- Franka-1000-rotate_the_test_tube
- Franka-1001-rotate_the_pipette
- Franka-1003-put_the_headphone_on_the_speaker
- Franka-1004-put_the_microphone_on_the_cassette
- Franka-1006-put_the_microphone_beside_the_headphone
- Franka-1012-put_the_bamboo_cylinder_into_the_basket
- Franka-1013-put_the_computer_mouse_on_the_notebook
- Franka-1014-put_the_pen_on_the_notebook
- Franka-1016-put_the_pen_on_the_keyboard
- Franka-1017-rotate_the_computer_mouse
- Franka-1018-rotate_the_pen
- Franka-1019-put_the_soap_on_the_tissue_box
- Franka-1022-put_the_soap_beside_the_comb
- Franka-1023-rotate_the_soap
- Franka-1024-rotate_the_comb
- Franka-1025-put_the_pen_on_the_notebook
- Franka-1026-put_the_dice_on_the_notebook
- Franka-1027-put_the_cup_on_the_notebook
- Franka-1028-insert_the_pen_into_the_cup
- Franka-1029-put_the_dice_into_the_cup
- Franka-1030-rotate_the_pen
- Franka-1033-put_the_glasses_case_on_the_book
- Franka-1034-put_the_cup_on_the_book
- Franka-1036-rotate_the_pen
- Franka-1037-rotate_the_glasses_case
- Franka-1038-put_the_donut_on_the_plate
- Franka-1039-put_the_muffin_on_the_plate
- Franka-1040-put_the_teacup_on_the_plate
- Franka-1041-put_the_donut_beside_the_muffin
- Franka-1042-put_the_muffin_beside_the_teacup
- Franka-1043-rotate_the_teacup
- Franka-1044-put_the_cube_block_into_the_basket
- Franka-1045-put_the_toy_figurine_into_the_basket
- Franka-1046-put_the_toy_car_into_the_basket
- Franka-1047-put_the_cube_block_beside_the_toy_car
- Franka-1048-put_the_cube_block_beside_the_toy_figurine
- Franka-1049-rotate_the_toy_car
- Franka-1051-put_the_plum_into_the_bowl
- Franka-1053-put_the_plum_on_the_tray
- Franka-1054-put_both_items_into_the_bowl
- Franka-1055-put_the_plum_beside_the_dice
- Franka-1056-put_the_kettle_on_the_notebook
- Franka-1057-put_the_grinder_on_the_notebook
- Franka-1058-put_the_cup_on_the_notebook
- Franka-1059-put_the_cup_beside_the_notebook
- Franka-1060-rotate_the_kettle
- Franka-1061-rotate_the_grinder
- Franka-1062-put_the_chew_toy_into_the_bowl
- Franka-1063-put_the_dog_ball_into_the_bowl
- Franka-1064-put_the_shovel_into_the_bowl