tasks: Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when grasping.


tasks: Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with gripper error when grasping.


tasks: Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with rotation offset when uprighting.


tasks: Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with position offset when inserting.


tasks: Pick up the cylinder, upright it, and insert it into the middle hole of the shelf with choice error when inserting.


tasks: Pick up the cylinder, upright it, and insert it into the middle hole of the shelf without errors.