed Maintenance
L1: pick(source="tool_shelf", target="pruning_shears") (Single arm, 5 seconds)
L2: cut(source="pruning_shears", target="broccoli_leaf") (Dual arm, 10 seconds)
L3: place(source="pruning_shears", target="tool_shelf") (Single arm, 5 seconds)
L4: pick(source="floor", target="cut_leaf") (Single arm, 5 seconds)
L5: place(source="cut_leaf", target="compost_bin") (Single arm, 5 seconds)
L6: pick(source="monitor_shelf", target="humidity_sensor") (Single arm, 5 seconds)
L7: inspect(source = "humidity_sensor", target="broccoli_bed") (Single arm, 6 seconds)
L8: place(source="humidity_sensor", target="monitor_shelf") (Single arm, 5 seconds)
L9: pick(source="floor", target="fallen_branch") (Single arm, 5 seconds)
L10: place(source="fallen_branch", target="trash_bin") (Single arm, 6 seconds)
L11: pick(source="storage", target="bamboo_stick") (Single arm, 5 seconds)
L12: bind(source="bamboo_stick", target="broccoli_main_stem") (Dual arm, 10 seconds)
L13: place(source="bamboo_stick", target="storage") (Single arm, 6 seconds)
L14: pick(source="counter", target="rag") (Single arm, 5 seconds)
L15: wipe(source="rag", target="tool_shelf") (Single arm, 6 seconds)
L16: place(source="rag", target="counter") (Single arm, 5 seconds)
L17: pick(source="panel", target="light_control_switch") (Single arm, 3 seconds)
L18: place(source="light_control_switch", target="panel") (Single arm, 3 seconds)
agricultural greenhouse scene
Package M: Large-Scale Lettuce Transplant and Support
M1: pick(source="greenhouse_table", target="lettuce_tray") (Single arm, 5 seconds)
M2: place(source="lettuce_tray", target="prep_table") (Single arm, 6 seconds)
M3: pick(source="rack", target="shovel") (Single arm, 5 seconds)
M4: place(source="shovel", target="rack") (Single arm, 5 seconds)
M5: pick(source="cabinet", target="fertilizer_packet") (Single arm, 5 seconds)
M6: pour_into(source="fertilizer_packet", target="soil_bed_A") (Single arm, 8 seconds)
M7: place(source="fertilizer_packet", target="cabinet") (Single arm, 5 seconds)
M8: pick(source="water_station", target="watering_can") (Single arm, 5 seconds)
M9: pour_into(source="watering_can", target="soil_bed_A") (Single arm, 8 seconds)
M10: place(source="watering_can", target="water_station") (Single arm, 5 seconds)
M11: pick(source="prep_table", target="lettuce_seedling") (Single arm, 5 seconds)
M12: place(source="lettuce_seedling", target="soil_bed_A") (Single arm, 6 seconds)
M13: pick(source="support_storage", target="support_net") (Single arm, 5 seconds)
M14: bind(source="support_net", target="lettuce_seedling") (Dual arm, 10 seconds)
M15: place(source="support_net", target="support_storage") (Single arm, 6 seconds)
M16: pick(source="sensor_drawer", target="humidity_sensor") (Single arm, 5 seconds)
M17: inspect(source = "humidity_sensor", target="soil_bed_A") (Single arm, 6 seconds)
M18: place(source="humidity_sensor", target="sensor_drawer") (Single arm, 5 seconds)
agricultural greenhouse scene
Package N: Tomato Vine Management and Bed Cleaning
N1: pick(source="tool_rack", target="pruning_shears") (Single arm, 5 seconds)
N2: cut(source="pruning_shears", target="tomato_vine") (Dual arm, 10 seconds)
N3: place(source="pruning_shears", target="tool_rack") (Single arm, 5 seconds)
N4: pick(source="ground", target="cut_leaf") (Single arm, 5 seconds)
N5: place(source="cut_leaf", target="compost_bin") (Single arm, 5 seconds)
N6: pick(source="tool_box", target="twist_wire") (Single arm, 5 seconds)
N7: place(source="twist_wire", target="tool_box") (Single arm, 5 seconds)
N8: pick(source="shelf", target="rag") (Single arm, 5 seconds)
N9: wipe(source="rag", target="support_pole") (Single arm, 6 seconds)
N10: place(source="rag", target="shelf") (Single arm, 5 seconds)
N11: pick(source="monitor_station", target="humidity_sensor") (Single arm, 5 seconds)
N12: inspect(source = "humidity_sensor", target="tomato_bed") (Single arm, 6 seconds)
N13: place(source="humidity_sensor", target="monitor_station") (Single arm, 5 seconds)
N14: pick(source="control_panel", target="light_knob") (Single arm, 3 seconds)
N15: place(source="light_knob", target="control_panel") (Single arm, 3 seconds)
agricultural greenhouse scene
Package O: Lettuce Crop Transfer and Support
O1: pick(source="seedling_tray", target="lettuce_seedling") (Single arm, 5 seconds)
O2: place(source="lettuce_seedling", target="soil_bed_B") (Single arm, 6 seconds)
O3: pick(source="cabinet", target="bamboo_stake") (Single arm, 5 seconds)
O4: bind(source="bamboo_stake", target="lettuce_seedling") (Dual arm, 10 seconds)
O5: place(source="bamboo_stake", target="cabinet") (Single arm, 5 seconds)
O6: pick(source="shelf", target="fertilizer_bag") (Single arm, 5 seconds)
O7: pour_into(source="fertilizer_bag", target="soil_bed_B") (Single arm, 8 seconds)
O8: place(source="fertilizer_bag", target="shelf") (Single arm, 5 seconds)
O9: pick(source="rack", target="watering_can") (Single arm, 5 seconds)
O10: pour_into(source="watering_can", target="soil_bed_B") (Single arm, 8 seconds)
O11: place(source="watering_can", target="rack") (Single arm, 5 seconds)
O12: pick(source="drawer", target="humidity_sensor") (Single arm, 5 seconds)
O13: inspect(source = "humidity_sensor", target="soil_bed_B") (Single arm, 6 seconds)
O14: place(source="humidity_sensor", target="drawer") (Single arm, 5 seconds)
O15: pick(source="support_shelf", target="support_label") (Single arm, 4 seconds)
O16: stick_on(source="support_label", target="bamboo_stake") (Single arm, 5 seconds)
O17: place(source="support_label", target="support_shelf") (Single arm, 5 seconds)
factory scene
Package A: Assemble tool components
A1: pick(source="tool_rack", target="wrench")(Single arm, 5 seconds)
A2: place(source="wrench", target="assembly_table")(Single arm, 6 seconds)
A3: pick(source="tool_rack", target="screwdriver")(Single arm, 5 seconds)
A4: place(source="screwdriver", target="assembly_table")(Single arm, 6 seconds)
A5: pick(source="box", target="screws")(Single arm, 5 seconds)
A6: place(source="screws", target="assembly_table")(Single arm, 6 seconds)
factory scene
Package B: Prepare Electrical Tools
B1: pick(source="tool_shelf", target="voltmeter")(Single arm, 5 seconds)
B2: place(source="voltmeter", target="workbench")(Single arm, 6 seconds)
B3: pick(source="drawer", target="cable")(Single arm, 5 seconds)
B4: stick_on(source="cable", target="voltmeter")(Single arm, 8 seconds)
B5: place(source="cable", target="tool_holder")(Single arm, 5 seconds)
factory scene
Package C: Wipe Assembly Surface
C1: pick(source="cleaning_station", target="rag")(Single arm, 5 seconds)
C2: wipe(source="rag", target="assembly_table")(Single arm, 10 seconds)
C3: place(source="rag", target="cleaning_station")(Single arm, 5 seconds)
C4: pick(source="cleaning_station", target="cleaning_agent")(Single arm, 5 seconds)
C5: wipe(source="cleaning_agent", target="tool_rack")(Single arm, 10 seconds)
C6: place(source="cleaning_agent", target="cleaning_station")(Single arm, 5 seconds)
factory scene
Package D: Setup Test Bench
D1: pick(source="storage_rack", target="test_board")(Single arm, 5 seconds)
D2: place(source="test_board", target="test_bench")(Single arm, 6 seconds)
D3: pick(source="tool_rack", target="multimeter")(Single arm, 5 seconds)
D4: place(source="multimeter", target="test_bench")(Single arm, 6 seconds)
factory scene
Package E: Prepare Packing Station
E1: pick(source="supply_shelf", target="packing_box")(Single arm, 5 seconds)
E2: place(source="packing_box", target="packing_table")(Single arm, 6 seconds)
E3: pick(source="label_shelf", target="fragile_label")(Single arm, 5 seconds)
E4: stick_on(source="fragile_label", target="packing_box")(Single arm, 7 seconds)
E5: place(source="fragile_label", target="label_bin")(Single arm, 5 seconds)
factory scene
Package F: Install circuit modules
F1: pick(source="component_shelf", target="circuit_board")(Single arm, 6 seconds)
F2: place(source="circuit_board", target="work_bench")(Single arm, 6 seconds)
F3: pick(source="drawer", target="soldering_iron")(Single arm, 5 seconds)
F4: stick_on(source="soldering_iron", target="circuit_board")(Single arm, 10 seconds)
F5: place(source="soldering_iron", target="drawer")(Single arm, 5 seconds)
F6: pick(source="bin", target="cooling_fan")(Single arm, 5 seconds)
F7: place(source="cooling_fan", target="circuit_board")(Single arm, 10 seconds)
F8: pick(source="tool_rack", target="multimeter")(Single arm, 5 seconds)
F9: place(source="multimeter", target="circuit_board")(Single arm, 6 seconds)
factory scene
Package G: Final Weld and Quality Scan
G1: pick(source="rack", target="support_beam")(Single arm, 6 seconds)
G2: place(source="support_beam", target="welding_station")(Single arm, 6 seconds)
G3: pick(source="tool_rack", target="welder")(Single arm, 5 seconds)
G4: weld(source="welder", target="support_beam")(Dual arm, 12 seconds)
G5: place(source="welder", target="tool_rack")(Single arm, 5 seconds)
G6: pick(source="scanner_shelf", target="scanner")(Single arm, 5 seconds)
G7: scan(source="scanner", target="support_beam")(Single arm, 6 seconds)
G8: place(source="scanner", target="scanner_shelf")(Single arm, 5 seconds)
factory scene
Package H: Mechanical Assembly and Adjustment
H1: pick(source="component_box", target="gear_motor")(Single arm, 6 seconds)
H2: place(source="gear_motor", target="chassis")(Single arm, 6 seconds)
H3: pick(source="drawer", target="screwdriver")(Single arm, 5 seconds)
H4: tighten(source="screwdriver", target="gear_motor")(Single arm, 7 seconds)
H5: place(source="screwdriver", target="drawer")(Single arm, 5 seconds)
H6: pick(source="alignment_kit", target="laser_tool")(Single arm, 5 seconds)
H7: place(source="laser_tool", target="alignment_kit")(Single arm, 5 seconds)
factory scene
Package I: Weld and Seal Container
I1: pick(source="assembly_line", target="metal_container")(Single arm, 6 seconds)
I2: place(source="metal_container", target="clamp_station")(Single arm, 6 seconds)
I3: pick(source="tool_rack", target="welder")(Single arm, 5 seconds)
I4: weld(source="welder", target="metal_container")(Dual arm, 12 seconds)
I5: place(source="welder", target="tool_rack")(Single arm, 5 seconds)
I6: pick(source="seal_box", target="seal_sticker")(Single arm, 5 seconds)
I7: stick_on(source="seal_sticker", target="metal_container")(Single arm, 6 seconds)
I8: place(source="seal_sticker", target="label_bin")(Single arm, 5 seconds)
factory scene
Package J: Screw and Scan Assembly
J1: pick(source="drawer", target="screwdriver")(Single arm, 5 seconds)
J2: place(source="screwdriver", target="assembly_table")(Single arm, 6 seconds)
J3: pick(source="box", target="screw")(Single arm, 5 seconds)
J4: tighten(source="screwdriver", target="screw")(Single arm, 7 seconds)
J5: place(source="screw", target="fastening_point")(Single arm, 5 seconds)
J6: pick(source="scanner_rack", target="scanner")(Single arm, 5 seconds)
J7: scan(source="scanner", target="assembled_part")(Single arm, 6 seconds)
J8: place(source="scanner", target="scanner_rack")(Single arm, 5 seconds)
factory scene
Package K: Complete product packaging and quality inspection
K1: flap_open(target="packaging_box")(Single arm, 3 seconds)
K2: pick(source="assembly_line", target="finished_product")(Single arm, 6 seconds)
K3: place(source="finished_product", target="packaging_box")(Single arm, 10 seconds)
K4: flap_close(target="packaging_box")(Single arm, 3 seconds)
K5: pick(source="label_storage", target="barcode_label")(Single arm, 5 seconds)
K6: stick_on(source="barcode_label", target="packaging_box")(Single arm, 7 seconds)
K7: place(source="barcode_label", target="label_storage")(Single arm, 5 seconds)
K8: pick(source="tool_rack", target="label_gun")(Single arm, 5 seconds)
K9: stick_on(source="label_gun", target="packaging_box")(Single arm, 8 seconds)
K10: place(source="label_gun", target="tool_rack")(Single arm, 5 seconds)
K11: pick(source="quality_shelf", target="inspection_camera")(Single arm, 5 seconds)
K12: place(source="inspection_camera", target="inspection_station")(Single arm, 5 seconds)
K13: pick(source="computer_station", target="inspection_report")(Single arm, 5 seconds)
K14: place(source="inspection_report", target="review_desk")(Single arm, 5 seconds)
K15: pick(source="drawer", target="seal_stamp")(Single arm, 5 seconds)
K16: place(source="seal_stamp", target="drawer")(Single arm, 5 seconds)
K17: pick(source="table", target="packaging_box")(Single arm, 6 seconds)
K18: place(source="packaging_box", target="shipping_zone")(Single arm, 6 seconds)
factory scene
Package L: Assemble Sensor Panel with Wiring and Test
L1: pick(source="component_shelf", target="sensor_panel")(Single arm, 6s)
L2: place(source="sensor_panel", target="mounting_station")(Single arm, 6s)
L3: pick(source="drawer", target="drill")(Single arm, 5s)
L4: drill(source="drill", target="sensor_panel")(Dual arm, 10s)
L5: place(source="drill", target="drawer")(Single arm, 5s)
L6: pick(source="drawer", target="screwdriver")(Single arm, 5s)
L7: tighten(source="screwdriver", target="screws")(Single arm, 8s)
L8: place(source="screwdriver", target="drawer")(Single arm, 5s)
L9: pick(source="wire_shelf", target="cable")(Single arm, 5s)
L10: stick_on(source="cable", target="sensor_panel")(Single arm, 8s)
L11: place(source="cable", target="panel_cable_tray")(Single arm, 5s)
L12: pick(source="scanner_shelf", target="scanner")(Single arm, 5s)
L13: scan(source="scanner", target="sensor_panel")(Single arm, 6s)
L14: place(source="scanner", target="scanner_shelf")(Single arm, 5s)
factory scene
Package M: Full Control Unit Assembly with Multiphase Actions
M1: pick(source="component_shelf", target="control_board")(Single arm, 6s)
M2: place(source="control_board", target="test_bench")(Single arm, 6s)
M3: pick(source="scanner_shelf1", target="scanner1")(Single arm, 5s)
M4: scan(source="scanner1", target="control_board")(Single arm, 6s)
M5: place(source="scanner1", target="scanner_shelf1")(Single arm, 5s)
M6: pick(source="wire_rack", target="signal_cable")(Single arm, 5s)
M7: stick_on(source="signal_cable", target="control_board")(Single arm, 8s)
M8: place(source="signal_cable", target="cable_channel")(Single arm, 5s)
M9: pick(source="drawer", target="drill")(Single arm, 5s)
M10: drill(source="drill", target="cable_channel")(Dual arm, 10s)
M11: place(source="drill", target="drawer")(Single arm, 5s)
M12: pick(source="drawer", target="screwdriver")(Single arm, 5s)
M13: tighten(source="screwdriver", target="screws")(Single arm, 7s)
M14: place(source="screwdriver", target="drawer")(Single arm, 5s)
M15: pick(source="label_shelf", target="label_gun")(Single arm, 5s)
M16: stick_on(source="label_gun", target="control_box")(Single arm, 7s)
M17: place(source="label_gun", target="label_shelf")(Single arm, 5s)
factory scene
Package N: Motor Module Preparation and Multi-tool Integration
N1: pick(source="component_crate", target="motor")(Single arm, 6s)
N2: place(source="motor", target="motor_mount")(Single arm, 6s)
N3: pick(source="tool_rack", target="tightener")(Single arm, 5s)
N4: tighten(source="tightener", target="motor")(Single arm, 7s)
N5: place(source="tightener", target="tool_rack")(Single arm, 5s)
N6: pick(source="cable_bin", target="power_cable")(Single arm, 5s)
N7: stick_on(source="power_cable", target="motor")(Single arm, 8s)
N8: place(source="power_cable", target="mounting_slot")(Single arm, 5s)
N9: pick(source="label_shelf", target="barcode_label1")(Single arm, 5s)
N10: stick_on(source="barcode_label1", target="motor")(Single arm, 6s)
N11: place(source="barcode_label1", target="label_bin")(Single arm, 5s)
N12: pick(source="label_shelf", target="barcode_label2")(Single arm, 5s)
N13: stick_on(source="barcode_label2", target="motor")(Single arm, 6s)
N14: place(source="barcode_label2", target="label_bin")(Single arm, 5s)
factory scene
Package O: Drill, Weld, Screw and Certify Structural Unit
O1: pick(source="rack", target="chassis_base")(Single arm, 6s)
O2: place(source="chassis_base", target="frame_fixture")(Single arm, 6s)
O3: pick(source="drawer", target="drill")(Single arm, 5s)
O4: drill(source="drill", target="chassis_base")(Dual arm, 10s)
O5: place(source="drill", target="drawer")(Single arm, 5s)
O6: pick(source="rack", target="support_beam")(Single arm, 6s)
O7: place(source="support_beam", target="base")(Single arm, 6s)
O8: pick(source="tool_rack", target="welder")(Single arm, 5s)
O9: weld(source="welder", target="support_beam")(Dual arm, 12s)
O10: place(source="welder", target="tool_rack")(Single arm, 5s)
O11: pick(source="drawer", target="screwdriver")(Single arm, 5s)
O12: tighten(source="screwdriver", target="support_beam")(Single arm, 8s)
O13: place(source="screwdriver", target="drawer")(Single arm, 5s)
O14: pick(source="new_scanner_shelf", target="new_scanner")(Single arm, 5s)
O15: scan(source="new_scanner", target="new_motor")(Single arm, 6s)
O16: place(source="new_scanner", target="new_scanner_shelf")(Single arm, 5s)