| to pick up the cap | 4 | purpose |
| for grasping pots | 3 | purpose |
| similarly | 2 | manner |
| robot → have → gripper | 8 |
| robot → use → gripper | 7 |
| robot → close → gripper | 4 |
| robot → use → its gripper | 3 |
| negative | neutral | positive |
| 0.155 | 0.732 | 0.113 |
| Raw frequency | 22 |
| Normalized frequency | 0.377 |
| Modifier score | 0.500 |
| Perplexity | 71.622 |