Model Card for g05

G0.5 is a vision-language-action model from Galaxea that generates chain-of-thought text and robot actions in a single autoregressive stream on a Qwen3.5 backbone.

This checkpoint is a derivative work of G0.5 and is licensed under the G0.5 Community License Agreement (non-commercial use only), not Apache-2.0. Redistributions must include the LICENSE and NOTICE files of the G0.5 checkpoint it was derived from. It is not endorsed by Galaxea.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot g05 guide, or browse the full documentation.

Model Details

License: other
Robot type: so_follower
Cameras: front, wrist

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.state`	STATE	`(6,)`
`observation.images.front`	VISUAL	`(3, 256, 256)`
`observation.images.empty_1`	VISUAL	`(3, 256, 256)`
`observation.images.wrist`	VISUAL	`(3, 256, 256)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(6,)`

Training Dataset

Repository: maximellerbach/so101-fineart-mixed-v1
Episodes: 4000
Frames: 1747257
Frame rate: 30 FPS
Task(s): "Put the purple block in the green tray, and after that put the red block next to the purple block.", "Pick the green cylinder up.", "Move the blue cylinder in the gray box before moving the peach next to the blue cylinder.", "The jam jar goes in the pink box.", "Put the kiwi and the brown block in the brown container.", "Take the tangerine.", "Put the soda can in the gray bin.", "Raise the brown cylinder off the table.", "Collect the purple cube and the orange robot figure in the brown bin.", "Transfer the purple block to the purple box.", "Move the gray cube in the purple bin before moving the tangerine next to the yellow cube.", "Put the soda can by the corn.", "Place the blue bar next to the green cube.", "Pick the toy rhino up.", "Put the coffee cup beside the apple.", "Put the cupcake beside the soda can.", "Grab the orange and place it in the white box.", "The orange cylinder goes in the brown container.", "Collect the cyan block and the potato in the pink box.", "Transfer the toy train to the white box.", "Place the yellow cylinder into the yellow box.", "Grab the black block and place it in the purple bin.", "Store the pink block in the blue container.", "Put the orange cube in the gray box.", "First put the red block next to the pencil case, then put the white cylinder in the black box.", "Pick up the gray block and put it in the white bin.", "Transfer the yellow block to the green container.", "Place the orange robot figure next to the coffee cup.", "Set the apple down next to the black block.", "Collect the tangerine and the black block in the red box.", "Take the toy train.", "Put the tomato next to the red cube, and after that put the brown block in the green container.", "Lift the black block.", "Place the black cylinder next to the peach.", "Can you put the soda can in the gray bin?", "Pick up the magenta ink cartridge and put it in the gray bin.", "Drop the yellow cube in the green bin.", "Grab the coffee cup.", "Collect the sweet potato and the purple block in the black bin.", "Grasp the yellow bar and lift it.", "Collect the soda can and the egg in the green box.", "Move both the apple and the brown bar into the white box.", "Grab the blue block and place it in the black container.", "Put the lemon in the pink box.", "First put the white bar next to the orange cylinder, then put the yellow cylinder in the blue tray.", "Put the black block by the soda can.", "Raise the lemon off the table.", "Move the white cube so it is next to the blue block.", "Put the white cylinder by the tangerine.", "Get the pencil case.", "Put the cyan cylinder in the pink box.", "Move the soda can next to the cyan block before moving the brown cube in the yellow bin.", "Set the avocado down next to the potato.", "Put the black block beside the blue block.", "Put every object on the table inside the pink box.", "Can you pick up the beer?", "Put the orange in the orange box.", "Put the ink box next to the candle, and after that put the cheese in the white tray.", "Pick the candle up.", "Store the purple block in the orange bin.", "Grab the soda can.", "Take the purple cylinder.", "Collect the orange block and the green cube in the orange bin.", "Move the black bar in the brown bin before moving the camera lens next to the black bar.", "Sort the objects: put the cyan objects in the orange container and the black object in the purple container.", "Sort by color: purple goes in the red box, brown goes in the black box.", "Bring the cyan bar close to the purple block.", "Collect the lemon and the gray block in the orange box.", "Put the cyan cylinder and the cyan block in the red tray, and the blue block in the brown container.", "Raise the salt shaker off the table.", "Sort the objects: put the purple objects in the white box and the green object in the red container.", "Move the orange cylinder into the purple box.", "Pick up the green bar and put it in the cyan box.", "Move the apple into the brown bin.", "Take the red cylinder and drop it into the cyan bin.", "Put the soda can next to the toy train.", "Store the black bar in the white tray.", "Grasp the white block and lift it.", "Lift up the jam jar.", "Grab the lime.", "Put every object on the table inside the cyan bin.", "Move the toy triceratops into the blue bin.", "Sort by color: black goes in the white container, orange goes in the gray box.", "Grab the toy triceratops and place it in the red box.", "Put the soda can beside the potato.", "Place the purple cylinder and the black cylinder inside the cyan container.", "Move all the objects into the brown bin.", "First put the soda can in the brown container, then put the purple block next to the soda can.", "Grasp the yellow block and lift it.", "The ink box goes in the white container.", "First put the orange bar in the orange tray, then put the food can next to the cyan puck.", "The coffee cup goes in the red container.", "Move the green block into the white container.", "Can you put the toy train in the blue bin?", "Move the orange block next to the soda can.", "First put the apple in the pink container, then put the soda can next to the white cylinder.", "Transfer the gray block to the blue bin.", "Sort the objects: put the cyan objects in the orange container and the white object in the blue bin.", "First put the hot dog next to the jam jar, then put the light bulb box in the orange bin.", "Can you pick up the toy sheep?", "The yellow cylinder goes in the purple box.", "Start by moving the food can in the orange container, then move the cheese next to the brown cylinder.", "Pick up the brown cylinder.", "Sort the objects: put the pink objects in the blue box and the white object in the green bin.", "Can you put the gray block beside the food can?", "Move all the objects into the purple box.", "Move the purple puck into the white tray.", "Store the purple puck in the pink bin.", "Grab the blue bar and place it in the yellow bin.", "Put the white block inside the brown container.", "Move the white block into the blue box.", "Drop the green block in the blue container.", "Move the purple cube into the gray box.", "Get the orange cylinder.", "Take the black bar and drop it into the purple bin.", "Put every object on the table inside the black box.", "Transfer the medicine box to the brown box.", "Put the food can and the candle in the black container.", "Take the black bar.", "Pick up the cyan block.", "Sort by color: green goes in the purple tray, yellow goes in the red box.", "The white block goes in the cyan box.", "Pick up the tangerine and put it in the orange bin.", "Put the cyan block in the cyan container.", "Move the white cylinder so it is next to the food can.", "Collect everything on the table in the brown bin.", "Get the jam jar.", "Put the orange block inside the brown tray.", "Put the rolling pin beside the panda figure.", "Lift the jam jar.", "Transfer the orange puck to the orange bin.", "Can you put the orange cube in the gray bin?", "Put the tangerine next to the lemon.", "Transfer the apple to the white box.", "Put the purple cylinder in the gray box.", "Put the blue cube and the egg in the red bin.", "Pick up the blue block and put it in the yellow bin.", "Place the orange block near the black block.", "Raise the soda can off the table.", "Move the blue cylinder into the blue bin.", "First put the yellow cube in the brown box, then put the baby roller toy next to the yellow cube.", "First put the pink dog toy in the gray bin, then put the tangerine next to the pink dog toy.", "First put the gray cylinder in the white container, then put the black bar next to the tangerine.", "Move both the black bar and the cyan cube into the orange box.", "Move the white cylinder so it is next to the blue block.", "Sort the objects: put the purple objects in the orange container and the pink object in the white bin.", "Pick up the black cylinder and put it next to the toy train.", "The coffee cup goes in the blue container.", "Start by moving the pink block in the white tray, then move the black block next to the pink block.", "Bring the red block close to the blue block.", "Place the apple and the gray block inside the red container.", "Take the pink bar.", "Put the cyan cylinder next to the blue bar.", "Sort by color: blue goes in the gray box, black goes in the yellow bin.", "Put the yellow cylinder in the brown box, and after that put the yellow block next to the yellow cylinder.", "Pick up the pink cylinder and put it in the purple bin.", "Store the yellow cube in the brown tray.", "Put the white cylinder in the green container, and after that put the pink block next to the green block.", "Pick up the toy sheep.", "Put the white bar and the white block in the purple container, and the orange block in the gray bin.", "First put the soda can in the brown container, then put the red puck next to the soda can.", "Can you put the orange puck in the green container?", "Drop the red block in the gray container.", "Put the red cylinder beside the brown bar.", "Start by moving the orange next to the potato, then move the white cube in the blue box.", "Place the orange cylinder near the tangerine.", "Pick up the toy train and put it next to the coffee cup.", "Store the white cylinder in the purple tray.", "Grasp the red cylinder and lift it.", "Can you put the jam jar in the pink box?", "Put every object on the table inside the green box.", "Move the coffee cup next to the salt shaker.", "Put all the objects in the gray bin.", "Move all the objects into the cyan box.", "Start by moving the pink cylinder in the orange container, then move the soda can next to the pink cylinder.", "Collect the pink objects in the gray bin and move the black object into the cyan bin.", "Can you pick up the rolling pin?", "Put the coffee cup in the gray container, and after that put the green speaker next to the parchment box.", "Raise the gray cube off the table.", "Put the baby roller toy beside the gray bar.", "First put the toy triceratops in the yellow box, then put the cyan block next to the toy triceratops.", "First put the orange robot figure next to the orange puck, then put the mushroom in the orange bin.", "Set the tangerine down next to the yellow cube.", "Pick the black cylinder up.", "Put every object on the table inside the red box.", "Drop the pink cylinder in the white container.", "Grab the orange bar and place it in the yellow bin.", "Can you put the coffee cup in the green bin?", "Get the pill box.", "Can you put the brown block in the white container?", "Put the red cylinder inside the yellow box.", "Bring the green speaker close to the avocado.", "Place the sweet potato next to the pink block.", "Bring the beer close to the lime.", "Lift the green block.", "Move the brown cube into the yellow tray.", "Can you put the red cylinder in the white box?", "Drop the yellow block in the red bin.", "Transfer the purple bar to the gray tray.", "Grab the salt shaker and place it in the blue bin.", "Place the tangerine near the black block.", "Grab the green cube and place it in the purple bin.", "Grab the jam jar and place it in the cyan box.", "Place the black block and the orange puck inside the orange bin.", "Transfer the green block to the blue bin.", "Start by moving the gray block in the cyan container, then move the egg next to the gray block.", "Grab the camera lens and place it in the black tray.", "Grasp the red cube and lift it.", "Transfer the food can to the yellow container.", "Collect the purple objects in the white tray and move the cyan object into the orange container.", "Pick up the white cylinder.", "Grab the tangerine.", "Bring the red block close to the magenta ink cartridge.", "Place the black puck near the brown block.", "Put the kiwi by the gray block.", "Pick the coffee cup up.", "Pick the purple bar up.", "Place the gray cube into the yellow box.", "Pick up the egg and put it in the pink container.", "Start by moving the white bar next to the blue block, then move the toy rhino in the gray bin.", "Put the food can beside the candle.", "Pick up the white cylinder and put it in the gray container.", "Place the gray block into the white bin.", "Grab the cyan block and place it in the gray bin.", "Can you pick up the apple?", "Take the yellow bar.", "Put the black block inside the blue box.", "Put the purple cube next to the red block.", "Put the white cube inside the cyan container.", "Put the red cylinder in the red bin.", "Collect the green objects in the blue box and move the orange object into the white container.", "Put the jam jar in the green box.", "Collect everything on the table in the green box.", "Can you put the avocado in the red box?", "Put the peach beside the apple.", "Pick up the black cylinder and put it in the green container.", "Take the blue puck and drop it into the green box.", "Put the soda can inside the pink box.", "Put the black cylinder beside the panda figure.", "Grab the black block and place it in the brown box.", "Pick up the yellow block.", "Put the gray cylinder in the black container.", "Put the blue bar inside the gray bin.", "Place the cyan cube into the cyan bin.", "Put the white block in the pink tray, and after that put the lemon next to the light bulb box.", "Move the food can into the gray box.", "Transfer the brown block to the cyan box.", "Pick the tangerine up.", "Grasp the gray block and lift it.", "Move the green block into the red box.", "Start by moving the gray cube in the blue box, then move the soda can next to the potato.", "Drop the silver robot figure in the orange box.", "Sort the objects: put the pink objects in the purple box and the brown object in the black tray.", "Put the toy school bus next to the red block.", "Move the orange cylinder into the black bin.", "Move the red block into the white container.", "Move both the purple block and the pink cylinder into the cyan container.", "The gray cube goes in the purple bin.", "Store the pill box in the pink bin.", "First put the red cube in the cyan box, then put the toy rhino next to the red cube.", "Get the purple bar.", "Start by moving the yellow cube in the cyan box, then move the brown cube next to the yellow cube.", "Take the orange cube.", "Put the green block in the cyan tray.", "Place the soda can near the blue block.", "Store the purple cylinder in the pink container.", "Put the black block in the yellow box.", "Move the egg into the pink box.", "Move the orange robot figure next to the egg before moving the medicine box in the red tray.", "Grab the green cube.", "Move all the objects into the red box.", "Take the gray cylinder and drop it into the green container.", "Collect the cyan objects in the white bin and move the red object into the purple box.", "Move all the objects into the white bin.", "Raise the orange off the table.", "Can you put the tangerine beside the apple?", "Put every object on the table inside the gray bin.", "First put the coffee cup in the green box, then put the white cylinder next to the purple block.", "The blue cube goes in the cyan box.", "Grab the white bar and place it in the orange container.", "The soda can goes in the blue container.", "Move the jam jar next to the hot dog.", "Move the orange next to the green cylinder.", "Put the coffee cup in the white bin, and after that put the white cylinder next to the coffee cup.", "Can you put the yellow block beside the black cube?", "Grab the blue cube.", "Transfer the orange cube to the blue bin.", "Raise the apple off the table.", "Store the yellow bar in the gray box.", "Can you put the red bar beside the pink block?", "Put the coffee cup inside the pink bin.", "Lift up the green cylinder.", "Take the gray bar and drop it into the white bin.", "Pick up the food can.", "Move the pink bar next to the hot dog.", "Grasp the orange block and lift it.", "Move the gray block into the purple container.", "Place the apple into the gray box.", "Collect everything on the table in the white bin.", "Put the blue block in the blue bin, and after that put the red cylinder next to the blue block.", "Drop the coffee cup in the orange container.", "First put the red cylinder in the purple box, then put the carrot next to the red cylinder.", "Grasp the red bar and lift it.", "Take the cyan cylinder and drop it into the gray tray.", "Store the toy sheep in the brown container.", "Pick up the soda can and put it in the purple bin.", "Put all the objects in the pink tray.", "Can you put the gray cube beside the green speaker?", "First put the pink block in the brown tray, then put the purple cylinder next to the green cylinder.", "Put the white bar inside the black bin.", "Take the gray bar and drop it into the black container.", "Sort by color: pink goes in the gray box, yellow goes in the red box.", "Drop the soda can in the brown bin.", "Pick up the tangerine and put it next to the jug.", "Grab the gray cylinder and place it in the orange box.", "Set the pill box down next to the yellow block.", "Put the toy train in the black tray.", "Put the soda can and the food can in the blue box.", "Take the green cylinder and drop it into the white box.", "Sort the objects: put the yellow objects in the orange box and the purple object in the white container.", "Grab the white bar and place it in the black box.", "Grab the orange block and place it in the brown container.", "Grasp the toy school bus and lift it.", "Drop the white cylinder in the blue bin.", "Bring the yellow cylinder close to the coffee cup.", "Move the toy school bus so it is next to the pink cylinder.", "Put the coffee cup inside the blue container.", "Sort by color: gray goes in the purple tray, green goes in the pink box.", "Sort by color: purple goes in the orange bin, black goes in the cyan tray.", "Move the red cylinder next to the black block before moving the yellow cylinder in the green box.", "Grab the brown block and place it in the blue box.", "Set the purple cube down next to the brown cylinder.", "Drop the gray block in the blue container.", "Pick the purple cylinder up.", "Store the baby roller toy in the red bin.", "Put the purple block and the food can in the purple box.", "Transfer the pink block to the brown tray.", "Take the silver robot figure.", "First put the blue block in the pink tray, then put the red cube next to the blue block.", "Put the purple block and the purple cube in the black bin, and the cyan block in the white box.", "Place the orange block and the mushroom inside the orange box.", "Move the blue block into the orange bin.", "Put the egg and the orange cylinder in the cyan bin.", "Pick up the purple cylinder and put it in the cyan container.", "Move the yellow block into the yellow tray.", "Can you pick up the pink cube?", "Pick up the purple block and put it in the purple box.", "Place the jam jar next to the brown cylinder.", "Sort the objects: put the pink objects in the brown box and the red object in the green container.", "Pick up the black block and put it in the gray box.", "Store the orange bar in the cyan box.", "Bring the blue cylinder close to the pink block.", "Start by moving the orange block in the black container, then move the black cylinder next to the camera lens.", "Can you put the toy triceratops in the orange box?", "Place the black cube and the brown cube inside the purple container.", "Can you put the yellow block in the pink container?", "Move the toy school bus next to the rolling pin.", "Set the lime down next to the black block.", "Move the white cylinder into the purple bin.", "Start by moving the soda can in the white box, then move the white cylinder next to the soda can.", "Bring the white cube close to the gray bar.", "Put the green block inside the red box.", "The white block goes in the pink box.", "Pick up the jam jar and put it in the orange box.", "Move the egg in the yellow bin before moving the brown cube next to the red puck.", "Sort the objects: put the green objects in the pink bin and the black object in the gray container.", "Grab the red cylinder.", "Put the pink dog toy inside the white tray.", "Sort the objects: put the pink objects in the yellow bin and the orange object in the blue tray.", "Put the cheese by the red block.", "Drop the green cylinder in the purple box.", "Collect the blue objects in the pink container and move the yellow object into the red container.", "Put the white block next to the yellow bar.", "Pick up the rolling pin.", "Put the orange cylinder and the purple block in the gray box.", "Can you put the pink bar in the purple bin?", "Store the pink cylinder in the orange box.", "Collect the black block and the food can in the yellow container.", "Sort the objects: put the blue objects in the brown tray and the yellow object in the cyan box.", "Move all the objects into the yellow box.", "Sort by color: green goes in the yellow box, black goes in the brown box.", "Lift up the orange block.", "Place the green cylinder next to the orange.", "Move the brown bar so it is next to the coffee cup.", "Put every object on the table inside the yellow container.", "Pick up the toy triceratops and put it next to the brown cylinder.", "Move the egg so it is next to the orange block.", "Put the white cylinder next to the toy train.", "Move the toy rhino so it is next to the gray block.", "Set the salt shaker down next to the food box.", "Put the yellow bar in the orange bin.", "Pick up the orange robot figure and put it next to the corn.", "First put the food box in the purple box, then put the red cube next to the food box.", "Bring the salt shaker close to the green cylinder.", "Set the lime down next to the tangerine.", "Pick up the light bulb box.", "Set the cyan cylinder down next to the egg.", "Set the tangerine down next to the orange robot figure.", "Place the blue block next to the pink cylinder.", "Drop the pink block in the black box.", "Place the purple block and the peach inside the black box.", "Bring the gray cylinder close to the green cylinder.", "Move the toy train so it is next to the toy rhino.", "Put all the objects in the pink box.", "Collect the cyan cylinder and the peach in the purple tray.", "Place the gray block next to the green cylinder.", "First put the pink cube in the blue bin, then put the pill box next to the pink cube.", "Move the cupcake next to the blue cylinder before moving the coffee cup in the brown box.", "Put the pill box inside the pink bin.", "Put the purple bar next to the baby roller toy.", "Collect the purple objects in the orange box and move the black object into the yellow box.", "Put the soda can in the yellow container, and after that put the blue block next to the soda can.", "Pick up the blue cylinder and put it next to the potato.", "Move the black block into the orange container.", "Place the yellow block near the pink dog toy.", "Put the pill box inside the pink container.", "Move the yellow block into the green container.", "Take the gray cylinder and drop it into the pink tray.", "The food can goes in the cyan box.", "Pick up the orange cylinder.", "Put the yellow block in the yellow box.", "Lift up the yellow block.", "Take the black block and drop it into the yellow container.", "Move the green bar into the brown bin.", "The pink block goes in the cyan box.", "Set the block box down next to the lime.", "Move the orange into the brown box.", "Place the cyan bar and the purple block inside the green container.", "Grasp the potato and lift it.", "Drop the pink cube in the white container.", "Collect the blue objects in the yellow bin and move the gray object into the green tray.", "Put the pink cylinder next to the baby roller toy.", "Collect the blue objects in the brown bin and move the red object into the black box.", "Sort by color: white goes in the orange bin, brown goes in the purple box.", "Place the toy sheep into the pink bin.", "Collect the orange cylinder and the black cylinder in the black bin.", "Sort by color: yellow goes in the green container, red goes in the cyan bin.", "Pick up the apple.", "Put every object on the table inside the white box.", "Put the parchment box next to the medicine box, and after that put the pink puck in the orange tray.", "Grab the black block and place it in the pink bin.", "The yellow block goes in the green container.", "Put the pink bar inside the brown box.", "Start by moving the blue bar next to the orange cube, then move the green puck in the blue container.", "Collect the black objects in the purple container and move the green object into the pink bin.", "Collect everything on the table in the blue tray.", "Move the purple cylinder in the brown bin before moving the salt shaker next to the purple cylinder.", "Get the white bar.", "The green cylinder goes in the pink container.", "Sort by color: green goes in the red container, purple goes in the cyan bin.", "Move the black cube into the purple container.", "Store the green cylinder in the blue bin.", "Can you put the tangerine beside the cyan block?", "Move the food can so it is next to the purple block.", "Move all the objects into the brown box.", "Pick up the white block and put it in the purple container.", "Can you pick up the lemon?", "Move the tangerine in the black box before moving the potato next to the sweet potato.", "Sort the objects: put the white objects in the cyan container and the purple object in the yellow tray.", "Take the black block and drop it into the cyan container.", "Raise the green puck off the table.", "Raise the peach off the table.", "Move the white cylinder so it is next to the sweet potato.", "Place the medicine box into the orange box.", "Take the gray cylinder and drop it into the green bin.", "Place the yellow cylinder next to the brown block.", "Take the red cube.", "Put the pink cylinder and the pink cube in the orange box, and the purple block in the cyan box.", "Store the pink block in the red box.", "Put the apple next to the gray cylinder.", "Set the egg down next to the white block.", "Put the cyan block inside the yellow bin.", "Put the green cylinder next to the blue cylinder, and after that put the pill box in the gray tray.", "Move the jam jar next to the lime.", "Place the orange cylinder next to the black cube.", "Move the yellow block into the brown box.", "Move the jug in the green bin before moving the hot dog next to the black block.", "The cyan bar goes in the white container.", "Move both the brown block and the white cylinder into the orange container.", "Store the egg in the green bin.", "Set the orange bar down next to the egg.", "Collect the pink bar and the cyan cylinder in the purple box.", "Pick up the blue block and put it in the yellow container.", "Collect the purple objects in the brown bin and move the red object into the pink box.", "Move the yellow bar into the pink box.", "Store the white cylinder in the black bin.", "Place the orange next to the pink cube.", "Drop the green bar in the cyan bin.", "Put the medicine box in the red tray.", "Put the brown cylinder in the black box, and after that put the blue cylinder next to the black block.", "Sort by color: cyan goes in the yellow bin, blue goes in the gray container.", "First put the jam jar in the brown box, then put the pink cube next to the jam jar.", "Grasp the orange cylinder and lift it.", "Collect everything on the table in the orange container.", "Store the panda figure in the cyan container.", "Pick the pink block up.", "Take the red block.", "Place the orange into the blue container.", "Put every object on the table inside the white container.", "Put the brown cylinder in the red tray, and after that put the hot dog next to the cyan block.", "Get the toy train.", "Can you pick up the cyan bar?", "Put the brown block next to the cyan block.", "Move the kiwi in the orange container before moving the cheese next to the blue block.", "Put the salt shaker in the red bin.", "Put the soda can inside the pink container.", "Move the blue cube into the orange box.", "Place the white block and the green cylinder inside the purple box.", "Move the brown block into the pink bin.", "Transfer the orange block to the blue box.", "Transfer the gray cylinder to the gray container.", "Collect the black cylinder and the salt shaker in the orange container.", "Move the orange bar into the purple bin.", "Place the peach into the green box.", "Raise the green cube off the table.", "Grab the salt shaker and place it in the red box.", "Move the brown cylinder next to the orange robot figure before moving the red cylinder in the black box.", "Raise the corn off the table.", "Grab the green cylinder and place it in the yellow box.", "Start by moving the coffee cup in the yellow container, then move the tangerine next to the gray cylinder.", "Can you pick up the parchment box?", "Put the coffee cup in the gray tray, and after that put the gray bar next to the coffee cup.", "Pick up the cyan bar and put it in the purple container.", "First put the lemon in the green bin, then put the gray block next to the green block.", "Put the tangerine in the brown box.", "Store the white cube in the pink bin.", "Collect the cyan objects in the pink box and move the black object into the white bin.", "Put the candle in the yellow tray, and after that put the jam jar next to the candle.", "Put the cyan cube by the lemon.", "Pick up the coffee cup and put it in the cyan box.", "Collect the egg and the orange robot figure in the brown container.", "Collect the green block and the light bulb box in the blue tray.", "Drop the ink box in the purple box.", "Place the gray block near the blue cylinder.", "Store the purple cylinder in the pink box.", "Put the white cylinder beside the pink block.", "Move the panda figure next to the block box.", "Move the pink cylinder next to the white cylinder.", "Collect the jam jar and the blue block in the orange box.", "Grasp the magenta ink cartridge and lift it.", "Transfer the tangerine to the white box.", "First put the red cube in the black container, then put the black block next to the red cube.", "Pick up the brown block and put it next to the purple block.", "First put the orange robot figure in the green box, then put the white cylinder next to the apple.", "The baby roller toy goes in the blue box.", "Move the white cylinder in the brown container before moving the yellow cylinder next to the white cylinder.", "Place the silver robot figure near the green cube.", "Take the egg.", "First put the green bar in the purple bin, then put the yellow block next to the green bar.", "Move the toy school bus so it is next to the corn.", "Collect the blue block and the yellow bar in the white container.", "Can you put the yellow bar in the red box?", "Take the soda can and drop it into the red bin.", "Move the camera lens into the gray box.", "Take the orange cylinder.", "Collect the tangerine and the green cylinder in the purple bin.", "Grab the white puck and place it in the purple tray.", "Can you put the blue bar in the cyan container?", "Get the yellow block.", "The purple bar goes in the red box.", "Lift the blue block.", "Put the pink block next to the sweet potato, and after that put the blue block in the brown tray.", "Grab the egg.", "Move the red bar in the yellow container before moving the purple cylinder next to the red bar.", "Lift up the food can.", "Transfer the red block to the brown bin.", "Transfer the yellow cylinder to the black box.", "Take the pill box and drop it into the pink bin.", "Take the yellow cylinder and drop it into the blue container.", "Raise the tangerine off the table.", "Put the toy triceratops next to the egg, and after that put the blue cylinder in the orange tray.", "Move the apple in the black box before moving the pink cube next to the apple.", "Set the yellow cylinder down next to the ink box.", "Put the brown block beside the candle.", "Set the orange block down next to the blue bar.", "Collect everything on the table in the gray box.", "Set the green block down next to the green cylinder.", "Set the toy rhino down next to the apple.", "Drop the cyan block in the green container.", "Pick the cheese up.", "Pick the brown puck up.", "Place the pink block into the white tray.", "Put the cupcake and the cyan puck in the pink box.", "Place the pink cylinder into the red bin.", "Store the yellow cube in the black box.", "Grab the panda figure and place it in the pink tray.", "Move the lemon so it is next to the cheese.", "Place the pink cylinder into the yellow box.", "Store the egg in the cyan bin.", "Store the coffee cup in the white container.", "Transfer the ink box to the yellow box.", "Place the green speaker near the carrot.", "Collect the white cylinder and the potato in the red box.", "Transfer the orange cylinder to the orange box.", "Put the white cylinder inside the red tray.", "Grab the cyan block.", "Pick the salt shaker up.", "Put the yellow block in the pink box.", "Collect the purple objects in the red box and move the cyan object into the black box.", "Pick up the blue cube and put it in the black box.", "Start by moving the orange cube in the pink box, then move the green block next to the orange cube.", "Drop the white bar in the green tray.", "Can you put the purple block in the white box?", "Move the blue cylinder next to the brown cylinder before moving the egg in the black box.", "Collect the white cylinder and the white cube in the white tray.", "Put the pencil case in the orange container, and after that put the blue block next to the pink bar.", "Pick up the blue cylinder and put it next to the apple.", "Place the yellow cylinder and the lemon inside the purple box.", "Move the hot dog next to the pink dog toy before moving the salt shaker in the black tray.", "Put the purple block and the gray bar in the red container.", "Grasp the pink bar and lift it.", "Put the green block beside the coffee cup.", "Put all the objects in the green box.", "Pick up the cyan cube and put it in the purple container.", "Can you put the apple beside the silver robot figure?", "Place the blue cylinder and the blue block inside the blue tray.", "Transfer the orange cylinder to the black bin.", "Get the white cylinder.", "Collect the purple bar and the yellow bar in the cyan tray.", "Put the yellow cylinder and the yellow block in the pink box, and the blue cylinder in the red box.", "Move the green cylinder into the gray container.", "Collect the yellow objects in the black container and move the pink object into the purple box.", "Drop the gray cube in the cyan box.", "Place the blue bar and the cyan bar inside the blue box.", "Can you put the tomato beside the yellow cylinder?", "Grab the pink block and place it in the orange box.", "Grab the black block and place it in the blue box.", "Can you put the peach beside the tangerine?", "Put all the objects in the blue box.", "Transfer the toy school bus to the cyan bin.", "Put the sweet potato next to the tangerine.", "Can you pick up the purple cube?", "Set the cyan cylinder down next to the beer.", "Pick up the yellow cube and put it in the cyan bin.", "Store the orange cube in the green container.", "Move the red bar next to the coffee cup.", "Move the tomato in the cyan container before moving the gray cylinder next to the light bulb box.", "Place the orange block into the white container.", "Take the cyan cube.", "Drop the pink cylinder in the brown box.", "Raise the pink block off the table.", "Transfer the apple to the black box.", "Raise the food can off the table.", "First put the silver robot figure in the blue container, then put the brown block next to the silver robot figure.", "The gray cube goes in the green bin.", "Move the pink cylinder so it is next to the cyan cylinder.", "Put the white cylinder next to the jam jar.", "Put the egg inside the white tray.", "Grab the orange and place it in the green box.", "Drop the cyan bar in the pink box.", "Get the food box.", "Drop the red bar in the green box.", "Transfer the gray block to the red container.", "Move the gray block next to the toy rhino.", "Can you put the orange in the red bin?", "Grab the coffee cup and place it in the gray box.", "Bring the gray bar close to the hot dog.", "Transfer the apple to the yellow tray.", "Can you pick up the yellow puck?", "Can you put the purple cylinder in the red bin?", "Collect the red block and the lemon in the brown box.", "The apple goes in the blue box.", "Put the food can in the gray container.", "Bring the cyan block close to the purple cube.", "Can you pick up the purple cylinder?", "Grasp the peach and lift it.", "Grasp the green bar and lift it.", "Move the green cylinder into the red box.", "Transfer the cyan bar to the green box.", "Place the orange next to the tomato.", "Get the gray block.", "Sort by color: brown goes in the black box, green goes in the blue container.", "Put the white block next to the magenta ink cartridge.", "Can you put the camera lens beside the cyan block?", "Take the food can.", "The salt shaker goes in the green bin.", "Transfer the magenta ink cartridge to the yellow container.", "Put the orange block in the purple box.", "Sort by color: green goes in the blue bin, black goes in the pink bin.", "Move the red block so it is next to the soda can.", "Put all the objects in the purple bin.", "The pink cylinder goes in the brown container.", "First put the baby roller toy next to the potato, then put the jam jar in the cyan bin.", "Transfer the silver robot figure to the white bin.", "Take the toy car carrier.", "Transfer the red block to the cyan container.", "Put every object on the table inside the purple tray.", "Bring the black cylinder close to the magenta ink cartridge.", "Sort the objects: put the gray objects in the orange container and the white object in the blue tray.", "Pick up the orange robot figure and put it next to the black cylinder.", "Place the pink cylinder into the pink box.", "Pick up the orange robot figure and put it in the pink container.", "Put the lemon next to the yellow bar, and after that put the toy school bus in the purple bin.", "Get the rolling pin.", "Move the medicine box next to the gray puck.", "Move the apple into the gray box.", "Take the baby roller toy.", "Put the white cube in the yellow bin, and after that put the gray block next to the white cube.", "Put the parchment box in the blue bin, and after that put the gray cylinder next to the blue block.", "Pick up the red cylinder and put it in the blue box.", "Pick up the lemon.", "Put the parchment box by the blue cylinder.", "Get the blue puck.", "Get the cupcake.", "Set the yellow cube down next to the white cube.", "Move all the objects into the white box.", "Put the pink cylinder and the soda can in the orange container.", "Move the green bar next to the coffee cup before moving the peach in the red container.", "Can you put the salt shaker in the pink container?", "First put the jam jar in the pink tray, then put the black block next to the pink block.", "Pick up the salt shaker.", "Put the gray cylinder inside the black box.", "Put the apple by the green block.", "Place the coffee cup near the cucumber.", "Store the purple block in the red container.", "Collect the green objects in the red container and move the pink object into the purple bin.", "Pick up the lime and put it in the pink box.", "First put the purple cylinder in the brown box, then put the yellow bar next to the cyan block.", "Put the purple block in the cyan box.", "Move the orange cylinder next to the medicine box.", "Put the pink block inside the cyan box.", "Lift the magenta ink cartridge.", "Place the white cylinder next to the rolling pin.", "Set the toy sheep down next to the pill box.", "Pick up the apple and put it next to the pencil case.", "Sort by color: white goes in the orange box, pink goes in the black box.", "Place the red block near the medicine box.", "Put the apple by the toy train.", "Can you put the tangerine beside the gray bar?", "Transfer the black bar to the green box.", "Collect the pink dog toy and the magenta ink cartridge in the white bin.", "Pick the purple cube up.", "Lift up the cheese.", "Transfer the orange to the blue container.", "Place the cyan cylinder next to the white block.", "Store the blue cube in the red bin.", "Take the purple cylinder and drop it into the cyan box.", "Move the mushroom next to the coffee cup.", "Put the gray block beside the green block.", "Pick up the coffee cup and put it in the orange box.", "First put the pink block next to the red block, then put the silver robot figure in the white tray.", "Place the cyan cube and the black bar inside the yellow container.", "Move the black cube so it is next to the red cylinder.", "Move the pink block into the white container.", "Take the soda can and drop it into the blue container.", "Pick up the cyan block and put it next to the white cylinder.", "Move the gray cylinder into the pink box.", "Take the rolling pin.", "Drop the purple bar in the black box.", "Grab the salt shaker and place it in the green box.", "Take the black bar and drop it into the gray container.", "Pick up the candle and put it in the pink box.", "Transfer the yellow cylinder to the blue box.", "Place the pink cylinder into the pink tray.", "First put the orange block in the white box, then put the yellow cylinder next to the black block.", "Set the soda can down next to the blue bar.", "Move both the mushroom and the green cube into the yellow container.", "Put the red bar inside the yellow container.", "Place the brown bar near the black cube.", "Put the toy train next to the orange cylinder.", "Can you pick up the pink bar?", "Place the gray cylinder into the black bin.", "Pick up the green bar and put it next to the red cylinder.", "Grab the blue block and place it in the black box.", "Place the egg next to the green bar.", "Pick up the black cylinder and put it next to the red bar.", "Sort by color: gray goes in the orange box, blue goes in the yellow box.", "Raise the brown block off the table.", "Take the yellow puck and drop it into the pink box.", "Raise the purple cube off the table.", "The pill box goes in the gray container.", "Move the pink block so it is next to the food can.", "Bring the peach close to the potato.", "Place the red cube and the soda can inside the green box.", "Grab the cyan cylinder and place it in the green box.", "Sort by color: gray goes in the pink box, cyan goes in the black bin.", "First put the tangerine next to the red block, then put the blue block in the red bin.", "Put the ink box inside the red tray.", "Move the lemon into the blue bin.", "Place the green bar and the cyan bar inside the brown bin.", "Sort the objects: put the blue objects in the red bin and the brown object in the black bin.", "Transfer the coffee cup to the purple box.", "Put the purple cylinder in the black box.", "Move both the brown bar and the brown cylinder into the blue container.", "Put the corn by the panda figure.", "Sort the objects: put the green objects in the cyan box and the black object in the red tray.", "Put all the objects in the purple tray.", "Transfer the gray bar to the gray container.", "Put the peach and the white bar in the yellow tray.", "Put the candle inside the black tray.", "Grab the panda figure and place it in the brown bin.", "Start by moving the medicine box in the gray container, then move the jam jar next to the medicine box.", "Collect the white bar and the gray cylinder in the purple container.", "Place the orange next to the toy triceratops.", "Place the pink puck into the purple container.", "Put the yellow cylinder next to the sweet potato.", "Put the yellow cylinder inside the gray container.", "Put the green cube inside the yellow bin.", "Lift the cyan block.", "Place the cyan cube near the salt shaker.", "Get the coffee cup.", "Move the lemon next to the medicine box.", "Put the pink block next to the pink cylinder, and after that put the green cylinder in the red bin.", "Move both the green block and the green cube into the orange box.", "Put every object on the table inside the yellow box.", "Put the soda can in the black bin.", "Lift up the blue block.", "Put the orange block and the white block in the yellow tray.", "Bring the gray block close to the pencil case.", "Transfer the salt shaker to the white box.", "Collect the purple objects in the green container and move the cyan object into the white box.", "Bring the green cylinder close to the cyan block.", "Place the tangerine near the orange cylinder.", "Place the cyan bar next to the cheese.", "Grab the gray cube and place it in the red box.", "Put the magenta ink cartridge beside the apple.", "Take the soda can.", "Put the cyan cylinder next to the green block.", "Sort the objects: put the yellow objects in the cyan box and the gray object in the pink container.", "Lift the potato.", "Put the green cylinder and the gray block in the red box.", "Take the blue block and drop it into the red box.", "Move the candle in the pink container before moving the salt shaker next to the candle.", "Take the yellow cylinder and drop it into the green tray.", "Pick up the pink block.", "Get the light bulb box.", "Take the white cylinder and drop it into the pink box.", "Put the green cylinder in the orange bin.", "Can you pick up the pill box?", "Collect the black objects in the brown bin and move the green object into the orange container.", "Place the red bar and the green block inside the purple bin.", "Move the salt shaker next to the lime before moving the camera lens in the brown box.", "Start by moving the black cylinder in the blue container, then move the toy rhino next to the black cylinder.", "The black cube goes in the white tray.", "Move the yellow puck in the green bin before moving the purple bar next to the yellow puck.", "Move the block box next to the green cylinder.", "Move both the cyan block and the cyan cube into the gray box.", "Place the pink block near the black cylinder.", "Put the green block next to the red cylinder, and after that put the brown cube in the purple bin.", "Collect the black objects in the purple container and move the white object into the pink bin.", "Can you pick up the pink block?", "Put the cyan cylinder in the brown container.", "Lift up the white block.", "Put the white block and the cyan cylinder in the red tray.", "Move both the orange and the orange block into the blue container.", "Take the pink cylinder.", "Put every object on the table inside the pink container.", "Put the salt shaker inside the gray box.", "Place the cheese near the gray bar.", "Lift up the orange cylinder.", "Pick up the soda can and put it in the purple container.", "Can you put the food can in the gray bin?", "Drop the black block in the cyan container.", "Put every object on the table inside the gray box.", "Put the blue puck inside the green tray.", "Sort by color: pink goes in the orange box, white goes in the green container.", "Lift up the toy car carrier.", "Lift up the brown cylinder.", "Move the pill box next to the salt shaker.", "First put the coffee cup in the yellow box, then put the white bar next to the coffee cup.", "Place the green block and the avocado inside the blue box.", "Put the orange block inside the white box.", "Take the cyan cylinder and drop it into the red tray.", "Collect everything on the table in the orange box.", "Transfer the salt shaker to the red container.", "Put the cyan bar inside the blue box.", "Transfer the red cube to the blue bin.", "Lift the baby roller toy.", "Move the gray block in the cyan container before moving the white block next to the gray block.", "Put the blue block inside the yellow bin.", "Raise the red block off the table.", "Put the cyan block inside the pink bin.", "Put the gray cylinder in the purple bin.", "Set the pink cylinder down next to the yellow block.", "Put the orange block and the black cylinder in the white box.", "Put the jam jar by the yellow cube.", "Grab the salt shaker and place it in the brown tray.", "Put the avocado beside the pink block.", "Collect the salt shaker and the cyan block in the gray container.", "Put the yellow block and the yellow bar in the cyan tray, and the blue block in the orange container.", "Can you put the silver robot figure in the brown container?", "Put the pink dog toy in the green box.", "Can you put the potato beside the tangerine?", "Transfer the yellow block to the gray bin.", "Put the purple block inside the black bin.", "Move both the apple and the cyan block into the green bin.", "Collect the blue block and the black cylinder in the yellow tray.", "Move the pink cylinder in the brown tray before moving the blue block next to the pink cylinder.", "Take the pink cylinder and drop it into the orange box.", "Sort by color: brown goes in the black tray, white goes in the cyan box.", "Lift up the blue cylinder.", "Put the cyan block and the cyan cube in the red box, and the brown bar in the yellow bin.", "Put the jam jar inside the cyan tray.", "Take the purple cube and drop it into the orange container.", "Pick up the black cube and put it in the brown box.", "Move the apple in the blue bin before moving the soda can next to the apple.", "Drop the food can in the yellow tray.", "Pick up the salt shaker and put it next to the tomato.", "The orange block goes in the white box.", "Pick up the pink bar and put it in the white box.", "Move the gray bar so it is next to the tangerine.", "Can you put the purple block in the white bin?", "Can you pick up the yellow cube?", "Store the green block in the green tray.", "Move both the green cylinder and the toy sheep into the purple box.", "Put the yellow block next to the egg.", "Put the gray block beside the food box.", "Move the peach so it is next to the tangerine.", "Grab the tangerine and place it in the pink box.", "Put the green cylinder inside the pink tray.", "Pick the green cube up.", "Take the brown cylinder and drop it into the purple container.", "Put the purple cylinder and the green cylinder in the orange bin.", "Collect the apple and the soda can in the cyan box.", "Collect everything on the table in the brown box.", "First put the gray block next to the cyan block, then put the toy triceratops in the green box.", "Move all the objects into the white tray.", "The apple goes in the green bin.", "Collect the yellow objects in the black box and move the white object into the brown bin.", "Drop the green block in the blue bin.", "Can you put the potato beside the avocado?", "Sort by color: yellow goes in the red bin, cyan goes in the gray bin.", "Drop the tangerine in the cyan box.", "Can you put the black block in the black bin?", "Sort by color: green goes in the brown tray, cyan goes in the black box.", "Move the red cylinder in the pink box before moving the cyan block next to the cyan cylinder.", "Put the blue cube in the yellow bin.", "Move the pink block in the gray box before moving the gray block next to the pink block.", "Place the red block and the pink cube inside the purple box.", "Pick the mushroom up.", "The red bar goes in the red box.", "Store the black block in the yellow box.", "Place the peach near the gray block.", "Put every object on the table inside the red container.", "Pick up the yellow block and put it next to the white cylinder.", "Place the yellow cylinder into the gray bin.", "Place the magenta ink cartridge into the gray bin.", "Can you put the gray block in the gray bin?", "Drop the blue cylinder in the cyan bin.", "Transfer the green cylinder to the yellow box.", "Pick up the purple block.", "Grab the cyan block and place it in the purple bin.", "Put the camera lens in the orange container.", "Start by moving the brown cylinder in the purple container, then move the green bar next to the orange robot figure.", "Put the cyan bar and the cyan block in the green container, and the blue block in the orange tray.", "Pick the white block up.", "Place the white block and the pink cylinder inside the green container.", "Take the blue block and drop it into the green bin.", "Move the green cylinder so it is next to the pencil case.", "Can you put the salt shaker in the green box?", "Store the brown block in the green box.", "Move all the objects into the brown tray.", "Get the brown puck.", "Store the purple cylinder in the orange box.", "Put the peach inside the cyan bin.", "Grab the cyan cylinder and place it in the blue bin.", "Can you pick up the blue block?", "Set the brown cylinder down next to the red block.", "The purple block goes in the black container.", "Store the purple cylinder in the green bin.", "Place the apple near the food can.", "Place the white cylinder into the red box.", "Put the camera lens in the cyan tray.", "Put the hot dog by the yellow block.", "Sort by color: red goes in the white container, yellow goes in the blue container.", "Lift the egg.", "Transfer the brown bar to the pink tray.", "Can you put the white block beside the pill box?", "Take the sweet potato.", "Take the green cylinder and drop it into the cyan bin.", "Place the cyan puck and the candle inside the white bin.", "Can you put the black cylinder beside the gray bar?", "Set the brown bar down next to the blue cylinder.", "Can you put the white block in the gray bin?", "Lift the parchment box.", "Put the black cylinder in the gray bin.", "Pick up the orange cylinder and put it next to the coffee cup.", "Grab the gray cube.", "Store the pill box in the yellow box.", "Place the pink dog toy into the red bin.", "First put the red cylinder next to the coffee cup, then put the pink cube in the white container.", "Store the pink cylinder in the orange bin.", "Can you put the green block in the green box?", "Can you put the food can beside the soda can?", "The pink cylinder goes in the cyan box.", "Pick up the cyan bar and put it in the green box.", "Move the soda can in the red box before moving the brown cylinder next to the soda can.", "Sort the objects: put the black objects in the white box and the cyan object in the blue bin.", "Store the gray block in the purple container.", "Lift up the apple.", "Pick the red bar up.", "Put the pink block in the black tray.", "Set the orange cylinder down next to the white block.", "Take the toy triceratops.", "Can you put the cyan bar beside the corn?", "Take the pink cylinder and drop it into the black box.", "Transfer the white block to the brown box.", "Can you put the light bulb box beside the corn?", "Start by moving the red block in the purple container, then move the gray cube next to the yellow block.", "Store the purple bar in the green box.", "Move the blue cylinder so it is next to the potato.", "Drop the red cylinder in the green container.", "Pick up the apple and put it next to the purple cylinder.", "Place the yellow block next to the cupcake.", "Move the gray cylinder so it is next to the potato.", "The cyan cylinder goes in the brown bin.", "Sort the objects: put the brown objects in the white container and the pink object in the blue box.", "Set the salt shaker down next to the apple.", "Take the brown cylinder and drop it into the orange container.", "Place the pink cylinder and the red block inside the pink container.", "Put the jam jar next to the red block, and after that put the lemon in the green bin.", "First put the yellow block in the gray box, then put the blue cylinder next to the yellow block.", "Put the blue block in the pink container.", "Can you put the purple block in the red box?", "Collect the cupcake and the camera lens in the green container.", "Put the black bar and the black cube in the purple bin, and the yellow block in the green bin.", "Move the cyan bar next to the food can.", "Move the red cylinder so it is next to the corn.", "Pick up the cyan block and put it next to the red cylinder.", "Take the salt shaker and drop it into the brown box.", "Lift the brown cylinder.", "Transfer the salt shaker to the pink container.", "Move the peach next to the gray puck.", "Put the green cube in the brown box, and after that put the magenta ink cartridge next to the green cube.", "Move all the objects into the blue tray.", "Store the egg in the cyan tray.", "Can you pick up the potato?", "Move the food box next to the potato before moving the lemon in the white box.", "Start by moving the toy triceratops in the white box, then move the purple cube next to the toy triceratops.", "Grab the cyan block and place it in the yellow tray.", "Grab the salt shaker.", "Start by moving the orange cylinder in the gray box, then move the gray block next to the orange cylinder.", "Move all the objects into the gray container.", "Move the white block next to the green cylinder.", "Put the white block by the lemon.", "Take the orange cube and drop it into the purple bin.", "Put the yellow bar by the pink block.", "Put the coffee cup in the yellow container, and after that put the egg next to the purple bar.", "Put all the objects in the orange container.", "The cyan cube goes in the black tray.", "Sort by color: black goes in the pink bin, green goes in the orange box.", "Take the white cylinder and drop it into the purple bin.", "Can you put the cupcake in the pink box?", "Start by moving the pink dog toy next to the red cylinder, then move the gray block in the red box.", "Put the black cube inside the gray box.", "The purple block goes in the red box.", "Bring the parchment box close to the food can.", "Store the potato in the black bin.", "Move all the objects into the gray bin.", "Place the light bulb box next to the food can.", "Store the food can in the pink box.", "First put the green block in the yellow box, then put the white block next to the green block.", "Move the cyan block next to the red block.", "Move the yellow cube into the purple container.", "Pick up the purple cylinder and put it next to the tangerine.", "Put the cyan block by the cyan bar.", "Move the pink cylinder so it is next to the coffee cup.", "Move the black cube next to the pink bar.", "Transfer the food can to the white container.", "Take the cheese.", "Bring the salt shaker close to the cyan block.", "Put the pencil case beside the block box.", "Raise the blue cylinder off the table.", "Place the candle near the orange block.", "Move the potato next to the white cylinder.", "Can you put the sweet potato beside the lemon?", "Lift the candle.", "Transfer the food can to the cyan box.", "Place the peach next to the pencil case.", "Can you put the toy rhino in the white tray?", "Start by moving the pink dog toy in the white bin, then move the jam jar next to the pink dog toy.", "The pill box goes in the cyan bin.", "Put the pink block and the coffee cup in the blue container.", "Set the food can down next to the lime.", "Put the gray block inside the blue bin.", "Grab the pink cylinder and place it in the yellow bin.", "Store the ink box in the orange bin.", "The gray bar goes in the purple bin.", "Set the salt shaker down next to the white cylinder.", "Put the yellow block and the yellow cube in the blue box, and the black cylinder in the red container.", "Pick up the pink cube and put it next to the brown block.", "Bring the food box close to the white block.", "Pick up the food can and put it in the orange container.", "Can you put the pink block in the pink container?", "Move the orange next to the gray cylinder.", "Move the medicine box into the pink bin.", "Place the black cube next to the black block.", "Can you put the orange robot figure in the red box?", "Grab the gray cube and place it in the green container.", "Place the black cube into the red box.", "Pick the potato up.", "Can you put the coffee cup in the red tray?", "Drop the cyan block in the yellow box.", "Can you put the orange block in the pink box?", "Put every object on the table inside the orange container.", "Get the red cylinder.", "Place the blue cylinder near the blue cube.", "Bring the salt shaker close to the blue cylinder.", "Can you put the white cylinder in the yellow container?", "Set the tangerine down next to the purple block.", "Lift up the gray block.", "Put the purple block inside the cyan container.", "Grab the black cylinder and place it in the red box.", "Pick up the candle and put it in the orange container.", "Sort by color: orange goes in the white bin, green goes in the yellow box.", "Can you put the coffee cup in the pink box?", "Set the apple down next to the corn.", "Put the pink dog toy in the pink container.", "Pick up the jam jar and put it in the orange container.", "Pick up the blue bar and put it next to the beer.", "Can you put the green block in the cyan bin?", "Place the purple block and the apple inside the black bin.", "Take the pencil case.", "Sort by color: cyan goes in the yellow container, brown goes in the purple bin.", "Move the yellow block in the yellow tray before moving the orange cube next to the yellow block.", "Put the magenta ink cartridge next to the lemon.", "First put the apple in the yellow bin, then put the green speaker next to the yellow bar.", "Place the blue block and the red cylinder inside the green container.", "Lift up the egg.", "Collect the blue objects in the green box and move the black object into the yellow box.", "The pink bar goes in the pink tray.", "Pick up the purple cylinder and put it in the pink container.", "Transfer the pink cube to the white container.", "The ink box goes in the black container.", "Put the soda can beside the egg.", "Grab the white bar and place it in the orange bin.", "Take the purple cylinder and drop it into the gray tray.", "Pick the yellow block up.", "Collect everything on the table in the green container.", "Put the cupcake by the pink dog toy.", "Bring the block box close to the toy rhino.", "Transfer the white cylinder to the black box.", "Start by moving the white block in the purple box, then move the pink cube next to the white block.", "Pick up the mushroom and put it in the yellow bin.", "Can you put the pink bar in the blue container?", "Store the orange cube in the brown bin.", "Grab the purple cube.", "The apple goes in the cyan container.", "Put the white block and the white cylinder in the red box, and the cyan block in the black container.", "Pick the panda figure up.", "Sort by color: purple goes in the orange container, yellow goes in the gray container.", "Set the panda figure down next to the white cylinder.", "Sort the objects: put the blue objects in the yellow container and the green object in the cyan tray.", "Put the pink bar and the pink block in the red tray, and the yellow block in the white tray.", "Move the potato in the green box before moving the tangerine next to the black bar.", "Put the tangerine in the orange box, and after that put the orange block next to the orange cylinder.", "Place the jug next to the red cube.", "Move all the objects into the yellow container.", "Start by moving the pink cube in the orange container, then move the yellow block next to the pink cube.", "Collect the gray block and the pink bar in the gray box.", "Move the gray cylinder next to the candle before moving the pink block in the orange box.", "Pick up the apple and put it in the pink box.", "Lift up the toy triceratops.", "Start by moving the pink cylinder in the red container, then move the apple next to the pink cylinder.", "Take the pink puck.", "Raise the egg off the table.", "Grab the orange cube and place it in the cyan box.", "Move the red block in the yellow bin before moving the apple next to the red block.", "The pink block goes in the brown bin.", "Bring the pink bar close to the blue cylinder.", "Place the cyan cube near the pink cylinder.", "Move the light bulb box into the gray container.", "Put the tangerine and the brown bar in the green container.", "Put the blue cylinder in the cyan container.", "Grab the black cylinder and place it in the black container.", "Put the toy rhino and the soda can in the orange container.", "Place the gray cylinder near the purple cylinder.", "Bring the potato close to the blue cube.", "Sort by color: white goes in the black container, brown goes in the orange bin.", "Take the gray cylinder and drop it into the green tray.", "Can you put the tomato in the purple tray?", "Get the gray cylinder.", "Take the pink cylinder and drop it into the green container.", "Can you put the toy triceratops in the gray box?", "Put the peach and the green bar in the white tray.", "Place the soda can into the cyan box.", "Transfer the toy train to the red box.", "Grab the blue cylinder.", "First put the pink cube in the black container, then put the blue block next to the pink cube.", "Move both the white cylinder and the purple cylinder into the cyan bin.", "Put the pink block and the soda can in the green box.", "Place the food can into the orange box.", "Place the panda figure and the green cylinder inside the brown bin.", "The brown cube goes in the pink tray.", "Take the green cylinder and drop it into the green bin.", "Take the white cube and drop it into the blue box.", "Grab the black block and place it in the blue bin.", "Put the apple beside the orange block.", "Put the red block and the red cube in the brown tray, and the cyan block in the purple bin.", "Can you put the coffee cup beside the egg?", "Move both the mushroom and the potato into the pink container.", "Put the avocado by the cyan cylinder.", "Can you put the cyan cube in the pink tray?", "The green block goes in the brown tray.", "Put the red cylinder inside the gray box.", "Can you put the orange bar in the green container?", "Grab the black bar.", "Put the apple beside the red bar.", "Start by moving the cyan cube next to the apple, then move the block box in the orange box.", "Bring the black block close to the cyan cube.", "Start by moving the blue block in the brown bin, then move the tangerine next to the blue block.", "Put the brown block inside the pink container.", "Move both the candle and the yellow cube into the purple box.", "Move the cupcake so it is next to the potato.", "The orange block goes in the black tray.", "Grab the food can.", "Place the orange puck near the cyan block.", "Put the candle and the black block in the white box.", "Take the soda can and drop it into the white box.", "Can you put the pill box in the orange bin?", "Can you pick up the coffee cup?", "Put the red block in the red bin.", "Move the toy sheep next to the corn.", "Put the soda can in the yellow box.", "Move both the cyan bar and the white block into the yellow bin.", "Raise the carrot off the table.", "Transfer the baby roller toy to the blue bin.", "Put the pink cylinder in the orange box.", "Take the orange block.", "Sort by color: yellow goes in the pink box, gray goes in the cyan tray.", "Put every object on the table inside the blue box.", "Move the egg into the cyan container.", "Lift up the rolling pin.", "Move the brown block into the orange bin.", "Place the blue block and the white cylinder inside the red box.", "Bring the lemon close to the red block.", "Take the orange.", "Can you put the apple in the green bin?", "Put all the objects in the white bin.", "Store the gray cylinder in the black bin.", "Pick up the white block and put it in the pink tray.", "Collect the green cylinder and the egg in the cyan bin.", "Grasp the white cube and lift it.", "Raise the pink cylinder off the table.", "Move the avocado so it is next to the white cylinder.", "Start by moving the candle in the pink box, then move the tangerine next to the candle.", "Get the blue block.", "Start by moving the blue block in the cyan tray, then move the blue cube next to the blue block.", "Can you put the egg in the cyan bin?", "Raise the cheese off the table.", "Can you put the brown cylinder in the cyan box?", "Put the pink cylinder in the gray container.", "The brown cube goes in the green container.", "Store the red block in the purple container.", "Put the carrot next to the lemon.", "Lift up the gray cylinder.", "Take the gray cylinder and drop it into the pink bin.", "Move the toy triceratops into the orange box.", "Collect the blue objects in the cyan container and move the yellow object into the white bin.", "Store the yellow block in the cyan box.", "Place the blue cylinder into the pink container.", "Drop the red block in the blue bin.", "Set the silver robot figure down next to the purple cylinder.", "Move the lime next to the orange cylinder.", "Move all the objects into the red tray.", "Pick the orange up.", "Put the camera lens in the red box, and after that put the ink box next to the camera lens.", "Pick up the avocado.", "Pick up the pink bar and put it in the purple box.", "Collect the green cube and the soda can in the green box.", "Get the lime.", "Take the panda figure and drop it into the gray container.", "Start by moving the purple cylinder next to the tomato, then move the brown cube in the red container.", "Move both the yellow block and the apple into the green container.", "Can you put the green block beside the black block?", "Move the toy school bus next to the egg.", "The black cylinder goes in the green bin.", "First put the cyan cylinder in the red box, then put the brown bar next to the cyan cylinder.", "Put the cyan cylinder and the cyan cube in the gray bin, and the blue block in the yellow tray.", "Pick up the egg.", "Put the orange cube inside the orange box.", "Move the soda can into the pink box.", "Bring the light bulb box close to the toy school bus.", "Set the soda can down next to the purple cube.", "Drop the pink dog toy in the orange bin.", "Collect the brown objects in the pink box and move the white object into the blue box.", "Can you put the green cylinder beside the coffee cup?", "Grab the green block and place it in the cyan bin.", "Put the yellow cylinder in the cyan box, and after that put the pink dog toy next to the yellow cylinder.", "Set the light bulb box down next to the avocado.", "Drop the yellow cylinder in the brown box.", "Store the apple in the black bin.", "Move the red block so it is next to the red cylinder.", "Put the baby roller toy by the gray block.", "Sort by color: orange goes in the pink tray, gray goes in the yellow box.", "Put every object on the table inside the orange tray.", "Grab the black block and place it in the yellow box.", "Put the pink bar and the pink cylinder in the yellow box, and the orange bar in the brown box.", "Lift up the purple block.", "Raise the white block off the table.", "Place the food can next to the white block.", "Drop the candle in the orange container.", "Put the corn by the sweet potato.", "Take the orange cube and drop it into the cyan bin.", "The medicine box goes in the red box.", "Put the food can by the corn.", "Store the ink box in the brown container.", "Put the yellow bar in the orange bin, and after that put the pink puck next to the white block.", "Collect the cyan objects in the green box and move the purple object into the orange tray.", "Start by moving the gray block in the white container, then move the food can next to the sweet potato.", "First put the cupcake next to the yellow block, then put the purple block in the black box.", "The red block goes in the black bin.", "Transfer the baby roller toy to the green container.", "Can you put the yellow block beside the tangerine?", "Move both the gray cylinder and the yellow block into the gray container.", "Put the tangerine and the black bar in the red bin.", "Store the black cylinder in the blue bin.", "Set the green block down next to the light bulb box.", "Lift up the soda can.", "Put the white cube inside the green box.", "Move the purple bar next to the yellow cylinder.", "Put the pink dog toy inside the gray container.", "Put the red block in the red box.", "Grasp the green cube and lift it.", "Pick the food can up.", "Put the magenta ink cartridge in the pink box.", "Drop the salt shaker in the blue container.", "Bring the toy triceratops close to the block box.", "Move the gray cylinder into the gray container.", "Place the white cylinder next to the cyan block.", "Place the pink block into the red box.", "Put the egg next to the orange cylinder.", "Grab the kiwi and place it in the green container.", "Can you put the brown bar in the purple bin?", "Transfer the gray block to the yellow container.", "Put all the objects in the orange box.", "The yellow cube goes in the red container.", "Place the coffee cup into the purple box.", "Can you put the green block in the black bin?", "Take the apple and drop it into the white box.", "Can you put the black cube in the cyan bin?", "Put the blue bar and the blue block in the orange box, and the yellow block in the green container.", "Grab the apple.", "Place the yellow block next to the green bar.", "Sort by color: cyan goes in the red box, gray goes in the white box.", "Put the black block next to the orange puck.", "Bring the green speaker close to the pink block.", "Transfer the orange block to the pink bin.", "Move both the gray block and the gray cylinder into the green box.", "First put the soda can in the brown box, then put the apple next to the cyan block.", "Move the gray bar next to the avocado.", "Can you put the toy triceratops beside the potato?", "Put the food can next to the food box.", "Transfer the food can to the blue box.", "Put the blue cylinder in the black box.", "Place the salt shaker into the blue tray.", "Pick up the yellow cylinder and put it in the cyan container.", "Move the tangerine into the purple container.", "Put the yellow block in the green container.", "Pick up the red cube and put it in the gray box.", "Put the black cube next to the camera lens.", "Lift up the toy school bus.", "Put the food box next to the white block.", "Lift the white cylinder.", "Put the red block beside the apple.", "Set the soda can down next to the yellow bar.", "The camera lens goes in the purple container.", "Drop the green cylinder in the blue container.", "Get the candle.", "Store the green cube in the white box.", "First put the food can next to the gray cylinder, then put the gray block in the cyan box.", "Collect everything on the table in the purple container.", "Collect everything on the table in the purple bin.", "Move the cheese so it is next to the cupcake.", "Pick up the soda can and put it next to the brown cube.", "Collect the white cylinder and the apple in the purple box.", "Move the black bar next to the blue bar.", "Set the carrot down next to the coffee cup.", "Move the red cube so it is next to the pill box.", "Pick up the salt shaker and put it next to the toy school bus.", "Sort the objects: put the yellow objects in the red box and the green object in the white tray.", "Get the purple cylinder.", "Collect the green puck and the lemon in the yellow box.", "Move the gray bar next to the pink block.", "Move the red cube so it is next to the cupcake.", "The blue block goes in the black box.", "Grab the green block.", "Place the yellow cylinder near the white block.", "Drop the brown block in the white box.", "Sort by color: green goes in the gray box, purple goes in the yellow tray.", "Transfer the cyan block to the pink tray.", "Place the pink cylinder next to the red puck.", "Place the black cylinder into the yellow box.", "Drop the orange in the cyan box.", "Take the green speaker.", "Pick up the gray block.", "Can you put the food can beside the brown block?", "Place the coffee cup near the lemon.", "Sort by color: red goes in the gray container, cyan goes in the pink tray.", "Put the gray cylinder and the yellow block in the black container.", "Store the panda figure in the blue bin.", "Drop the blue cylinder in the yellow box.", "Put all the objects in the cyan box.", "Can you put the white block in the white box?", "Move the gray block into the red tray.", "First put the egg in the orange box, then put the gray cylinder next to the egg.", "Set the blue block down next to the black cylinder.", "Can you put the gray block in the purple bin?", "Lift the white cube.", "Move the white cylinder into the brown bin.", "Collect everything on the table in the red box.", "Sort the objects: put the red objects in the purple bin and the black object in the yellow bin.", "Put the purple puck in the white bin.", "Grasp the cyan block and lift it.", "Move the gray cube next to the peach.", "Transfer the white cylinder to the purple tray.", "Move the apple next to the orange block.", "Put the blue cylinder in the yellow bin, and after that put the red cylinder next to the blue cylinder.", "Take the apple.", "Pick up the red block.", "Place the egg into the gray bin.", "Can you put the tangerine beside the food can?", "Move the toy school bus so it is next to the cyan cylinder.", "Put the tomato beside the jam jar.", "Collect the yellow objects in the green box and move the pink object into the red bin.", "Sort the objects: put the yellow objects in the brown box and the pink object in the red box.", "Lift up the purple cylinder.", "Take the gray block and drop it into the cyan container.", "Collect the blue objects in the white container and move the gray object into the pink container.", "Grab the blue cube and place it in the orange tray.", "Start by moving the apple in the gray box, then move the salt shaker next to the corn.", "Set the brown cylinder down next to the salt shaker.", "Pick up the pink block and put it in the white box.", "Put the black cube and the black bar in the green box, and the red block in the yellow container.", "Put the jam jar next to the panda figure.", "Put the black cylinder and the black block in the gray box, and the green cylinder in the purple box.", "Store the white cylinder in the gray tray.", "Grasp the black bar and lift it.", "Move all the objects into the red bin.", "Place the cyan bar into the cyan bin.", "Take the medicine box.", "Place the egg near the green cylinder.", "Store the purple block in the brown container.", "Pick up the blue block and put it in the white box.", "Sort by color: white goes in the orange bin, pink goes in the blue bin.", "Collect everything on the table in the blue box.", "Collect everything on the table in the yellow tray.", "Drop the orange block in the gray box.", "Move the yellow cylinder into the brown tray.", "Put the gray cylinder beside the apple.", "Put the black cube and the black cylinder in the yellow container, and the brown puck in the red box.", "Move the food can next to the kiwi.", "Put the orange bar in the cyan tray.", "Take the purple block.", "Pick up the white cube and put it in the pink box.", "Place the white cylinder into the blue box.", "Start by moving the orange robot figure in the red box, then move the cyan bar next to the yellow block.", "Put the apple in the black box.", "Start by moving the purple block in the green box, then move the gray cylinder next to the purple block.", "Transfer the blue cylinder to the pink box.", "Place the sweet potato next to the orange robot figure.", "Move the green bar in the green container before moving the blue block next to the green bar.", "Grasp the green block and lift it.", "Move both the orange bar and the coffee cup into the brown box.", "Transfer the green block to the black bin.", "Grab the green block and place it in the brown box.", "Put the toy school bus next to the apple.", "Lift up the green block.", "Can you put the cupcake beside the apple?", "Take the orange and drop it into the cyan box.", "Put the pink cylinder inside the green box.", "Transfer the mushroom to the green tray.", "Pick up the orange cylinder and put it next to the lime.", "Start by moving the jam jar in the white container, then move the candle next to the jam jar.", "Put the salt shaker next to the jam jar.", "The coffee cup goes in the yellow container.", "Get the toy school bus.", "Put the purple cylinder inside the orange tray.", "Store the tangerine in the yellow container.", "Put the red cube next to the jam jar.", "Bring the food can close to the apple.", "Put the yellow block in the cyan box.", "The jam jar goes in the yellow bin.", "Place the pink block into the black bin.", "Grasp the black puck and lift it.", "Pick up the purple cube and put it in the green container.", "Put the green cylinder in the gray box.", "Put the coffee cup inside the gray box.", "Drop the blue cylinder in the brown box.", "Move the ink box next to the blue cylinder before moving the pink block in the red tray.", "Lift the yellow block.", "Collect the salt shaker and the blue cylinder in the black tray.", "Get the pink block.", "Put the soda can next to the orange bar.", "Place the beer next to the gray cylinder.", "Move the green block in the yellow bin before moving the yellow cylinder next to the green block.", "Collect the red block and the purple cube in the pink box.", "Grab the food can and place it in the gray container.", "Bring the lemon close to the white block.", "Place the potato near the green cylinder.", "Pick up the orange block.", "Put the yellow block in the orange container.", "Put the yellow cube inside the yellow tray.", "Start by moving the orange block in the gray bin, then move the yellow block next to the orange cylinder.", "Take the yellow block and drop it into the cyan box.", "Grasp the brown puck and lift it.", "Take the tangerine and drop it into the white container.", "Put the gray block by the egg.", "Place the black cylinder and the peach inside the blue bin.", "Lift the orange cube.", "Put the black bar by the parchment box.", "Start by moving the pink cylinder next to the potato, then move the green cylinder in the gray bin.", "Pick up the toy school bus and put it next to the orange cylinder.", "First put the orange cylinder next to the block box, then put the lemon in the white box.", "Lift up the red cylinder.", "Grab the pill box and place it in the red container.", "Transfer the pink bar to the brown tray.", "Collect the white block and the red cube in the cyan box.", "Move the red cylinder next to the gray block.", "Move the egg next to the jam jar.", "Take the pink cylinder and drop it into the gray box.", "Collect the white objects in the green box and move the pink object into the brown bin.", "Put the blue cylinder by the cyan block.", "Put the jam jar in the orange box.", "Collect everything on the table in the black tray.", "Bring the purple bar close to the orange.", "Transfer the coffee cup to the yellow container.", "Collect the red block and the white cylinder in the purple bin.", "Pick up the black puck and put it next to the green cylinder.", "Put the purple cube in the green tray.", "Grab the black cylinder and place it in the black tray.", "Grab the coffee cup and place it in the brown bin.", "Put the brown block next to the red cylinder.", "Lift up the brown block.", "Take the black cylinder and drop it into the orange tray.", "Sort by color: green goes in the red bin, black goes in the purple bin.", "Can you put the red cylinder beside the food can?", "Pick up the lime and put it next to the pink cylinder.", "First put the peach in the white box, then put the cyan block next to the corn.", "Sort by color: green goes in the red bin, black goes in the blue bin.", "Can you put the green block beside the red block?", "Start by moving the green block next to the purple cube, then move the pink block in the brown bin.", "Start by moving the red block in the red bin, then move the food box next to the tangerine.", "Put the cyan cylinder beside the gray cylinder.", "Place the pencil case near the red block.", "Move the ink box in the brown box before moving the black block next to the ink box.", "Start by moving the blue cylinder next to the apple, then move the toy train in the red container.", "Pick up the purple cylinder and put it in the red container.", "Put the purple cylinder beside the gray cylinder.", "Raise the white cylinder off the table.", "Place the panda figure into the red box.", "Get the parchment box.", "Put the yellow block inside the red container.", "Drop the blue block in the yellow bin.", "Put the medicine box next to the silver robot figure.", "First put the black cylinder in the gray box, then put the white block next to the black cylinder.", "Move the coffee cup so it is next to the sweet potato.", "Move both the tangerine and the green block into the green box.", "Put the toy triceratops in the blue box.", "Transfer the jug to the brown box.", "Move the purple cube into the purple box.", "Grab the white block and place it in the pink container.", "Drop the candle in the red container.", "Store the brown block in the brown tray.", "Collect the pink objects in the red box and move the purple object into the yellow box.", "Put the yellow block in the brown container.", "Place the egg and the apple inside the blue bin.", "Place the salt shaker near the purple block.", "Pick up the purple block and put it in the green box.", "Sort by color: gray goes in the yellow bin, orange goes in the cyan container.", "Grab the white cylinder and place it in the purple bin.", "Place the jam jar and the orange inside the blue bin.", "Move the green cylinder in the pink box before moving the food box next to the corn.", "Pick the cyan cylinder up.", "Move the brown cylinder into the green container.", "Lift up the toy rhino.", "Place the brown block next to the yellow cylinder.", "Collect the orange objects in the yellow bin and move the gray object into the blue container.", "Bring the yellow block close to the orange cylinder.", "Lift the cheese.", "Can you put the cyan bar in the gray box?", "Can you put the sweet potato beside the yellow puck?", "Put the cheese next to the jug.", "Sort by color: yellow goes in the black container, cyan goes in the blue bin.", "Put the pink cylinder in the blue box.", "Pick the magenta ink cartridge up.", "The jam jar goes in the orange container.", "Store the white block in the pink container.", "Move both the egg and the cyan block into the green container.", "Put the orange robot figure inside the orange box.", "Grab the yellow cylinder and place it in the gray bin.", "Can you put the gray block in the cyan box?", "Take the gray block and drop it into the orange bin.", "Place the tangerine near the lemon.", "Place the gray block into the cyan box.", "Put the white block inside the yellow bin.", "Pick up the pill box and put it in the pink bin.", "Sort the objects: put the gray objects in the black box and the white object in the blue container.", "Drop the baby roller toy in the pink bin.", "Put the salt shaker by the pink cylinder.", "Place the white block near the pink cylinder.", "Move the cyan cylinder so it is next to the pink bar.", "Put the orange cylinder and the orange block in the purple container, and the gray cube in the yellow container.", "Grab the green cylinder and place it in the white container.", "Move both the pink cylinder and the yellow block into the blue container.", "Pick up the blue block and put it next to the yellow block.", "Drop the pink block in the green container.", "Place the brown block and the purple cube inside the yellow box.", "Move the red block into the gray box.", "Set the orange block down next to the corn.", "The kiwi goes in the brown bin.", "Collect the yellow objects in the white box and move the black object into the orange box.", "Place the pink dog toy into the yellow container.", "Collect the orange bar and the apple in the yellow box.", "The blue block goes in the pink tray.", "Get the brown cube.", "Get the apple.", "Move both the brown block and the coffee cup into the white container.", "Place the blue cube and the potato inside the yellow tray.", "Store the green block in the orange bin.", "Raise the jam jar off the table.", "Set the white cylinder down next to the yellow block.", "Raise the cyan cylinder off the table.", "The tangerine goes in the purple container.", "Move both the pink bar and the candle into the red container.", "Can you put the orange cylinder in the gray tray?", "Pick up the white cylinder and put it next to the pink cylinder.", "Put the purple block and the ink box in the red box.", "Put the food can beside the red block.", "Bring the candle close to the apple.", "Sort by color: white goes in the purple box, pink goes in the green box.", "First put the pink dog toy in the purple container, then put the gray cylinder next to the yellow block.", "Take the cyan cylinder and drop it into the purple box.", "Take the brown block.", "Can you put the tangerine in the green bin?", "Move the blue block into the brown box.", "Move the purple block into the brown bin.", "Put the brown block inside the purple bin.", "Put the kiwi inside the yellow container.", "Bring the apple close to the cyan block.", "Collect the soda can and the black block in the white box.", "Put the brown cylinder in the red container.", "Move the purple bar so it is next to the yellow block.", "Take the ink box.", "Put the tangerine next to the red block.", "Put the white block and the orange bar in the orange bin.", "Put the purple puck and the purple block in the brown box, and the pink cube in the green box.", "Can you put the candle beside the orange cylinder?", "Grasp the pill box and lift it.", "Put the green cylinder next to the blue cube, and after that put the red block in the brown bin.", "Store the yellow cylinder in the green bin.", "Sort by color: gray goes in the red bin, white goes in the black bin.", "Store the green block in the orange container.", "Get the lemon.", "Transfer the pink bar to the purple container.", "Put the yellow block next to the pink block.", "Move the lime in the pink bin before moving the green block next to the gray cube.", "Sort the objects: put the brown objects in the black box and the green object in the orange box.", "The gray block goes in the blue box.", "Get the gray cube.", "Grasp the brown bar and lift it.", "The pink block goes in the gray tray.", "Put the orange block inside the pink box.", "Put the apple by the jam jar.", "Collect the cyan objects in the blue bin and move the yellow object into the brown box.", "Put the orange bar inside the black bin.", "Place the yellow bar into the white bin.", "Transfer the soda can to the white tray.", "Take the cyan cylinder.", "Pick the white cube up.", "Grasp the white cylinder and lift it.", "Sort the objects: put the red objects in the blue tray and the white object in the cyan box.", "Get the green block.", "The orange block goes in the gray box.", "Place the black block near the yellow cube.", "Drop the salt shaker in the black box.", "Grab the black cube and place it in the purple container.", "Put the white block and the white bar in the cyan bin, and the pink bar in the orange box.", "Move the orange cube next to the coffee cup before moving the orange robot figure in the green box.", "Place the purple cylinder into the brown container.", "Place the egg into the orange container.", "Take the coffee cup.", "Place the gray cylinder near the green cube.", "Drop the pink block in the pink tray.", "Drop the pill box in the brown bin.", "Move the cyan cube next to the potato.", "Pick up the black cube and put it next to the blue block.", "Bring the pink dog toy close to the green speaker.", "Drop the brown block in the red box.", "Grab the gray cylinder and place it in the gray container.", "Drop the candle in the blue bin.", "Put every object on the table inside the cyan box.", "Move the white block into the yellow container.", "Can you put the peach in the purple box?", "Put the green cylinder inside the white box.", "Collect everything on the table in the blue bin.", "Pick up the red cylinder and put it in the cyan container.", "Place the white block and the cyan cylinder inside the purple box.", "Drop the gray block in the yellow box.", "Place the potato next to the tangerine.", "Put the potato beside the white cylinder.", "Put the yellow cube in the green container.", "Put the egg beside the orange.", "First put the sweet potato next to the blue puck, then put the coffee cup in the red bin.", "Move the yellow cylinder into the cyan box.", "The yellow cylinder goes in the purple container.", "Pick up the brown bar and put it in the brown container.", "Grab the lemon.", "Store the egg in the pink tray.", "Transfer the tomato to the purple bin.", "Take the blue cylinder.", "Store the white cylinder in the white box.", "Grab the pink block.", "Move the salt shaker next to the pink cylinder.", "Bring the lemon close to the gray bar.", "Start by moving the white cylinder next to the jam jar, then move the green block in the red box.", "Drop the egg in the purple container.", "The cyan cylinder goes in the blue box.", "Grab the green cylinder.", "Put the apple in the yellow container.", "Take the toy school bus.", "Move the white cylinder next to the toy train.", "Drop the white block in the white bin.", "Bring the white cylinder close to the purple cylinder.", "Place the brown block into the orange bin.", "Can you put the purple cube beside the red block?", "Move both the orange cylinder and the pink cylinder into the gray container.", "Get the black bar.", "Put the brown block inside the black box.", "Put the pink cylinder next to the toy triceratops, and after that put the soda can in the cyan box.", "Collect the purple cylinder and the purple cube in the gray bin.", "Get the cyan bar.", "Place the pink dog toy into the purple box.", "Drop the white block in the pink box.", "Sort the objects: put the yellow objects in the black tray and the pink object in the brown box.", "Lift up the pink block.", "Start by moving the white block in the blue box, then move the yellow block next to the white block.", "Put the panda figure inside the pink bin.", "Raise the ink box off the table.", "Raise the camera lens off the table.", "Pick the camera lens up.", "Put the panda figure beside the black bar.", "Put the sweet potato beside the green cylinder.", "The orange block goes in the cyan bin.", "Pick up the pink cube and put it in the yellow tray.", "Move the blue block in the green box before moving the gray block next to the blue block.", "Put the black cube and the black block in the cyan box, and the purple cylinder in the yellow box.", "First put the brown block in the brown box, then put the cyan bar next to the brown block.", "Put every object on the table inside the white tray.", "Place the avocado near the brown cylinder.", "Store the blue block in the orange container.", "Grab the green cylinder and place it in the blue container.", "Bring the toy rhino close to the soda can.", "Take the potato.", "Move the tangerine into the blue box.", "Can you put the pink dog toy in the pink box?", "Store the cyan cylinder in the red bin.", "Move the blue cube in the red container before moving the orange next to the gray block.", "Put the jam jar and the toy school bus in the red box.", "Put the white cylinder in the black container.", "Put the brown bar by the coffee cup.", "First put the apple in the blue container, then put the black cylinder next to the apple.", "First put the toy train in the purple bin, then put the black puck next to the toy train.", "Pick up the candle and put it in the brown box.", "Collect the cyan bar and the red bar in the pink container.", "Drop the ink box in the brown tray.", "Move the cyan block next to the yellow block.", "Place the gray cylinder into the blue box.", "Place the ink box into the green bin.", "Place the pink puck into the white container.", "Drop the white cylinder in the black container.", "Put the candle inside the red bin.", "First put the yellow block in the pink box, then put the block box next to the yellow block.", "Can you put the coffee cup beside the blue cylinder?", "Grab the black block and place it in the pink box.", "Store the gray cylinder in the yellow box.", "Drop the cupcake in the red box.", "Collect the food can and the medicine box in the green box.", "Grasp the brown cylinder and lift it.", "Start by moving the silver robot figure in the pink bin, then move the parchment box next to the silver robot figure.", "Lift the pink cylinder.", "Move both the black cube and the jam jar into the black box.", "Take the green block and drop it into the cyan container.", "Drop the green cylinder in the black box.", "Pick the gray cube up.", "Put the sweet potato and the brown cylinder in the cyan bin.", "Move both the peach and the ink box into the blue box.", "Put the green block by the yellow cylinder.", "Move the green cylinder into the green tray.", "Place the orange block into the brown box.", "Put the orange block beside the hot dog.", "Start by moving the red block in the pink box, then move the gray block next to the pink cylinder.", "Grab the baby roller toy.", "Put the gray cylinder by the coffee cup.", "Put the food can beside the green cube.", "Place the candle into the orange bin.", "Can you put the cyan bar beside the pink block?", "Move the gray cube next to the purple bar.", "Grasp the gray cube and lift it.", "Put the purple cylinder and the purple block in the white box, and the black block in the brown box.", "Put the brown cylinder and the brown block in the cyan container, and the black cube in the orange box.", "Put the green block in the orange tray, and after that put the cyan cube next to the green block.", "Put the yellow cylinder and the yellow block in the pink bin, and the blue block in the red bin.", "Sort the objects: put the yellow objects in the blue box and the orange object in the white box.", "Transfer the jam jar to the green container.", "Put the white cylinder and the white block in the brown tray, and the black block in the blue tray.", "Put the white bar next to the green cube.", "Put the green block next to the yellow block.", "Move the black cube so it is next to the yellow bar.", "Put the black block and the orange in the brown container.", "Pick up the orange puck and put it in the blue box.", "Set the yellow puck down next to the green block.", "Put the purple cylinder inside the orange box.", "Move all the objects into the green box.", "Can you put the cyan bar beside the cyan block?", "Bring the blue bar close to the beer.", "Move the jam jar into the blue bin.", "Pick up the food can and put it next to the purple cube.", "Take the gray block and drop it into the purple bin.", "Transfer the blue bar to the cyan tray.", "Put the pink block in the purple bin.", "Bring the yellow block close to the soda can.", "Place the white cylinder next to the gray block.", "Start by moving the pink cube in the cyan box, then move the cyan cylinder next to the pink cube.", "Move the cyan cube into the blue container.", "Put all the objects in the green container.", "Raise the green block off the table.", "Sort the objects: put the purple objects in the white bin and the orange object in the cyan box.", "Put the green cube in the orange box.", "The yellow cube goes in the orange box.", "Store the green block in the brown container.", "Pick up the white cylinder and put it in the pink tray.", "Grab the black bar and place it in the black tray.", "Sort the objects: put the yellow objects in the green bin and the pink object in the black tray.", "Sort by color: black goes in the red bin, yellow goes in the cyan box.", "Move the blue block so it is next to the toy sheep.", "Take the green block.", "Pick the pencil case up.", "Grab the purple bar and place it in the cyan box.", "Grasp the tangerine and lift it.", "Move the magenta ink cartridge next to the hot dog.", "Move the green bar so it is next to the black cylinder.", "First put the red cube in the black tray, then put the potato next to the red cube.", "Get the orange block.", "Put the white block in the white box.", "Pick up the salt shaker and put it next to the candle.", "Sort by color: cyan goes in the gray bin, black goes in the orange bin.", "Pick up the blue cylinder and put it next to the red block.", "Put the green cylinder in the red tray, and after that put the gray cube next to the green block.", "Bring the yellow bar close to the food box.", "Put the food can and the orange cylinder in the purple bin.", "Put the red cylinder beside the tomato.", "Drop the soda can in the white bin.", "Move the brown block next to the carrot.", "Put the yellow cylinder inside the black container.", "Can you pick up the red block?", "Start by moving the candle in the gray container, then move the blue cube next to the lemon.", "Put the yellow cylinder beside the gray block.", "Move the apple in the purple container before moving the purple cylinder next to the apple.", "Put the orange block and the tangerine in the pink box.", "Move the tangerine next to the orange block.", "Can you put the pink cylinder in the purple bin?", "Start by moving the cyan cylinder next to the medicine box, then move the baby roller toy in the blue box.", "Move the purple bar into the white container.", "Can you put the brown cylinder in the white container?", "Put the green speaker and the yellow block in the blue container.", "Move the purple cylinder in the yellow container before moving the salt shaker next to the purple cylinder.", "Drop the egg in the white box.", "Move the orange block into the black box.", "Start by moving the pink block next to the gray block, then move the blue cylinder in the gray box.", "Move both the red block and the cupcake into the cyan bin.", "Can you pick up the egg?", "Put the purple cylinder beside the orange.", "Store the gray block in the cyan box.", "Put the red cylinder next to the soda can.", "Move the black block into the pink bin.", "Take the cyan block.", "Transfer the green block to the red box.", "Put the pink block in the cyan box.", "Put the block box by the orange.", "Collect the pink objects in the green bin and move the purple object into the yellow bin.", "Store the blue cylinder in the gray container.", "Collect the salt shaker and the sweet potato in the blue container.", "Drop the pink block in the brown tray.", "Get the toy car carrier.", "Put the yellow block next to the brown cylinder.", "Start by moving the yellow block next to the purple block, then move the coffee cup in the white container.", "Drop the lemon in the white container.", "Store the silver robot figure in the pink tray.", "Move the red cube into the gray box.", "Start by moving the kiwi in the brown box, then move the orange block next to the kiwi.", "Place the corn next to the tangerine.", "Put the red puck inside the pink container.", "Transfer the blue cylinder to the red box.", "Place the white cylinder into the gray container.", "Move the rolling pin so it is next to the blue cube.", "Drop the salt shaker in the brown bin.", "Move the orange robot figure next to the cyan block.", "Place the white bar near the purple block.", "Place the blue cylinder into the white bin.", "Grab the red bar.", "Start by moving the pink block in the yellow bin, then move the cyan block next to the blue bar.", "Grab the egg and place it in the yellow tray.", "Move both the yellow block and the white cylinder into the cyan container.", "Get the blue cylinder.", "Move the brown cylinder into the black box.", "Put the panda figure inside the white container.", "Put the toy school bus next to the cupcake, and after that put the orange block in the orange bin.", "Move the red cylinder so it is next to the pink block.", "Pick up the yellow block and put it next to the coffee cup.", "First put the green block in the green container, then put the cyan cylinder next to the hot dog.", "Can you put the white cylinder in the cyan container?", "Move the green speaker next to the cupcake before moving the pencil case in the green bin.", "Can you put the black block in the gray box?", "Place the camera lens into the green container.", "Move the black cylinder next to the purple block.", "Collect the pink cylinder and the blue block in the cyan box.", "Put the brown block inside the cyan box.", "Set the camera lens down next to the pink block.", "Put the yellow block and the salt shaker in the yellow container.", "Move both the jam jar and the coffee cup into the red box.", "Place the peach next to the brown cylinder.", "Put the yellow bar inside the yellow box.", "Put the food can next to the purple block.", "Put the yellow block and the yellow puck in the black box, and the green block in the blue bin.", "The purple cylinder goes in the black box.", "Can you put the toy triceratops in the yellow container?", "The blue block goes in the gray box.", "Transfer the gray cube to the yellow container.", "Pick up the cyan block and put it next to the toy sheep.", "Move both the white bar and the brown block into the orange box.", "Pick the cupcake up.", "First put the tangerine in the orange container, then put the peach next to the tangerine.", "Collect the orange robot figure and the black cylinder in the yellow box.", "Take the kiwi and drop it into the green box.", "Start by moving the tangerine in the red box, then move the coffee cup next to the tangerine.", "Pick up the pink dog toy.", "Put the tangerine in the brown box, and after that put the cyan cylinder next to the tangerine.", "Put the orange and the black bar in the brown box.", "Put the salt shaker in the cyan bin, and after that put the blue cylinder next to the salt shaker.", "Collect the black objects in the red box and move the blue object into the cyan tray.", "Take the red bar.", "Sort by color: black goes in the brown box, green goes in the purple tray.", "Move all the objects into the black bin.", "Put the apple by the carrot.", "Store the salt shaker in the red bin.", "Grab the ink box and place it in the brown bin.", "Grab the brown bar and place it in the black tray.", "Put the blue bar by the pink cylinder.", "Lift up the gray bar.", "Put the orange bar in the cyan box, and after that put the coffee cup next to the orange bar.", "Sort the objects: put the cyan objects in the purple tray and the green object in the yellow box.", "Collect the cyan objects in the brown box and move the black object into the orange container.", "Put every object on the table inside the red tray.", "Set the orange block down next to the tangerine.", "Start by moving the orange cylinder next to the white cylinder, then move the blue cylinder in the gray tray.", "Move the orange robot figure into the black box.", "Transfer the pink dog toy to the cyan tray.", "Pick up the orange block and put it in the brown container.", "Can you pick up the black cylinder?", "Grab the yellow cylinder and place it in the green bin.", "Put the white bar in the gray container, and after that put the light bulb box next to the white bar.", "Put the cyan cylinder by the gray bar.", "Can you put the cyan block in the red container?", "Move both the yellow block and the green bar into the red container.", "Pick the pink cylinder up.", "Take the toy triceratops and drop it into the purple tray.", "Grab the yellow block and place it in the blue container.", "Grasp the black cube and lift it.", "Pick up the potato and put it next to the green bar.", "Drop the red block in the cyan box.", "Raise the blue block off the table.", "Move the gray block into the purple box.", "Put the gray cylinder in the black bin.", "Move the food can next to the white cylinder before moving the black cylinder in the white bin.", "Put the coffee cup in the red box.", "Transfer the black cylinder to the black bin.", "Sort the objects: put the yellow objects in the gray tray and the black object in the orange box.", "The cyan bar goes in the blue box.", "Can you put the black block beside the gray block?", "Sort by color: pink goes in the cyan container, orange goes in the yellow tray.", "Move the food can in the brown bin before moving the black block next to the food can.", "The food can goes in the orange bin.", "Put the green bar in the purple container, and after that put the orange block next to the green bar.", "Drop the green cylinder in the brown bin.", "Grab the candle and place it in the black bin.", "Grab the sweet potato.", "Put the lemon in the brown container.", "Collect the blue objects in the green bin and move the black object into the yellow bin.", "Transfer the green bar to the gray box.", "Move the yellow block into the pink bin.", "Store the toy train in the yellow tray.", "Pick up the yellow block and put it in the blue bin.", "Grab the orange robot figure and place it in the green container.", "Move the orange cylinder next to the tangerine.", "Can you put the cyan cube in the black box?", "Put the yellow block by the coffee cup.", "Set the peach down next to the pink block.", "Place the brown cube and the egg inside the orange bin.", "Place the baby roller toy into the white tray.", "Pick up the brown bar and put it in the orange container.", "Collect the pink cylinder and the apple in the orange box.", "Put every object on the table inside the purple box.", "The pink cube goes in the pink box.", "Move the toy school bus in the pink container before moving the green cylinder next to the green block.", "Put the yellow cube in the blue box.", "Move the mushroom so it is next to the apple.", "Transfer the silver robot figure to the gray tray.", "Take the toy triceratops and drop it into the pink box.", "Store the yellow block in the purple container.", "Place the toy triceratops into the green box.", "Put the blue cylinder inside the blue bin.", "Put the tangerine in the yellow bin, and after that put the blue cylinder next to the tangerine.", "Move the tangerine next to the toy triceratops.", "Grab the white cylinder.", "Grab the blue block and place it in the red box.", "Raise the tomato off the table.", "Place the purple block near the black cylinder.", "Put the gray cube next to the magenta ink cartridge, and after that put the green cylinder in the pink bin.", "Place the tangerine and the yellow block inside the white bin.", "Put the jam jar inside the black container.", "Collect the red puck and the jam jar in the brown box.", "Sort by color: red goes in the brown container, black goes in the purple tray.", "Put the lime next to the pill box.", "The green block goes in the black tray.", "First put the orange cube in the pink box, then put the toy train next to the orange cube.", "Put the egg beside the food can.", "Raise the pill box off the table.", "Store the pink dog toy in the red container.", "Move the green block next to the purple block.", "Take the light bulb box and drop it into the black tray.", "Place the brown block into the brown container.", "Pick up the cyan block and put it in the red box.", "Move the cyan block next to the soda can.", "Start by moving the white cylinder in the cyan container, then move the brown cylinder next to the white cylinder.", "Can you put the gray block in the yellow box?", "Get the soda can.", "Grasp the cyan bar and lift it.", "Start by moving the orange cylinder next to the yellow cylinder, then move the gray block in the blue bin.", "Store the soda can in the black bin.", "Put the coffee cup next to the orange.", "Start by moving the block box in the orange container, then move the blue cylinder next to the block box.", "Set the orange cylinder down next to the yellow bar.", "Can you put the white block in the gray tray?", "The black cylinder goes in the orange tray.", "Transfer the pink block to the blue bin.", "Grab the hot dog.", "Move the white cylinder into the orange bin.", "Take the black block.", "Collect the cyan objects in the gray container and move the purple object into the black container.", "Put the cyan block in the black box.", "Grab the purple cylinder and place it in the yellow bin.", "Move the brown bar next to the pink block.", "Move the lime next to the orange block.", "Take the gray cylinder.", "Transfer the pink bar to the red bin.", "First put the coffee cup in the black tray, then put the pink dog toy next to the coffee cup.", "Pick the orange cylinder up.", "Put the soda can inside the black box.", "Pick up the green block and put it next to the green bar.", "Grab the yellow puck and place it in the red box.", "Move the white cube into the pink box.", "Move the food can so it is next to the pink cube.", "Collect the pink objects in the yellow container and move the purple object into the white box.", "Place the gray cylinder into the orange bin.", "Put the pink block inside the pink tray.", "Can you put the coffee cup beside the candle?", "Grasp the rolling pin and lift it.", "Move the black cylinder so it is next to the gray block.", "Sort by color: purple goes in the white box, black goes in the red box.", "Collect the yellow objects in the cyan tray and move the pink object into the brown container.", "Place the toy school bus next to the corn.", "Sort by color: cyan goes in the gray box, purple goes in the white container.", "Place the green cylinder into the orange bin.", "Move the toy car carrier next to the brown cylinder.", "Start by moving the salt shaker in the red container, then move the tangerine next to the salt shaker.", "Set the coffee cup down next to the yellow block.", "Grab the toy sheep and place it in the white box.", "Start by moving the orange robot figure in the brown bin, then move the food can next to the orange robot figure.", "Grab the yellow cube.", "Put all the objects in the red box.", "Set the jam jar down next to the white cylinder.", "Move the orange block into the blue bin.", "Put all the objects in the purple box.", "Grasp the pencil case and lift it.", "Get the egg.", "Pick up the gray block and put it in the green bin.", "Start by moving the red cylinder next to the coffee cup, then move the block box in the blue container.", "Put the food can and the pink cylinder in the white box.", "Pick up the salt shaker and put it in the orange box.", "The gray cylinder goes in the black container.", "Place the blue cube and the pink bar inside the brown bin.", "Can you pick up the orange block?", "Move the pink cylinder so it is next to the cyan block.", "Put the brown block and the salt shaker in the purple box.", "Grasp the gray cylinder and lift it.", "Pick up the hot dog and put it next to the white cylinder.", "Raise the cupcake off the table.", "Take the orange bar.", "First put the orange block in the brown container, then put the salt shaker next to the orange block.", "Bring the gray bar close to the jam jar.", "Put the jam jar next to the pencil case.", "Put the blue cube by the yellow cylinder.", "Put the egg and the orange cylinder in the gray tray.", "Put the toy school bus next to the yellow block.", "Place the food can into the purple box.", "Transfer the red block to the yellow container.", "Collect everything on the table in the gray container.", "Put the food can next to the egg.", "Put all the objects in the red tray.", "Put the cyan cylinder in the purple container.", "Can you put the yellow block beside the candle?", "Can you put the black block in the blue box?", "Can you put the gray cylinder beside the white cube?", "Take the corn.", "Set the parchment box down next to the green cylinder.", "Set the orange block down next to the potato.", "Move the blue cylinder next to the apple.", "Get the mushroom.", "Grasp the cheese and lift it.", "Put the coffee cup in the gray box, and after that put the cyan block next to the potato.", "Put all the objects in the black tray.", "Place the white cylinder into the purple box.", "Can you put the cyan cylinder beside the cyan block?", "First put the brown bar in the green box, then put the soda can next to the apple.", "Sort by color: black goes in the blue container, yellow goes in the red bin.", "Pick up the yellow block and put it in the brown box.", "Can you put the red cylinder in the black container?", "Set the tangerine down next to the blue cylinder.", "Pick the white cylinder up.", "Raise the potato off the table.", "Store the salt shaker in the cyan bin.", "Put the pink block inside the gray bin.", "Sort by color: cyan goes in the orange bin, brown goes in the black box.", "Move the black cylinder in the orange box before moving the brown puck next to the black cylinder.", "Move the pink block into the green box.", "Take the peach.", "Move the black cylinder into the gray box.", "Grasp the food can and lift it.", "Put the yellow bar and the yellow cylinder in the orange container, and the cyan cylinder in the white box.", "Move the cyan cube next to the red cylinder.", "Take the gray cylinder and drop it into the orange bin.", "Collect the green block and the cyan block in the black container.", "Set the apple down next to the white cube.", "First put the brown bar in the green tray, then put the cyan block next to the coffee cup.", "Put the white cylinder and the cyan cylinder in the green bin.", "Place the brown cube into the pink bin.", "Pick up the yellow cylinder.", "Store the peach in the black container.", "Collect everything on the table in the pink box.", "Put the salt shaker beside the sweet potato.", "Put the pink bar and the pink cube in the red tray, and the purple cylinder in the yellow box.", "Move the lime in the yellow box before moving the purple block next to the white block.", "Place the orange cylinder into the cyan box.", "Transfer the orange block to the black tray.", "Put the toy sheep beside the soda can.", "Place the soda can into the yellow container.", "Put the green cylinder in the purple container, and after that put the hot dog next to the yellow cylinder.", "Can you pick up the black block?", "Move the apple in the green box before moving the cyan cube next to the apple.", "Move the blue cylinder next to the pink dog toy.", "Lift the brown block.", "Move the orange next to the toy school bus before moving the apple in the black container.", "Store the yellow cube in the yellow box.", "Sort the objects: put the yellow objects in the white tray and the purple object in the green container.", "The red cylinder goes in the red container.", "Drop the green cube in the green box.", "Put the blue cylinder beside the orange robot figure.", "Put the apple inside the black box.", "Place the pink cube into the cyan box.", "Place the gray block into the green box.", "Drop the yellow block in the yellow container.", "The cyan bar goes in the yellow container.", "Put the white cube and the white puck in the purple container, and the black cube in the cyan box.", "Put the orange in the black bin.", "Put the cheese next to the light bulb box.", "Place the gray cube into the white tray.", "Place the egg into the brown bin.", "Collect the ink box and the blue block in the yellow box.", "Transfer the purple cylinder to the red box.", "Put the food can in the green bin.", "Collect the yellow objects in the pink box and move the cyan object into the white tray.", "Put the red bar inside the purple box.", "Put the red block and the white cube in the yellow container.", "Pick up the purple cube and put it next to the red block.", "Place the black block into the brown box.", "Put the cucumber and the gray block in the orange box.", "Collect the toy sheep and the salt shaker in the red container.", "Raise the purple cylinder off the table.", "Put the red cube in the cyan container.", "Get the sweet potato.", "Take the lime.", "Move the gray cylinder into the black tray.", "Bring the red cylinder close to the gray block.", "Can you put the blue block beside the white block?", "Pick up the blue block and put it next to the apple.", "Put the coffee cup in the green bin.", "Place the toy sheep into the red box.", "Put all the objects in the cyan container.", "Put the black block inside the orange tray.", "Sort the objects: put the green objects in the black box and the purple object in the white bin.", "The coffee cup goes in the purple container.", "Pick up the tangerine.", "Drop the red cylinder in the blue tray.", "Take the white cylinder and drop it into the black bin.", "Move the blue cylinder so it is next to the green block.", "Set the soda can down next to the beer.", "Move all the objects into the pink bin.", "Put the yellow block in the brown tray, and after that put the toy rhino next to the yellow block.", "Put the brown block next to the hot dog.", "Put the apple next to the cucumber.", "Move the coffee cup so it is next to the brown bar.", "Move the purple bar next to the coffee cup.", "First put the tangerine in the white box, then put the apple next to the tangerine.", "Pick up the gray block and put it in the blue box.", "Can you put the food box beside the avocado?", "Place the lemon and the pink puck inside the yellow bin.", "Put the pink cube inside the white box.", "Pick up the candle.", "Put the orange cylinder by the gray cylinder.", "Store the jam jar in the orange tray.", "Move the black bar in the cyan tray before moving the green cylinder next to the black bar.", "Can you put the cyan cylinder in the black box?", "Put the blue block inside the blue box.", "Move the white cylinder into the orange box.", "Place the purple cylinder near the sweet potato.", "The egg goes in the green container.", "Place the food can into the yellow container.", "Put the red block next to the red cylinder.", "Put the purple block next to the white block.", "Move the mushroom in the white box before moving the orange block next to the mushroom.", "Sort the objects: put the yellow objects in the green box and the orange object in the gray container.", "Put the tangerine in the brown container, and after that put the coffee cup next to the tangerine.", "Raise the gray block off the table.", "Set the egg down next to the tangerine.", "Pick up the food can and put it next to the gray block.", "Move all the objects into the orange box.", "Transfer the black cylinder to the yellow tray.", "Put the pink cube in the yellow container.", "Put the orange block in the green bin.", "Store the candle in the yellow container.", "Put the apple by the cyan cylinder.", "Move both the salt shaker and the orange block into the purple box.", "Place the cyan block next to the blue block.", "Bring the white block close to the brown block.", "Set the orange block down next to the cyan bar.", "Put the purple cube beside the green cube.", "Can you put the peach in the gray tray?", "Put all the objects in the white box.", "Collect the black block and the pink cylinder in the cyan container.", "Move the sweet potato so it is next to the coffee cup.", "Put the pink block inside the black box.", "The panda figure goes in the brown bin.", "Grab the gray block.", "Put the green bar in the purple box, and after that put the coffee cup next to the green bar.", "Move the silver robot figure so it is next to the purple bar.", "Can you put the red cylinder in the brown bin?", "Drop the red cylinder in the white container.", "Can you put the food can in the red bin?", "Move all the objects into the black container.", "Move the orange robot figure next to the red cylinder before moving the green cube in the purple bin.", "Store the pink cylinder in the yellow box.", "Put the green block in the gray box.", "Lift up the gray cube.", "Can you put the blue cylinder beside the potato?", "Put the green block inside the white container.", "Start by moving the coffee cup next to the panda figure, then move the lemon in the red container.", "The gray block goes in the orange box.", "Grab the green block and place it in the cyan container.", "Drop the orange block in the brown bin.", "Can you put the cyan block in the brown box?", "Pick up the blue block and put it next to the brown cylinder.", "Pick up the purple cylinder and put it next to the food can.", "Collect the purple objects in the white box and move the cyan object into the orange tray.", "The cyan bar goes in the gray container.", "The mushroom goes in the gray tray.", "Place the orange block near the orange cylinder.", "Grasp the apple and lift it.", "Store the black block in the pink box.", "Can you put the soda can in the blue box?", "Move all the objects into the purple bin.", "Pick up the orange cylinder and put it in the cyan bin.", "Move both the cyan block and the white cylinder into the black container.", "The yellow cylinder goes in the cyan container.", "Raise the white bar off the table.", "Put the tangerine beside the sweet potato.", "Can you put the white cylinder in the green box?", "Place the food can into the gray box.", "Put the blue cylinder in the orange container.", "Can you put the yellow block in the purple container?", "Move the white cylinder next to the apple.", "Grasp the coffee cup and lift it.", "Sort by color: orange goes in the purple box, black goes in the brown box.", "Put the brown cylinder in the green box.", "Put the orange bar and the ink box in the pink tray.", "Can you put the white cylinder in the pink tray?", "Put the cheese next to the white block.", "Put the red cube next to the yellow bar.", "Put the soda can by the apple.", "Move the brown block next to the green cube.", "Put the orange by the white block.", "The food can goes in the cyan bin.", "Can you put the blue block in the pink bin?", "Set the apple down next to the yellow block.", "Move the white cylinder in the purple bin before moving the pink dog toy next to the white cylinder.", "Grab the white cube and place it in the gray box.", "Collect the red block and the ink box in the purple tray.", "Grab the apple and place it in the brown box.", "Put the egg in the blue bin.", "Grasp the soda can and lift it.", "Put the brown block inside the red box.", "Place the coffee cup and the peach inside the red box.", "Sort the objects: put the orange objects in the pink box and the blue object in the brown bin.", "Move the black bar in the yellow box before moving the baby roller toy next to the green block.", "Place the pill box into the orange bin.", "First put the cyan block in the pink box, then put the yellow cube next to the gray cylinder.", "Put the purple cube in the black box, and after that put the brown block next to the purple cube.", "Bring the jam jar close to the egg.", "Put the green bar and the ink box in the white container.", "Move the brown cylinder into the blue bin.", "Drop the silver robot figure in the blue container.", "Place the food can next to the red cylinder.", "Can you put the blue block in the yellow box?", "Grab the white block.", "Put the purple bar by the jam jar.", "Put the apple by the white cylinder.", "Store the ink box in the cyan bin.", "First put the candle in the brown container, then put the apple next to the pink dog toy.", "Move the hot dog next to the jam jar.", "Grab the jam jar and place it in the green bin.", "Grab the orange.", "Put the orange in the pink container.", "The white block goes in the white box.", "First put the purple cylinder in the black box, then put the yellow block next to the purple cylinder.", "Put the black block in the gray container.", "Put the pink block in the white box.", "Store the brown block in the green bin.", "Put the pink cylinder in the red tray, and after that put the yellow block next to the pink cylinder.", "Store the soda can in the purple container.", "Sort the objects: put the cyan objects in the green container and the brown object in the white bin.", "Can you put the green cylinder in the gray container?", "Place the block box and the soda can inside the orange bin.", "Put the apple by the lemon.", "Place the white block into the green tray.", "Pick up the salt shaker and put it next to the coffee cup.", "Transfer the white cylinder to the black bin.", "Can you put the yellow block in the white container?", "Put the yellow block inside the orange container.", "Set the toy school bus down next to the black cube.", "The orange bar goes in the gray box.", "Set the medicine box down next to the cheese.", "Can you put the blue cylinder in the brown box?", "Put the green cylinder in the purple box.", "Move the orange in the white box before moving the coffee cup next to the orange.", "Raise the cyan bar off the table.", "Store the orange block in the orange container.", "Put the lemon inside the purple bin.", "First put the red bar in the brown container, then put the toy school bus next to the pink block.", "Sort the objects: put the orange objects in the cyan tray and the green object in the blue box.", "Put the gray block and the gray cylinder in the green container, and the cyan cylinder in the yellow box.", "First put the lemon in the black box, then put the green block next to the red cylinder.", "Pick up the yellow cylinder and put it in the orange box.", "Grasp the brown block and lift it.", "Place the black block and the gray cube inside the black container.", "Bring the lemon close to the blue cylinder.", "Move the brown cube next to the food can.", "Store the cyan cylinder in the white box.", "First put the gray block in the red box, then put the toy triceratops next to the gray block.", "Can you pick up the pencil case?", "The gray cube goes in the yellow container.", "Move the cyan block in the red box before moving the orange next to the cyan block.", "Place the potato next to the brown cylinder.", "Move the toy triceratops into the gray box.", "Move both the soda can and the cyan cylinder into the brown box.", "Pick the brown cube up.", "Put the purple block inside the green box.", "Sort by color: blue goes in the black box, orange goes in the brown box.", "Move both the egg and the orange robot figure into the pink container.", "Can you put the red block in the brown box?", "Store the brown cylinder in the orange container.", "Place the green block near the gray block.", "Move the green block into the black container.", "Get the red block.", "Transfer the brown block to the orange container.", "Can you pick up the black bar?", "Collect the purple cube and the pink block in the brown container.", "Collect the purple cube and the purple block in the purple container.", "Place the pill box into the yellow container.", "Sort the objects: put the black objects in the gray container and the red object in the white box.", "Can you put the soda can beside the lemon?", "Transfer the apple to the gray box.", "Set the black block down next to the black cylinder.", "Can you put the green block in the green container?", "Pick up the green cylinder and put it next to the pink puck.", "Collect the cyan objects in the black bin and move the yellow object into the green box.", "Take the yellow cylinder.", "Can you put the gray block beside the lemon?", "Put the soda can by the mushroom.", "Put the black block and the black cylinder in the red box, and the purple bar in the yellow container.", "Grab the brown block and place it in the purple container.", "Take the egg and drop it into the blue box.", "Set the red cube down next to the blue block.", "Sort the objects: put the green objects in the purple container and the red object in the black bin.", "Lift the soda can.", "Put the red cylinder and the red bar in the gray container, and the white bar in the purple bin.", "Pick up the egg and put it next to the soda can.", "Put the red cylinder in the pink box.", "Move the jug into the orange bin.", "Place the white cylinder next to the orange block.", "Place the green bar into the white container.", "Place the green block and the white block inside the red box.", "Can you put the brown cylinder in the pink container?", "Can you put the cyan cylinder in the red bin?", "Move the tangerine next to the cupcake.", "Can you put the potato beside the cheese?", "Put all the objects in the brown container.", "Put the coffee cup next to the pencil case.", "Put all the objects in the blue bin.", "Store the coffee cup in the red tray.", "First put the pink block in the cyan bin, then put the toy rhino next to the apple.", "Lift the panda figure.", "Put the jug beside the food can.", "The black cube goes in the orange box.", "Grasp the hot dog and lift it.", "Set the blue block down next to the salt shaker.", "Grab the ink box and place it in the black container.", "Store the white cylinder in the brown bin.", "Move the purple cube into the red tray.", "Take the apple and drop it into the black bin.", "Put the food can inside the red bin.", "Place the egg and the baby roller toy inside the yellow box.", "Grab the brown cylinder and place it in the brown box.", "Put the yellow block and the yellow cylinder in the pink bin, and the purple block in the white tray.", "Store the yellow cylinder in the blue container.", "Sort by color: brown goes in the white bin, orange goes in the cyan tray.", "Grab the toy triceratops and place it in the blue bin.", "Set the green speaker down next to the potato.", "Place the red block into the white box.", "Place the orange next to the avocado.", "Move the white block in the cyan box before moving the jam jar next to the food can.", "Put the corn by the jug.", "Move the silver robot figure into the brown bin.", "Place the green cylinder into the white box.", "Take the purple cube and drop it into the red box.", "Put the yellow block in the gray box, and after that put the red bar next to the baby roller toy.", "Transfer the white cylinder to the yellow box.", "Collect everything on the table in the cyan tray.", "Grab the black block.", "Transfer the cupcake to the purple container.", "Move the black cylinder in the red bin before moving the pill box next to the black cylinder.", "Place the tomato into the white bin.", "Can you put the orange block beside the white block?", "Can you put the tomato in the gray box?", "Collect the purple cube and the salt shaker in the brown container.", "Lift the toy triceratops.", "Drop the red cube in the purple tray.", "Collect the pink objects in the cyan bin and move the black object into the orange tray.", "Place the black cylinder into the white bin.", "Can you pick up the sweet potato?", "Pick up the brown bar and put it in the yellow bin.", "Can you put the orange cylinder in the orange box?", "Pick up the pink dog toy and put it in the brown box.", "Pick up the gray cube and put it in the yellow bin.", "Put the pink block by the pink cylinder.", "Place the gray block near the apple.", "Take the lemon and drop it into the orange box.", "Pick up the purple block and put it in the gray bin.", "Sort the objects: put the brown objects in the yellow tray and the cyan object in the blue box.", "Lift up the blue bar.", "Place the yellow puck near the white bar.", "Sort the objects: put the purple objects in the black box and the gray object in the yellow bin.", "Take the cyan bar and drop it into the black box.", "Collect the black block and the pink block in the red box.", "Place the red block and the purple block inside the pink tray.", "Can you put the green cylinder in the orange box?", "Place the white cube and the white block inside the blue container.", "Move both the lemon and the black block into the blue container.", "Move the mushroom in the purple box before moving the purple cylinder next to the soda can.", "Pick up the white bar.", "Move the brown cylinder next to the red cylinder.", "Bring the corn close to the red bar.", "Transfer the soda can to the purple tray.", "Move both the block box and the black cube into the cyan container.", "Store the magenta ink cartridge in the green box.", "Sort by color: brown goes in the blue box, yellow goes in the green box.", "Start by moving the egg in the cyan container, then move the red block next to the egg.", "Move the gray block so it is next to the peach.", "Grab the yellow block and place it in the cyan bin.", "The black block goes in the cyan box.", "Put the peach and the tangerine in the cyan box.", "Put the white cylinder in the cyan tray.", "Place the corn and the pink dog toy inside the yellow bin.", "Collect the cyan objects in the black container and move the orange object into the white box.", "Place the red bar into the pink box.", "Put the blue cylinder inside the black bin.", "Put the gray cube inside the orange box.", "Put the red bar next to the candle.", "Pick up the white cylinder and put it in the red container.", "Start by moving the blue block in the red container, then move the food can next to the blue block.", "Move the white bar next to the gray cylinder before moving the jam jar in the cyan tray.", "Pick up the blue block and put it in the cyan tray.", "Store the green bar in the blue tray.", "Store the tomato in the white box.", "Store the black block in the brown tray.", "Move the gray bar next to the yellow cylinder.", "Grab the gray cylinder.", "Move all the objects into the orange tray.", "Pick the gray block up.", "Move the yellow cylinder next to the gray bar.", "Grab the black cylinder.", "Transfer the red block to the gray box.", "Put the brown cylinder in the green tray, and after that put the red block next to the brown cylinder.", "First put the tangerine in the purple tray, then put the gray block next to the tangerine.", "Put the brown block in the orange box, and after that put the coffee cup next to the purple block.", "Place the pink block into the orange bin.", "Place the coffee cup next to the cupcake.", "Move the cyan block next to the pink block before moving the red cylinder in the yellow box.", "Put the silver robot figure inside the green box.", "Transfer the gray block to the pink tray.", "Start by moving the yellow cylinder in the red container, then move the jam jar next to the salt shaker.", "Lift the pink cube.", "Grab the silver robot figure and place it in the yellow box.", "Pick up the blue cube.", "Take the cyan bar.", "Move the kiwi in the cyan tray before moving the pink cube next to the kiwi.", "Put the salt shaker in the gray box.", "Pick up the egg and put it next to the red bar.", "Place the green cube and the purple block inside the pink box.", "Put the orange robot figure beside the gray block.", "Grab the pink block and place it in the red container.", "Store the red block in the purple box.", "Take the soda can and drop it into the orange box.", "Grasp the black block and lift it.", "Put every object on the table inside the brown bin.", "Move the yellow block next to the gray block.", "Move the apple next to the black cube.", "Put the camera lens in the orange container, and after that put the pink bar next to the camera lens.", "Transfer the yellow block to the cyan bin.", "Bring the toy school bus close to the orange block.", "Start by moving the white block in the black tray, then move the orange cube next to the white block.", "Put the food can and the red bar in the red box.", "Collect the green objects in the white box and move the brown object into the cyan box.", "Can you put the black block in the cyan container?", "Grab the ink box and place it in the black bin.", "Move the purple cylinder into the cyan tray.", "Start by moving the blue block next to the apple, then move the brown bar in the pink container.", "Place the pink block next to the apple.", "Lift the green speaker.", "Move the potato so it is next to the parchment box.", "Drop the coffee cup in the black tray.", "Lift the rolling pin.", "Put the carrot next to the soda can.", "Can you pick up the light bulb box?", "Grasp the baby roller toy and lift it.", "Grasp the salt shaker and lift it.", "Move the tangerine next to the lemon before moving the orange in the brown bin.", "Grab the red cube and place it in the pink bin.", "Place the gray cube into the blue box.", "Take the medicine box and drop it into the green box.", "Put the orange cube in the brown container, and after that put the soda can next to the orange cube.", "Put the white cylinder next to the sweet potato.", "Set the purple cylinder down next to the purple bar.", "Grab the cheese.", "Get the food can.", "Drop the red puck in the blue box.", "Transfer the coffee cup to the cyan box.", "Grab the green cylinder and place it in the gray box.", "Drop the soda can in the yellow box.", "Take the ink box and drop it into the black box.", "Drop the orange cube in the pink box.", "Put the purple block in the red tray, and after that put the medicine box next to the purple block.", "First put the purple cube next to the toy train, then put the soda can in the black box.", "Move the food can next to the green cube.", "Put the orange block in the cyan bin.", "Bring the red bar close to the peach.", "Pick up the yellow block and put it in the red container.", "Put the yellow block beside the purple block.", "Get the peach.", "Move the black bar next to the cyan cylinder.", "Place the black cube next to the purple block.", "Place the apple next to the pink dog toy.", "Collect everything on the table in the cyan box.", "Move the lime so it is next to the sweet potato.", "Collect everything on the table in the purple box.", "Raise the parchment box off the table.", "Place the food can into the yellow box.", "Put the sweet potato in the purple container, and after that put the pink block next to the white cylinder.", "Can you put the blue block in the pink tray?", "Place the yellow cylinder into the green container.", "Move the avocado in the green container before moving the blue block next to the avocado.", "Put the orange block and the orange cylinder in the cyan box, and the gray cylinder in the black box.", "Put the red bar by the black puck.", "Put the apple beside the egg.", "Pick up the coffee cup and put it in the orange container.", "Can you put the purple cylinder beside the tangerine?", "The green cylinder goes in the green bin.", "Put the lime in the black container.", "Grab the green block and place it in the purple bin.", "Put the orange bar by the soda can.", "Collect the blue objects in the black box and move the white object into the orange box.", "Move both the tangerine and the gray cylinder into the gray container.", "Place the black block and the food can inside the red container.", "Pick up the jam jar and put it in the pink container.", "Collect the black objects in the pink tray and move the gray object into the cyan tray.", "Grab the white block and place it in the cyan bin.", "Collect the apple and the toy school bus in the gray tray.", "Grasp the lemon and lift it.", "Pick up the blue cube and put it in the yellow box.", "First put the cyan cube next to the soda can, then put the magenta ink cartridge in the cyan tray.", "Store the gray cylinder in the green bin.", "Lift up the white cylinder.", "Grab the red bar and place it in the gray container.", "Collect the green objects in the brown box and move the white object into the cyan tray.", "Pick up the pink cylinder.", "Place the red block into the brown box.", "Place the brown block next to the cyan bar.", "Bring the red block close to the cyan cylinder.", "Put the red block inside the blue bin.", "Put the pink dog toy and the salt shaker in the yellow box.", "Take the jam jar and drop it into the purple box.", "Grab the green bar and place it in the gray bin.", "Put the black cylinder in the black box.", "Grab the cyan block and place it in the black tray.", "Can you pick up the toy train?", "Move both the gray cylinder and the blue block into the cyan box.", "The gray block goes in the orange bin.", "Put the red cylinder beside the tangerine.", "Grab the rolling pin.", "Drop the pink cylinder in the gray tray.", "Place the white cylinder near the brown block.", "Bring the yellow bar close to the cyan block.", "Put the yellow cylinder by the blue cylinder.", "Store the silver robot figure in the purple box.", "Place the cyan cylinder near the egg.", "Take the pink dog toy.", "Can you put the toy train in the brown box?", "Set the brown block down next to the toy car carrier.", "Move the lemon so it is next to the potato.", "Put the yellow bar inside the black box.", "Place the peach next to the carrot.", "Raise the green bar off the table.", "Take the candle and drop it into the red box.", "Can you put the green cylinder in the green container?", "Place the gray cube near the ink box.", "Put the egg and the purple block in the pink container.", "Put the cyan bar next to the carrot.", "Put the yellow puck in the brown bin, and after that put the yellow block next to the red block.", "Put the jam jar next to the lemon.", "Place the orange cylinder near the jug.", "Can you pick up the jam jar?", "Put the peach by the red cylinder.", "Move the salt shaker into the purple box.", "Put the coffee cup in the orange box.", "First put the black bar in the cyan tray, then put the blue block next to the black bar.", "Put the pink cube next to the gray bar.", "Lift the peach.", "Move the black block next to the jug.", "Move the purple cylinder so it is next to the green block.", "Move the brown cube into the cyan container.", "Put the soda can next to the cyan bar.", "Drop the orange block in the purple box.", "Put the lime in the cyan box.", "Sort the objects: put the black objects in the cyan box and the white object in the gray box.", "First put the green block in the brown box, then put the orange bar next to the yellow cube.", "Pick up the white block and put it in the blue bin.", "Drop the white block in the blue bin.", "Get the corn.", "Sort the objects: put the white objects in the purple box and the yellow object in the red box.", "Place the cyan puck and the egg inside the pink box.", "Can you put the food can beside the egg?", "Drop the red puck in the green container.", "Bring the soda can close to the apple.", "Grab the jam jar.", "Put the beer next to the purple bar.", "Can you put the red cylinder in the black tray?", "Place the black block near the pink cylinder.", "Move the salt shaker next to the egg.", "Store the pink cylinder in the purple container.", "Put every object on the table inside the brown box.", "Put the salt shaker in the green tray.", "Move the blue block in the blue box before moving the gray block next to the soda can.", "Put the ink box and the orange cylinder in the white box.", "Sort the objects: put the black objects in the pink box and the blue object in the white box.", "Start by moving the orange bar in the green bin, then move the cyan block next to the orange bar.", "The silver robot figure goes in the purple bin.", "Can you put the yellow cylinder in the pink bin?", "Put the food can by the coffee cup.", "Grasp the panda figure and lift it.", "Store the egg in the cyan container.", "Put the candle and the coffee cup in the blue container.", "Put the salt shaker in the gray container.", "Can you put the green cube in the red bin?", "Start by moving the red bar next to the cyan cylinder, then move the white block in the brown bin.", "Put the yellow block beside the candle.", "Place the black block into the cyan box.", "The jam jar goes in the brown box.", "Transfer the pill box to the blue container.", "Move the brown bar into the pink box.", "Grab the brown cylinder.", "Pick up the peach and put it in the black box.", "Move the blue cylinder so it is next to the green cylinder.", "Collect everything on the table in the gray tray.", "Put the apple in the white box.", "The apple goes in the white container.", "Grab the jug and place it in the yellow box.", "Sort by color: yellow goes in the cyan bin, green goes in the orange bin.", "Take the purple block and drop it into the red bin.", "Put the toy train in the brown container, and after that put the white cylinder next to the block box.", "Put the food can next to the coffee cup.", "Put the soda can beside the cyan bar.", "Lift up the cyan bar.", "Grab the green cube and place it in the red bin.", "Place the yellow bar and the white block inside the cyan container.", "The white cube goes in the red container.", "Transfer the green cube to the red box.", "Sort the objects: put the brown objects in the red container and the pink object in the green box.", "Move the green bar into the gray bin.", "Move both the cyan cylinder and the salt shaker into the pink box.", "Put the cyan cylinder and the purple bar in the yellow box.", "Raise the orange block off the table.", "Put the red block in the brown container.", "Move the red block next to the brown block.", "Drop the light bulb box in the pink container.", "Put the brown cube and the brown block in the white tray, and the green cylinder in the cyan box.", "Take the brown bar and drop it into the yellow box.", "Put the pink cube next to the soda can.", "Put the yellow block by the orange bar.", "The blue block goes in the yellow box.", "Bring the silver robot figure close to the purple cylinder.", "Move both the pink dog toy and the cyan cylinder into the black container.", "Can you put the soda can beside the cyan cylinder?", "Pick up the cyan cylinder and put it in the gray box.", "Place the red cube and the black block inside the yellow container.", "Sort by color: green goes in the gray container, orange goes in the blue box.", "Sort by color: yellow goes in the black container, pink goes in the green box.", "Grab the brown block.", "Lift the hot dog.", "Bring the cyan cube close to the tangerine.", "Collect the orange cylinder and the yellow block in the black container.", "Grab the gray cylinder and place it in the red box.", "Can you put the brown cylinder in the pink tray?", "Put the panda figure in the brown bin, and after that put the brown cylinder next to the green cylinder.", "Put the green speaker next to the soda can.", "Transfer the black cylinder to the brown box.", "Bring the baby roller toy close to the block box.", "The green cube goes in the purple bin.", "Put the panda figure in the pink container, and after that put the egg next to the red block.", "Drop the lemon in the red bin.", "Pick up the white block and put it in the green box.", "Move both the purple block and the egg into the black container.", "The egg goes in the yellow container.", "Lift up the silver robot figure.", "Store the salt shaker in the gray box.", "Put the black block in the green box, and after that put the yellow cube next to the black bar.", "Can you put the red block beside the lemon?", "Grab the egg and place it in the pink box.", "Put the candle inside the blue container.", "Start by moving the pink dog toy in the blue box, then move the brown block next to the pink dog toy.", "First put the soda can next to the pink block, then put the tangerine in the yellow container.", "Drop the food can in the blue box.", "Put the pink block by the gray cylinder.", "Pick the blue block up.", "Put the yellow block inside the gray bin.", "Raise the gray cylinder off the table.", "Start by moving the black block in the white container, then move the gray bar next to the black block.", "Put the purple cylinder in the white container, and after that put the toy train next to the orange cylinder.", "Can you pick up the food can?", "Start by moving the cyan cylinder in the cyan box, then move the yellow bar next to the cyan cylinder.", "Grab the coffee cup and place it in the green container.", "Move the camera lens in the brown tray before moving the food can next to the egg.", "Move the magenta ink cartridge so it is next to the tangerine.", "Sort the objects: put the cyan objects in the blue bin and the white object in the green box.", "Can you put the tangerine in the cyan box?", "Place the brown bar next to the sweet potato.", "Put the pink cylinder inside the purple box.", "Put the soda can next to the lime.", "Can you put the orange cylinder in the yellow bin?", "Grab the orange robot figure and place it in the black box.", "Transfer the blue cube to the brown box.", "Start by moving the brown cube in the blue container, then move the yellow cube next to the brown cube.", "Put the food can beside the orange.", "The brown cube goes in the green bin.", "Collect the pink objects in the blue container and move the brown object into the orange tray.", "Take the soda can and drop it into the brown bin.", "Move both the panda figure and the apple into the orange bin.", "Sort the objects: put the white objects in the gray bin and the cyan object in the yellow tray.", "Can you put the silver robot figure in the gray tray?", "Move both the pink block and the peach into the yellow container.", "Can you pick up the green speaker?", "Put the pink block in the gray box.", "Move the white bar so it is next to the pink cylinder.", "The purple cylinder goes in the orange container.", "Put the green cylinder in the gray tray.", "Place the white block into the brown box.", "Store the soda can in the pink box.", "Place the yellow cylinder into the green bin.", "Place the red cylinder into the gray box.", "Put the green block next to the soda can.", "Transfer the cupcake to the orange bin.", "Grab the gray cylinder and place it in the yellow bin.", "Place the black cylinder and the white block inside the gray box.", "Put the orange block next to the purple block, and after that put the parchment box in the white container.", "First put the soda can in the red bin, then put the gray cylinder next to the soda can.", "First put the red cube in the red container, then put the orange next to the red cube.", "Put the black block inside the black box.", "Collect the purple objects in the brown bin and move the yellow object into the pink container.", "Start by moving the tangerine next to the cyan block, then move the black cylinder in the gray box.", "Sort the objects: put the yellow objects in the orange bin and the brown object in the blue box.", "Pick up the cyan block and put it in the white container.", "Take the white cylinder and drop it into the green bin.", "Sort the objects: put the cyan objects in the blue box and the red object in the white bin.", "Put the ink box and the black cylinder in the gray box.", "Move the gray block next to the red block.", "Pick up the yellow block and put it in the yellow bin.", "Drop the cyan bar in the brown bin.", "Put every object on the table inside the pink bin.", "Start by moving the green block in the white box, then move the brown cylinder next to the green block.", "Pick up the orange block and put it in the purple container.", "Move the salt shaker into the white bin.", "Put the green cylinder and the lemon in the blue box.", "Place the black bar into the blue container.", "Bring the gray puck close to the salt shaker.", "Grab the blue puck and place it in the yellow tray.", "Put the red cylinder and the red block in the purple container, and the white block in the green container.", "Put the lemon next to the yellow block, and after that put the peach in the orange box.", "Put the yellow cylinder inside the blue box.", "Set the cyan cylinder down next to the green block.", "Place the green block into the orange bin.", "Store the blue block in the blue box.", "Put the salt shaker and the apple in the gray tray.", "Put all the objects in the gray tray.", "Put the blue block by the coffee cup.", "Pick up the purple bar and put it next to the purple puck.", "Put the tangerine next to the hot dog, and after that put the gray block in the red box.", "Sort by color: yellow goes in the orange bin, pink goes in the blue tray.", "Put the brown cylinder inside the brown tray.", "Grab the orange cylinder and place it in the purple box.", "Put the red block next to the brown block.", "Put the cyan cylinder and the jam jar in the black box.", "Pick up the beer and put it next to the red cylinder.", "Put the apple next to the cheese.", "Put the gray block inside the red container.", "Put the jam jar next to the candle.", "Start by moving the food can in the orange box, then move the purple block next to the food can.", "Move the purple block next to the yellow block before moving the ink box in the pink container.", "Put the pink cylinder inside the orange tray.", "Can you put the blue block in the brown box?", "Pick up the cyan cylinder and put it next to the coffee cup.", "Place the panda figure next to the tomato.", "Pick up the purple bar.", "Collect the orange objects in the pink container and move the green object into the purple box.", "Put the cyan cylinder and the cyan block in the black container, and the yellow block in the brown bin.", "Sort the objects: put the blue objects in the orange container and the yellow object in the pink box.", "Place the hot dog next to the blue block.", "Can you put the gray cylinder beside the purple block?", "Put the salt shaker next to the white cylinder.", "Place the purple bar and the tangerine inside the red box.", "Can you put the silver robot figure in the pink bin?", "Grab the black cylinder and place it in the blue bin.", "Put the green speaker next to the apple.", "Pick up the black block and put it in the cyan tray.", "First put the toy train in the red bin, then put the pink puck next to the toy train.", "Place the tangerine near the purple bar.", "Put the pill box in the gray bin.", "Collect the purple block and the gray cube in the black box.", "Set the potato down next to the soda can.", "Place the tangerine into the gray bin.", "The green cube goes in the pink tray.", "Put the pink block inside the brown container.", "Move the blue block so it is next to the brown cylinder.", "Lift the camera lens.", "Collect the pink objects in the orange container and move the cyan object into the brown container.", "Transfer the blue bar to the blue box.", "Move the black cylinder next to the salt shaker before moving the black cube in the blue box.", "Move the apple into the cyan bin.", "Can you put the brown cylinder beside the cyan block?", "Store the toy sheep in the green box.", "Can you put the orange cylinder in the pink tray?", "Put the yellow block in the brown tray, and after that put the purple cylinder next to the yellow block.", "Place the toy rhino near the food box.", "Put all the objects in the red container.", "Put the pink dog toy in the brown tray, and after that put the soda can next to the jam jar.", "Sort by color: pink goes in the cyan container, orange goes in the green box.", "Put the jam jar by the pink cylinder.", "Can you put the peach beside the green bar?", "Put the pink puck next to the soda can.", "Can you put the brown bar in the white container?", "Move the carrot so it is next to the sweet potato.", "Drop the blue block in the gray container.", "The black block goes in the brown bin.", "Move the purple cylinder into the green container.", "Transfer the brown block to the yellow box.", "Sort the objects: put the green objects in the red container and the black object in the purple container.", "Move both the green cube and the coffee cup into the gray box.", "Collect everything on the table in the green bin.", "Set the camera lens down next to the yellow block.", "Set the cucumber down next to the white block.", "Move the ink box into the gray tray.", "Collect the purple objects in the gray container and move the yellow object into the pink box.", "Move the pink dog toy into the brown bin.", "Set the cyan cylinder down next to the food box.", "Move both the yellow block and the cyan cube into the pink box.", "Grab the silver robot figure and place it in the cyan bin.", "Pick up the blue cube and put it in the orange container.", "Grab the orange block and place it in the blue box.", "Move the white cube in the blue tray before moving the red bar next to the white cube.", "Put the green cylinder inside the blue tray.", "Place the yellow puck next to the pink block.", "Place the pink block next to the food can.", "Bring the apple close to the green bar.", "Take the cyan block and drop it into the red box.", "Put the yellow cube and the gray block in the gray box.", "Put the cyan block next to the coffee cup.", "Pick up the corn.", "Place the brown block next to the orange cylinder.", "Can you put the pink bar beside the food can?", "Move the lime next to the egg.", "Can you put the potato beside the sweet potato?", "Put the lime by the food can.", "Store the yellow bar in the orange tray.", "Put the apple inside the brown bin.", "Lift the cyan cylinder.", "Put the orange cylinder next to the gray block.", "Set the cyan block down next to the black block.", "Move the green block into the gray tray.", "Move the brown cylinder into the orange bin.", "Put the black block next to the soda can.", "Place the yellow cylinder into the gray box.", "Collect the black block and the salt shaker in the cyan box.", "Pick up the blue block and put it next to the cyan block.", "Move the sweet potato so it is next to the yellow cylinder.", "Place the light bulb box next to the brown block.", "Place the jam jar next to the red bar.", "Raise the brown bar off the table.", "Collect the yellow objects in the orange tray and move the white object into the purple container.", "Can you pick up the soda can?", "Can you put the red cylinder in the purple box?", "Bring the yellow block close to the ink box.", "Can you put the pink bar beside the black bar?", "Pick up the baby roller toy and put it in the gray bin.", "Sort the objects: put the purple objects in the white bin and the pink object in the cyan bin.", "Collect the green objects in the brown box and move the red object into the blue tray.", "Place the salt shaker into the green bin.", "Pick the corn up.", "Put the white cylinder next to the mushroom.", "Start by moving the red cylinder in the cyan bin, then move the egg next to the red cylinder.", "Drop the brown bar in the yellow bin.", "Put the soda can in the yellow bin.", "Lift the food can.", "First put the gray cube in the orange container, then put the cyan cylinder next to the gray cube.", "Move the candle into the gray tray.", "Place the purple cylinder and the yellow block inside the yellow container.", "Can you put the apple in the white tray?", "Grab the white block and place it in the black container.", "Take the orange robot figure and drop it into the orange container.", "Put the brown cube inside the cyan tray.", "Lift up the tomato.", "Set the carrot down next to the potato.", "Move the blue block into the brown bin.", "Pick up the yellow block and put it in the green box.", "Place the blue cylinder into the orange box.", "Collect the black objects in the blue bin and move the brown object into the white box.", "Place the peach next to the yellow block.", "Move the jam jar so it is next to the food can.", "Transfer the orange cylinder to the black container.", "Place the orange block next to the white bar.", "Place the pink cylinder near the cyan block.", "Take the tangerine and drop it into the brown box.", "Transfer the toy train to the yellow bin.", "Put the purple cylinder inside the green tray.", "Move both the orange cube and the gray cube into the black box.", "Place the orange block near the green speaker.", "Grab the purple block and place it in the yellow box.", "Put the gray cube in the red box.", "Place the green block into the white container.", "Put the green cylinder inside the cyan box.", "Move both the coffee cup and the white cube into the purple box.", "Pick up the gray cylinder and put it next to the green cylinder.", "Put the orange bar next to the toy train, and after that put the cyan bar in the yellow box.", "Grab the green block and place it in the green box.", "Move the purple block into the orange bin.", "Move all the objects into the gray box.", "Put the yellow cube by the gray block.", "Put the black cube by the brown block.", "Sort the objects: put the gray objects in the white box and the cyan object in the black box.", "Lift up the orange.", "Sort the objects: put the orange objects in the green box and the black object in the purple tray.", "Move the coffee cup into the orange box.", "Can you pick up the green block?", "Place the white block near the food can.", "Drop the green block in the gray box.", "Can you put the yellow bar beside the green speaker?", "Pick up the blue cube and put it next to the gray block.", "Pick up the lime.", "Lift up the ink box.", "Set the purple block down next to the salt shaker.", "Put the purple block next to the magenta ink cartridge.", "The purple bar goes in the orange box.", "Put the red cylinder and the red block in the blue bin, and the cyan cube in the white bin.", "Start by moving the yellow cylinder in the red box, then move the white cylinder next to the yellow cylinder.", "The red cylinder goes in the purple box.", "Put the blue block inside the brown bin.", "Place the green cylinder and the soda can inside the green bin.", "Put the salt shaker inside the pink bin.", "Put the purple puck in the brown bin.", "Put the food can and the pill box in the red bin.", "Move the green cylinder in the white bin before moving the tangerine next to the green cylinder.", "The orange cylinder goes in the purple container.", "Put the black block in the blue tray, and after that put the hot dog next to the blue block.", "Move all the objects into the green container.", "Put the yellow block and the yellow cylinder in the green bin, and the gray cylinder in the red bin.", "Collect the pink block and the white block in the pink bin.", "Can you put the food can beside the green puck?", "Place the orange cube and the purple bar inside the black container.", "Grab the soda can and place it in the orange box.", "Drop the egg in the cyan box.", "Pick up the brown block and put it next to the soda can.", "Move the yellow block so it is next to the salt shaker.", "Transfer the orange robot figure to the brown container.", "Put the white block in the gray container.", "Put the black block in the orange bin.", "Collect the yellow block and the brown puck in the white box.", "Pick up the red bar and put it next to the pink block.", "Put the potato by the egg.", "Grab the mushroom and place it in the brown box.", "Transfer the potato to the green bin.", "Collect the green objects in the blue container and move the brown object into the black tray.", "Transfer the yellow cylinder to the cyan box.", "Put the food can next to the toy school bus.", "Drop the purple block in the red container.", "Sort the objects: put the yellow objects in the white box and the gray object in the cyan box.", "Collect everything on the table in the gray bin.", "Set the camera lens down next to the orange.", "Lift up the cyan cylinder.", "Put the orange by the coffee cup.", "Place the brown bar into the black box.", "Grab the black puck.", "Collect the blue objects in the cyan box and move the brown object into the orange bin.", "Put the orange cylinder in the green bin.", "Can you put the pink cylinder in the white tray?", "Drop the pill box in the purple bin.", "Can you put the purple cylinder in the pink box?", "Put the orange block and the yellow block in the yellow container.", "Transfer the black bar to the brown box.", "Put the brown block by the cucumber.", "Put the purple puck in the purple container, and after that put the jam jar next to the purple puck.", "Can you put the coffee cup in the gray box?", "Move the red block into the purple container.", "Drop the purple cylinder in the white tray.", "Move the light bulb box next to the silver robot figure.", "Pick up the purple cylinder.", "Transfer the red block to the red bin.", "Take the blue cube and drop it into the black tray.", "Store the purple cylinder in the pink bin.", "Move the green bar so it is next to the white block.", "Grasp the yellow cube and lift it.", "Put the red cube and the red cylinder in the black box, and the yellow cube in the cyan box.", "Move the red cube next to the lemon before moving the potato in the purple tray.", "Set the apple down next to the toy triceratops.", "Can you put the apple in the cyan box?", "Put the orange cylinder inside the yellow bin.", "Take the black block and drop it into the pink box.", "Drop the white cube in the pink box.", "Place the brown block next to the rolling pin.", "Move the red puck so it is next to the yellow bar.", "Sort the objects: put the yellow objects in the orange container and the purple object in the cyan container.", "Transfer the baby roller toy to the white container.", "Take the gray cylinder and drop it into the gray container.", "Lift the purple cylinder.", "Move both the toy train and the white cylinder into the purple container.", "Can you pick up the purple block?", "Bring the rolling pin close to the soda can.", "Move the tangerine into the blue container.", "Put all the objects in the blue container.", "Put the brown cylinder next to the toy school bus.", "Move the toy rhino in the orange box before moving the cupcake next to the gray cylinder.", "Place the food can and the jam jar inside the green box.", "Move the egg next to the orange cylinder.", "Pick up the white bar and put it in the brown container.", "The brown block goes in the orange container.", "Put the coffee cup inside the red container.", "Drop the gray cylinder in the gray tray.", "Drop the green cylinder in the green container.", "Move the blue bar in the yellow container before moving the egg next to the blue bar.", "Start by moving the white bar in the white bin, then move the yellow cylinder next to the white bar.", "Put the orange block in the brown bin.", "Move the purple block so it is next to the soda can.", "Move the red block into the blue bin.", "Put the toy train next to the kiwi.", "Collect the apple and the brown puck in the cyan tray.", "Collect the brown cylinder and the black block in the brown tray.", "Put the tomato in the white tray, and after that put the gray bar next to the tomato.", "Store the tangerine in the gray bin.", "Pick up the orange cylinder and put it next to the food box.", "Move the salt shaker in the green box before moving the pink block next to the gray block.", "Drop the red block in the blue tray.", "Move the cyan bar so it is next to the cyan block.", "Put the pink dog toy by the blue cube.", "Lift the white puck.", "Lift up the red block.", "Transfer the pink dog toy to the cyan container.", "Put the yellow cylinder next to the gray block, and after that put the apple in the red bin.", "Move the cyan block so it is next to the soda can.", "Pick up the orange and put it next to the rolling pin.", "Can you put the red cylinder in the green bin?", "Sort by color: gray goes in the cyan box, white goes in the orange box.", "Grab the apple and place it in the red box.", "Put the candle and the yellow cube in the blue bin.", "Pick up the jam jar and put it in the blue container.", "Can you put the pink cylinder in the pink bin?", "Get the blue cube.", "Collect the cyan block and the red block in the purple tray.", "Pick up the soda can.", "Put the soda can beside the toy school bus.", "Place the hot dog near the toy car carrier.", "Put the cyan bar and the toy sheep in the purple box.", "Collect everything on the table in the black box.", "Transfer the orange block to the black box.", "Grab the silver robot figure and place it in the black box.", "Sort by color: white goes in the green container, blue goes in the black container.", "Put the toy sheep beside the black cylinder.", "Start by moving the cyan cube in the gray bin, then move the purple block next to the tomato.", "First put the red cylinder in the gray bin, then put the corn next to the red cylinder.", "Store the purple block in the red box.", "Collect the cyan cube and the black block in the brown box.", "Get the magenta ink cartridge.", "Place the coffee cup into the purple bin.", "Drop the yellow block in the orange bin.", "Move both the orange cylinder and the yellow cylinder into the green box.", "Place the salt shaker into the gray box.", "Place the apple near the cheese.", "Move the magenta ink cartridge into the pink container.", "First put the yellow bar in the blue container, then put the baby roller toy next to the yellow bar.", "Can you pick up the silver robot figure?", "Put the potato next to the food can.", "Can you put the blue bar beside the light bulb box?", "Set the green cylinder down next to the orange.", "Move the apple so it is next to the coffee cup.", "Lift up the purple bar.", "Move the blue block into the blue box.", "Bring the gray bar close to the blue bar.", "Transfer the orange robot figure to the pink box.", "Put the purple cylinder inside the purple bin.", "Move the cyan cube into the pink box.", "Raise the brown cube off the table.", "Move both the food can and the black block into the gray box.", "Pick up the green block and put it in the red tray.", "Transfer the ink box to the orange bin.", "Put the purple block in the black box, and after that put the gray cube next to the purple block.", "Move the food can so it is next to the pink cylinder.", "Take the white block and drop it into the purple box.", "Move the cyan bar in the red box before moving the red block next to the cyan bar.", "Move the coffee cup in the brown box before moving the lime next to the coffee cup.", "First put the green block next to the yellow block, then put the coffee cup in the orange tray.", "Can you put the red block in the brown container?", "Get the toy sheep.", "Set the lemon down next to the coffee cup.", "Pick up the pink cylinder and put it next to the brown block.", "Pick up the white cylinder and put it next to the white cube.", "Pick the pink dog toy up.", "Place the pink cylinder next to the beer.", "Take the peach and drop it into the yellow container.", "Can you put the cyan cylinder beside the green bar?", "Place the cyan block next to the green bar.", "Store the green bar in the green box.", "Put the pink cylinder inside the red box.", "Can you put the orange block beside the apple?", "Put the black block in the blue bin, and after that put the red block next to the baby roller toy.", "Put the green block in the black tray.", "Can you put the gray block in the green box?", "Put the pink cube beside the candle.", "Start by moving the orange in the green container, then move the gray block next to the orange.", "Grab the gray cylinder and place it in the pink box.", "Move the food can next to the green speaker.", "Place the cyan block next to the potato.", "Move all the objects into the cyan bin.", "Transfer the orange to the purple container.", "Move the corn so it is next to the cyan cube.", "Set the red bar down next to the blue block.", "Store the peach in the orange bin.", "Get the brown block.", "Pick up the medicine box and put it next to the black block.", "Transfer the blue cube to the orange tray.", "Move the lime next to the green block.", "Sort by color: brown goes in the green container, white goes in the blue container.", "Can you put the brown cylinder in the cyan container?", "Place the light bulb box near the green cylinder.", "Put the camera lens inside the red tray.", "Put the toy school bus in the blue box, and after that put the red cylinder next to the toy school bus.", "Take the purple block and drop it into the black box.", "Sort by color: purple goes in the yellow container, pink goes in the brown box.", "Collect everything on the table in the yellow box.", "Place the yellow block and the tangerine inside the yellow bin.", "Put the medicine box beside the coffee cup.", "Start by moving the purple puck in the purple box, then move the food can next to the purple puck.", "Grab the cyan cylinder and place it in the red bin.", "Put the red puck beside the black block.", "Put all the objects in the brown box.", "Move the white cylinder in the brown container before moving the brown block next to the potato.", "Start by moving the toy sheep in the purple box, then move the yellow cylinder next to the baby roller toy.", "Put the blue cube inside the red box.", "Pick up the cyan cube and put it in the black container.", "The coffee cup goes in the white container.", "Move the food can next to the pink bar.", "Start by moving the black cube in the blue box, then move the jam jar next to the black cube.", "Put the food box beside the pink block.", "Collect the green block and the tangerine in the orange box.", "Store the brown cylinder in the black bin.", "Put the purple block by the lemon.", "Put the avocado in the cyan box.", "Move the egg in the purple box before moving the orange cylinder next to the egg.", "Place the gray cylinder next to the pink cylinder.", "Grasp the beer and lift it.", "Pick the orange cube up.", "Transfer the lemon to the gray tray.", "Can you pick up the gray block?", "First put the potato in the pink tray, then put the white puck next to the potato.", "Lift up the purple cube.", "Move the blue cylinder in the gray box before moving the yellow block next to the blue cylinder.", "Take the red cylinder and drop it into the gray container.", "Put the purple bar inside the white container.", "The pink block goes in the purple bin.", "Sort by color: yellow goes in the purple tray, cyan goes in the gray box.", "Pick up the red block and put it next to the salt shaker.", "Lift the lemon.", "Move the black cylinder into the red box.", "Move both the red cylinder and the soda can into the pink box.", "Move the peach into the black bin.", "Can you put the ink box in the purple bin?", "Can you put the white cylinder beside the red block?", "Transfer the soda can to the cyan box.", "Place the purple block into the brown box.", "Pick up the blue block and put it in the yellow box.", "Put all the objects in the black box.", "Lift the coffee cup.", "Store the egg in the black box.", "Put every object on the table inside the green bin.", "Grasp the green cylinder and lift it.", "Move the orange cylinder into the purple container.", "Put the jam jar next to the ink box.", "Put the black cylinder in the green container, and after that put the yellow puck next to the black cylinder.", "Take the blue bar.", "Move both the food can and the green block into the green container.", "Put the cyan cylinder next to the green cylinder.", "Place the soda can and the blue block inside the pink container.", "Put the orange block in the green box.", "First put the salt shaker in the green tray, then put the yellow cube next to the salt shaker.", "Grab the toy car carrier.", "Drop the purple cube in the yellow container.", "Put the salt shaker next to the pink cube, and after that put the pink block in the green bin.", "Take the orange block and drop it into the green container.", "Place the pink block into the pink box.", "First put the blue cube next to the soda can, then put the black block in the yellow bin.", "Put the cyan block in the yellow box.", "Get the yellow cylinder.", "Pick up the gray block and put it in the red container.", "Transfer the gray cylinder to the orange container.", "The ink box goes in the green bin.", "Collect the black objects in the cyan box and move the white object into the green bin.", "Store the gray block in the gray container.", "Sort by color: white goes in the purple box, yellow goes in the brown box.", "Pick up the sweet potato.", "Put the blue cylinder inside the brown bin.", "The toy triceratops goes in the green bin.", "Lift up the peach.", "Take the green cube.", "Pick up the yellow cube and put it in the green box.", "Sort by color: black goes in the orange container, cyan goes in the purple container.", "Pick up the blue cube and put it next to the blue bar.", "First put the egg in the green tray, then put the candle next to the egg.", "Sort by color: black goes in the blue bin, green goes in the gray box.", "Move the gray cube next to the potato before moving the salt shaker in the green container.", "The blue block goes in the cyan bin.", "Get the purple block.", "Move the camera lens into the orange container.", "Move the apple in the brown box before moving the orange cylinder next to the salt shaker.", "Lift the white bar.", "The brown block goes in the pink bin.", "Set the blue puck down next to the green cylinder.", "Pick up the toy school bus and put it next to the kiwi.", "Set the toy triceratops down next to the red cube.", "The red cube goes in the gray tray.", "Put the green block next to the toy rhino, and after that put the red block in the green container.", "Move both the apple and the black cylinder into the black bin.", "Move the apple in the black tray before moving the orange cylinder next to the tangerine.", "Move the green block so it is next to the cyan block.", "Put the purple cube and the purple cylinder in the gray container, and the black cube in the red container.", "Transfer the red cylinder to the green container.", "The tangerine goes in the red bin.", "Pick up the tangerine and put it next to the yellow bar.", "Move the baby roller toy so it is next to the black block.", "Transfer the coffee cup to the red bin.", "Move all the objects into the blue box.", "Place the magenta ink cartridge next to the yellow cube.", "Sort by color: white goes in the brown tray, orange goes in the pink container.", "Grab the brown puck.", "Drop the candle in the yellow bin.", "Put the purple block in the gray container, and after that put the camera lens next to the kiwi.", "Sort the objects: put the gray objects in the green container and the black object in the red tray.", "Sort the objects: put the cyan objects in the yellow box and the brown object in the red box.", "Set the soda can down next to the gray bar.", "First put the pill box in the pink bin, then put the egg next to the green cylinder.", "Place the pink block and the apple inside the red bin.", "Store the pill box in the purple bin.", "Store the pink cylinder in the green box.", "Place the carrot next to the brown cylinder.", "Put the blue cube and the jam jar in the black box.", "Move the gray cylinder into the red container.", "Place the toy train into the cyan box.", "Place the blue block into the cyan box.", "Pick up the yellow block and put it in the pink box.", "Pick up the coffee cup and put it next to the cheese.", "Put the blue block in the green container.", "Move the cyan block into the brown tray.", "Move the pink cylinder into the brown container.", "Put the tangerine next to the cheese, and after that put the blue block in the pink box.", "Get the cyan cylinder.", "Move the yellow bar into the blue box.", "Transfer the candle to the green tray.", "Put the white bar inside the white bin.", "Place the green cylinder into the red box.", "Move the panda figure into the green box.", "Drop the blue cylinder in the yellow bin.", "Start by moving the egg in the black box, then move the jug next to the egg.", "Transfer the green block to the purple box.", "Start by moving the coffee cup in the white box, then move the red cylinder next to the coffee cup.", "Put the red cube by the blue block.", "Pick up the red cylinder and put it next to the black cylinder.", "Place the yellow puck into the red container.", "Put the blue block in the orange container.", "Take the red cylinder and drop it into the brown box.", "Move the black block next to the panda figure before moving the food can in the red bin.", "Can you put the jam jar beside the brown cylinder?", "Store the orange block in the green bin.", "Can you put the coffee cup beside the green cube?", "Transfer the pink cylinder to the green box.", "Place the red cube and the red block inside the blue box.", "Put the gray block inside the pink container.", "Move both the yellow cylinder and the pink block into the green bin.", "Lift the red cube.", "Move both the camera lens and the gray cylinder into the green container.", "Put the cyan cylinder inside the green box.", "Can you put the purple block in the gray bin?", "Take the salt shaker.", "Put the blue cylinder and the blue block in the brown bin, and the yellow cylinder in the cyan box.", "Collect the yellow cylinder and the yellow cube in the black tray.", "Bring the orange cylinder close to the gray bar.", "First put the soda can next to the brown block, then put the apple in the yellow bin.", "Put the magenta ink cartridge in the orange box, and after that put the cyan block next to the magenta ink cartridge.", "Move the coffee cup into the pink container.", "Grab the blue block and place it in the brown box.", "Pick up the orange and put it in the cyan bin.", "Can you put the orange block in the green box?", "Take the black block and drop it into the black tray.", "Move the magenta ink cartridge so it is next to the corn.", "Put the cupcake in the green container, and after that put the yellow cylinder next to the cupcake.", "Pick up the white cylinder and put it in the cyan bin.", "Take the yellow cube and drop it into the pink box.", "Place the panda figure next to the red cube.", "Drop the tangerine in the red box.", "Start by moving the green cylinder in the orange box, then move the egg next to the green cylinder.", "Place the blue block into the white container.", "Transfer the green cylinder to the white box.", "Place the tomato and the candle inside the pink tray.", "Move the pink block so it is next to the purple block.", "Set the orange cylinder down next to the green speaker.", "Pick up the black block and put it next to the red bar.", "Pick up the black bar and put it in the red tray.", "First put the purple block in the green tray, then put the orange block next to the purple block.", "Store the pink block in the gray tray.", "Grab the cyan block and place it in the white box.", "Put the white block and the cyan cylinder in the blue box.", "Put the salt shaker next to the carrot.", "Move the potato in the cyan box before moving the purple block next to the potato.", "Put all the objects in the orange bin.", "Set the purple cylinder down next to the beer.", "Start by moving the gray cylinder in the pink box, then move the purple block next to the white cylinder.", "Collect the green objects in the pink box and move the orange object into the white tray.", "Grab the pink block and place it in the brown container.", "Lift the cyan puck.", "Put the corn beside the red cylinder.", "Put the pink cylinder in the yellow tray.", "Put the cyan block and the yellow bar in the black box.", "Move both the toy train and the blue block into the gray tray.", "Drop the lemon in the black tray.", "Move the coffee cup so it is next to the pencil case.", "Can you put the soda can beside the blue block?", "Collect the yellow objects in the white container and move the black object into the gray box.", "Transfer the pink bar to the blue bin.", "Move the toy rhino next to the black block.", "Start by moving the white cylinder next to the food can, then move the orange block in the pink box.", "Start by moving the apple in the purple box, then move the brown bar next to the hot dog.", "Place the cheese next to the medicine box.", "Transfer the blue cube to the cyan box.", "Take the purple cube.", "Put the lemon and the orange cylinder in the gray box.", "Move the brown bar in the brown box before moving the orange block next to the brown bar.", "Put the purple bar and the purple block in the black bin, and the yellow cylinder in the cyan bin.", "Place the food box next to the gray cylinder.", "Move the soda can so it is next to the toy train.", "Sort by color: red goes in the green bin, blue goes in the brown container.", "Store the brown block in the purple box.", "Place the purple block into the cyan box.", "Put all the objects in the pink bin.", "Put the red cube inside the black bin.", "Put the peach beside the salt shaker.", "Move the pink block into the gray container.", "Place the yellow block into the white box.", "Move both the green block and the pink block into the purple bin.", "Move the gray block into the cyan box.", "Put all the objects in the yellow tray.", "Raise the black block off the table.", "Start by moving the cheese next to the blue cylinder, then move the black cube in the yellow bin.", "Sort the objects: put the orange objects in the brown container and the white object in the purple box.", "Place the jam jar next to the cyan cube.", "Pick up the pink bar.", "Take the green cylinder.", "Raise the purple block off the table.", "Grab the blue cylinder and place it in the green box.", "Put the soda can inside the yellow container.", "Place the egg and the white block inside the red box.", "Place the gray bar next to the salt shaker.", "Put the pink block and the pink cylinder in the green container, and the gray bar in the yellow box.", "Bring the orange close to the soda can.", "Store the salt shaker in the green box.", "Place the food can into the brown bin.", "Put every object on the table inside the blue container.", "Pick up the camera lens.", "Can you put the rolling pin beside the coffee cup?", "Put the orange cylinder in the green container.", "Put the jam jar and the cyan block in the white box.", "Store the purple block in the black tray.", "Get the potato.", "Put the cyan cylinder inside the black container.", "Can you put the brown cylinder beside the black cylinder?", "Move both the purple cube and the potato into the brown box.", "The jam jar goes in the cyan box.", "Put the camera lens beside the potato.", "Place the baby roller toy next to the hot dog.", "Start by moving the black cube next to the green cube, then move the white cube in the brown container.", "Place the black block next to the cucumber.", "Can you put the egg beside the red puck?", "Start by moving the pink block in the purple box, then move the food can next to the green cylinder.", "Put the coffee cup beside the cheese.", "Can you put the toy train beside the cyan bar?", "Put the toy car carrier next to the carrot, and after that put the white bar in the yellow container.", "Lift up the lime.", "Take the pink block.", "Place the black block next to the soda can.", "Pick up the soda can and put it in the yellow bin.", "Place the red block into the white bin.", "Move both the gray block and the cyan cube into the blue box.", "Grab the tangerine and place it in the cyan tray.", "Move the purple block into the black container.", "Place the rolling pin next to the cyan bar.", "Put the orange block and the orange cylinder in the green box, and the pink cylinder in the brown box.", "Take the brown cylinder and drop it into the brown tray.", "Sort the objects: put the purple objects in the orange bin and the brown object in the green box.", "First put the brown cylinder in the brown container, then put the yellow cylinder next to the brown cylinder.", "Move the egg next to the gray cylinder before moving the apple in the gray container.", "Sort by color: brown goes in the white bin, green goes in the pink bin.", "Grasp the toy rhino and lift it.", "The cyan block goes in the brown box.", "Can you put the white cube beside the red block?", "Place the pink block and the orange inside the yellow box.", "Put the cyan cylinder in the purple tray.", "Place the salt shaker into the orange box.", "Move the lime into the red box.", "Sort by color: brown goes in the white bin, pink goes in the orange box.", "Grasp the ink box and lift it.", "Start by moving the yellow block next to the black cylinder, then move the cyan cylinder in the pink box.", "Move the cucumber so it is next to the black cylinder.", "Transfer the yellow bar to the black container.", "Place the white cube into the green bin.", "Move the blue block into the gray container.", "Transfer the black block to the white box.", "Pick the cyan block up.", "Drop the brown block in the purple container.", "Collect the coffee cup and the yellow cylinder in the green container.", "Put the yellow cylinder and the yellow cube in the white box, and the black block in the red box.", "Store the pink block in the red bin.", "Move the red cylinder in the pink box before moving the panda figure next to the red cylinder.", "Pick up the red cube.", "Move both the brown cube and the black cylinder into the purple container.", "Pick up the medicine box and put it next to the brown cylinder.", "Place the candle into the pink box.", "Pick up the silver robot figure and put it in the gray box.", "First put the purple cube in the pink container, then put the black cylinder next to the purple cube.", "Store the gray block in the pink bin.", "Put the white block beside the jam jar.", "Sort the objects: put the black objects in the yellow container and the blue object in the cyan bin.", "Collect the potato and the toy sheep in the black box.", "Put the red cylinder next to the black puck.", "Start by moving the lemon next to the purple cylinder, then move the jam jar in the green container.", "Move the black block into the black bin.", "Can you pick up the salt shaker?", "Put the orange cylinder next to the toy triceratops.", "Transfer the white cylinder to the red box.", "The green cube goes in the gray box.", "Move the pink block in the black box before moving the cyan block next to the pink block.", "Can you put the sweet potato beside the purple bar?", "Place the black block into the black bin.", "Put all the objects in the brown bin.", "Transfer the gray block to the white box.", "Pick up the black block and put it in the white container.", "Put the candle by the coffee cup.", "Can you put the red cylinder in the brown box?", "Pick the jam jar up.", "Move the egg in the orange box before moving the gray cylinder next to the black cube.", "Bring the carrot close to the cheese.", "Store the purple block in the cyan container.", "Collect the brown objects in the orange container and move the pink object into the yellow bin.", "Store the white block in the brown container.", "Put the gray cylinder in the white bin.", "Take the candle and drop it into the cyan container.", "Place the white cylinder and the cyan block inside the yellow tray.", "Grab the purple cylinder and place it in the gray box.", "Move the peach next to the coffee cup.", "Pick up the green block and put it in the gray container.", "Move both the orange bar and the cyan bar into the purple container.", "Put the brown block in the cyan box.", "Sort by color: pink goes in the white box, purple goes in the green box.", "Drop the gray cube in the yellow box.", "Put the pink cylinder inside the gray box.", "Raise the medicine box off the table.", "Pick up the peach.", "Move the salt shaker so it is next to the lime.", "Take the gray block and drop it into the gray box.", "Move the orange bar so it is next to the tangerine.", "Place the yellow bar and the soda can inside the white box.", "Move the yellow cube into the pink bin.", "Set the black block down next to the brown block.", "Place the food can next to the orange robot figure.", "Pick up the blue block and put it next to the cyan cylinder.", "Grab the blue block and place it in the brown container.", "Pick up the blue cylinder and put it in the gray bin.", "Transfer the gray block to the green box.", "Start by moving the panda figure in the orange box, then move the lemon next to the panda figure.", "Put the peach beside the toy sheep.", "Move the purple bar into the pink box.", "Move the pink bar next to the apple.", "Place the food can and the orange cube inside the yellow tray.", "Transfer the brown block to the green tray.", "Transfer the camera lens to the pink container.", "Move the purple bar into the black box.", "Collect the pink objects in the purple container and move the white object into the black box.", "Grab the egg and place it in the pink container.", "Move the orange block next to the gray cube.", "Store the toy triceratops in the purple bin.", "Can you put the jam jar in the yellow bin?", "Put the cyan block in the blue tray.", "Take the gray block and drop it into the pink box.", "Lift the blue cylinder.", "Move both the green cylinder and the blue cube into the pink container.", "Place the magenta ink cartridge and the tangerine inside the gray box.", "Place the black block next to the toy car carrier.", "Pick up the cheese and put it next to the jam jar.", "Put the gray bar and the toy train in the yellow container.", "Grab the orange robot figure and place it in the pink bin.", "Put the silver robot figure next to the gray bar, and after that put the salt shaker in the cyan box.", "Put the coffee cup in the white container.", "Take the purple cylinder and drop it into the purple bin.", "Lift up the purple puck.", "The panda figure goes in the yellow container.", "Set the green cube down next to the red cylinder.", "Put the soda can in the blue box, and after that put the green cube next to the soda can.", "Put the white block beside the lemon.", "Grab the purple cylinder and place it in the white bin.", "Start by moving the white cylinder in the blue bin, then move the cyan cylinder next to the white cylinder.", "Put the red cylinder inside the gray bin.", "Put the lime beside the brown block.", "Place the red block near the peach.", "Put the orange block and the coffee cup in the brown bin.", "Can you pick up the hot dog?", "Drop the blue cube in the red box.", "Move the yellow block into the white box.", "Place the red bar near the apple.", "Move all the objects into the green bin.", "Move the gray cylinder next to the toy car carrier.", "First put the lemon next to the black block, then put the cyan bar in the cyan bin.", "Put the cyan cylinder and the toy train in the yellow tray.", "Can you put the peach beside the blue block?", "Put the toy triceratops next to the blue block.", "Transfer the brown cylinder to the green bin.", "Grab the white block and place it in the brown box.", "Grab the red block and place it in the white tray.", "Take the blue block and drop it into the orange container.", "Collect the blue objects in the red bin and move the green object into the gray box.", "Place the purple block into the gray bin.", "Transfer the purple puck to the purple box.", "Collect the orange bar and the cyan cube in the orange container.", "Put the orange cylinder by the gray cube.", "Bring the sweet potato close to the coffee cup.", "Move the orange cube into the cyan tray.", "Move the black block next to the brown block.", "Collect the gray puck and the tangerine in the cyan tray.", "Collect everything on the table in the cyan bin.", "Move the blue cylinder into the orange tray.", "Move the blue cube in the gray container before moving the silver robot figure next to the blue cube.", "Place the green cylinder next to the orange block.", "The blue block goes in the gray container.", "Put the gray block next to the orange cylinder.", "Put the red cylinder and the red block in the purple tray, and the pink block in the cyan container.", "Put the red cylinder in the gray bin.", "Put the gray block next to the orange cylinder, and after that put the salt shaker in the cyan container.", "Grab the cyan block and place it in the red box.", "Move the cyan cylinder next to the purple block.", "Drop the cyan cylinder in the green container.", "Place the blue bar next to the brown puck.", "Place the panda figure into the pink bin.", "Transfer the food can to the black bin.", "Sort by color: gray goes in the green box, black goes in the purple bin.", "Grab the black cylinder and place it in the purple box.", "Move the red cube next to the pink dog toy.", "Bring the gray block close to the pink block.", "Move the food can so it is next to the egg.", "Put the purple cylinder in the black bin, and after that put the salt shaker next to the food can.", "Place the cupcake next to the panda figure.", "Place the sweet potato next to the parchment box.", "Set the orange bar down next to the orange cylinder.", "Put the yellow block in the yellow tray.", "Move both the gray cube and the black bar into the blue container.", "Lift the ink box.", "Collect the blue cube and the blue bar in the black tray.", "Put the red cylinder inside the blue container.", "Bring the green bar close to the gray bar.", "Collect the brown block and the yellow block in the yellow box.", "Set the orange robot figure down next to the pink cylinder.", "First put the gray block in the cyan container, then put the lemon next to the gray block.", "Set the red cube down next to the lemon.", "Take the kiwi.", "Move all the objects into the red container.", "Drop the soda can in the brown box.", "Can you put the blue bar in the brown container?", "Move the yellow block next to the gray cube before moving the blue block in the cyan bin.", "Put the cyan cylinder by the gray cylinder.", "Drop the egg in the white bin.", "Bring the baby roller toy close to the pink dog toy.", "The purple block goes in the orange bin.", "Can you put the blue block beside the blue bar?", "Pick up the coffee cup and put it in the white bin.", "Place the jug next to the gray cube.", "Drop the medicine box in the pink container.", "Drop the purple block in the green box.", "Bring the cyan cylinder close to the cyan bar.", "Put the carrot beside the green block.", "Sort the objects: put the brown objects in the blue container and the red object in the yellow bin.", "Take the red block and drop it into the pink bin.", "Grab the brown cylinder and place it in the yellow box.", "Can you put the green cylinder in the brown bin?", "Take the orange block and drop it into the orange box.", "Drop the black block in the green container.", "Put the white cylinder in the yellow container.", "Move both the white block and the cyan cylinder into the black tray.", "The silver robot figure goes in the pink container.", "Put the black bar next to the orange robot figure.", "Move the candle so it is next to the peach.", "Move the gray cylinder into the green container.", "Move the purple block next to the potato.", "Put the black cylinder inside the cyan container.", "Drop the magenta ink cartridge in the red container.", "Put the black block by the orange cube.", "Pick the apple up.", "Lift up the yellow cylinder.", "Move the pink cylinder into the brown tray.", "Can you put the orange cylinder in the black box?", "Take the white cylinder.", "Put the green cylinder in the purple bin, and after that put the gray cylinder next to the tangerine.", "Place the gray cylinder next to the red cylinder.", "First put the lemon in the gray container, then put the purple bar next to the white cube.", "Put the baby roller toy in the cyan tray, and after that put the red cylinder next to the baby roller toy.", "Place the tomato next to the pink bar.", "Place the coffee cup near the orange robot figure.", "Put the toy school bus in the white box.", "Place the brown block into the black container.", "Grab the light bulb box and place it in the blue box.", "Move both the jam jar and the black bar into the black container.", "Drop the green block in the white box.", "Can you put the pink cube in the green container?", "Store the blue block in the cyan bin.", "Put the tangerine next to the green block.", "Pick up the black block.", "Place the lemon into the white container.", "Put the purple cylinder and the medicine box in the brown box.", "Place the magenta ink cartridge and the food can inside the black box.", "Place the cupcake next to the gray bar.", "Drop the gray block in the pink bin.", "Put every object on the table inside the white bin.", "Collect the orange cylinder and the white bar in the pink bin.", "Put the yellow cylinder inside the green bin.", "Store the gray block in the cyan container.", "Can you put the red cube beside the coffee cup?"

Training Configuration

Setting	Value
Training steps	2000
Batch size	16
Optimizer	adamw
Learning rate	2e-05
Seed	1000
LeRobot version	0.6.2

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so_follower \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=maximellerbach/so101-g05-full-v1 \
  --task="Put the purple block in the green tray, and after that put the red block next to the purple block." \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=g05 \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}

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