task: Push the red button with the right gripper.


task: Push the blue button with the right gripper.


task: Push the green button with the right gripper.


task: Push the red button with the left gripper.


task: Push the green button with the left gripper.


task: Push the blue button with the left gripper.


task: Push the yellow button with the right gripper.


task: Push the yellow button with the left gripper.