{"task_index": 0, "task": "Open the oven door, remove the beaker and the Erlenmeyer flask from the metal rack, place both vessels on the clean tray, and close the oven door."}
{"task_index": 1, "task": "Remove the beaker first and the Erlenmeyer flask second from the oven, place both vessels on the clean tray on the table, and close the oven door."}
{"task_index": 2, "task": "Use the robotic arms to open the oven door, transfer the beaker and the Erlenmeyer flask from the metal rack to the clean tray, and close the oven door."}
{"task_index": 3, "task": "Pull the oven door open with the right robotic arm. Remove the beaker and then the Erlenmeyer flask from the oven. Place both vessels on the clean tray and push the oven door closed."}
{"task_index": 4, "task": "Use the right robotic arm to open the oven door and pick up the beaker from the metal rack. Transfer the beaker to the left robotic arm and place the beaker on the clean tray. Repeat the transfer procedure for the Erlenmeyer flask, then close the oven door with the right robotic arm."}
{"task_index": 5, "task": "Pull the oven door open using the right robotic arm. Grasp and remove the beaker from the metal rack, hand the beaker to the left robotic arm, and place the beaker on the clean tray. Remove and transfer the Erlenmeyer flask in the same sequence. Push the oven door closed using the right robotic arm."}
{"task_index": 6, "task": "Use the right gripper to pull the oven door open. Grasp the beaker, lift the beaker clear of the metal rack, and transfer the beaker to the left gripper. Place the beaker on the clean tray. Perform the same grasp, lift, handover, and placement operations for the Erlenmeyer flask. Close the oven door with the right gripper."}
{"task_index": 7, "task": "Open the oven by pulling the door with the right arm. Use the right arm to grasp and lift the beaker from the metal rack. Hand the beaker to the left arm and place the beaker on the clean tray. Next, use the right arm to grasp and lift the Erlenmeyer flask. Hand the Erlenmeyer flask to the left arm and place the flask on the clean tray. Close the oven by pushing the door with the right arm."}
{"task_index": 8, "task": "Pull the oven door outward with the right robotic arm until the metal rack is accessible. Remove the beaker from the rack and transfer the beaker from the right gripper to the left gripper. Place the beaker on the clean tray. Remove and transfer the Erlenmeyer flask using the same arm sequence. Push the oven door into the closed position with the right robotic arm."}
{"task_index": 9, "task": "Use the right robotic arm to grasp the oven-door handle and pull the door open. Grasp the beaker on the metal rack with the right gripper and lift the beaker without contacting the rack. Transfer the beaker to the left gripper and place the beaker upright on the clean tray. Repeat these operations for the Erlenmeyer flask. Use the right robotic arm to push the oven door closed."}
{"task_index": 10, "task": "Open the oven door with the right arm. Grasp the body of the beaker with the right gripper, lift the beaker from the metal rack, and move the beaker to a handover position. Grasp the beaker with the left gripper, release the right gripper, and place the beaker upright on the clean tray. Apply the same transfer sequence to the Erlenmeyer flask, then close the oven door with the right arm."}
{"task_index": 11, "task": "Pull the oven door open using the right arm. Position the right gripper around the beaker, close the gripper, and lift the beaker clear of the metal rack. Transfer the beaker to the left arm and place the beaker upright on the clean tray. Grasp, lift, transfer, and place the Erlenmeyer flask in the same manner. Push the oven door closed using the right arm."}
{"task_index": 12, "task": "With the right robotic arm, pull the oven door to the open position. Grasp the beaker with the right gripper and lift the beaker vertically until the beaker is clear of the metal rack. Move the beaker to the handover area. Transfer the beaker to the left gripper and lower the beaker onto the clean tray. Repeat the procedure for the Erlenmeyer flask. Close the oven door by pushing the door with the right robotic arm."}
{"task_index": 13, "task": "Use the right gripper to grasp the oven-door handle and pull the door open. Move the right gripper to the beaker, grasp the beaker around the outer wall, and lift the beaker from the metal rack. Present the beaker to the left gripper for handover. After the left gripper securely grasps the beaker, release the right gripper and place the beaker upright on the clean tray. Repeat this process for the Erlenmeyer flask. Push the oven door closed with the right arm."}
{"task_index": 14, "task": "Open the oven door by pulling the handle with the right robotic arm. Approach the beaker with the right gripper, grasp the central region of the beaker body, and lift the beaker clear of the metal rack. Move the beaker to a position accessible to the left robotic arm. Transfer the beaker to the left gripper and place the beaker on the clean tray. Remove the Erlenmeyer flask using the same grasp, lift, handover, and placement sequence. Close the oven door with the right robotic arm."}
{"task_index": 15, "task": "Pull the oven door open with the right arm and maintain sufficient clearance for vessel removal. Grasp the beaker with the right gripper, lift the beaker without tilting the beaker, and withdraw the beaker from the oven. Transfer the beaker to the left gripper and place the beaker upright on the clean tray. Grasp, lift, and withdraw the Erlenmeyer flask with the right gripper. Transfer the flask to the left gripper and place the flask upright on the tray. Push the oven door closed with the right arm."}
{"task_index": 16, "task": "Use the right robotic arm to pull the oven door from the closed position to the open position. Move the right gripper into the oven, grasp the beaker securely, and lift the beaker above the metal rack. Withdraw the beaker and transfer the beaker to the left gripper. Move the left arm above the clean tray, lower the beaker onto an unoccupied area of the tray, and release the beaker. Repeat the removal and placement sequence for the Erlenmeyer flask. Use the right arm to push the oven door fully closed."}
{"task_index": 17, "task": "Grasp the oven-door handle with the right gripper and pull the door open. Align the right gripper with the beaker body, close the gripper around the beaker, and lift the beaker away from the metal rack. Move the beaker outside the oven and into the handover region. Grasp the beaker with the left gripper before releasing the right gripper. Move the beaker over the clean tray, lower the beaker until the base contacts the tray, and release the left gripper. Perform the same sequence for the Erlenmeyer flask. Push the oven door closed with the right gripper."}
{"task_index": 18, "task": "Open the oven by pulling the door handle with the right robotic arm. Use the right gripper to grasp the beaker and lift the beaker vertically from the metal rack. Move the beaker through the oven opening and present the beaker to the left gripper. Complete the handover only after the left gripper has established a stable grasp. Place the beaker upright on the clean tray and release the left gripper. Remove, hand over, and place the Erlenmeyer flask using the same sequence. Close the oven by pushing the door with the right robotic arm."}
{"task_index": 19, "task": "Move the right gripper to the oven-door handle, establish a secure grasp, and pull the door to the fully open position. Release the handle and move the right gripper toward the beaker. Grasp the beaker around the central outer surface, lift the beaker until the base is clear of the metal rack, and withdraw the beaker from the oven. Move the beaker to the handover position. Grasp the beaker with the left gripper, release the right gripper, move the left gripper above the clean tray, lower the beaker vertically, and release the beaker after stable contact with the tray. Use the right gripper to grasp and lift the Erlenmeyer flask from the metal rack. Withdraw the flask, transfer the flask to the left gripper, and place the flask upright in an unoccupied area of the clean tray. Finally, grasp the oven-door handle with the right gripper and push the door to the fully closed position."}