{
  "language": "en",
  "note": "tasks.parquet stores paraphrases[0] as the episode task string. The remaining lines are equivalent instructions from collection and were not given separate task indices.",
  "tasks": [
    {
      "task_index": 0,
      "task": "Screw the cap onto the test tube.",
      "source_dir": "task10_num23",
      "episodes": 33,
      "frames": 55712,
      "hours": 0.5159,
      "length_min": 1143,
      "length_median": 1592,
      "length_max": 2971,
      "paraphrases": [
        "Screw the cap onto the test tube.",
        "Move up to the table, then twist the test tube cap into place.",
        "Place the cap on the test tube and turn it clockwise until it is secure.",
        "Fit the cap over the opening and screw it on firmly.",
        "Approach the worktable and put the screw cap back onto the test tube.",
        "Use one hand to steady the test tube while the other hand screws on the cap.",
        "Rotate the cap clockwise until it is properly attached to the test tube.",
        "Cover the test tube with its cap and twist it closed.",
        "Position yourself in front of the table, then attach and fully seat the cap.",
        "Close the test tube securely by screwing the cap into place."
      ]
    },
    {
      "task_index": 1,
      "task": "Hang the cups on the cup rack.",
      "source_dir": "task11_num24",
      "episodes": 90,
      "frames": 109638,
      "hours": 1.0152,
      "length_min": 928,
      "length_median": 1195,
      "length_max": 1877,
      "paraphrases": [
        "Hang the cups on the cup rack.",
        "Place the cups on the rack so that they hang from it.",
        "Pick up each cup and hang it on the cup rack.",
        "Position the cups on the cup rack and leave them hanging there.",
        "Approach the table, then place the cups on the cup rack.",
        "Step up to the worktable and hang each cup from the rack.",
        "Use the right hand first and the left hand afterward to hang the cups on the rack.",
        "Hang one cup with the right hand, then place the other cup on the rack with the left hand.",
        "Start with the right hand, then use the left hand to put the remaining cup on the cup rack.",
        "Complete the task with all the cups hanging on the cup rack."
      ]
    },
    {
      "task_index": 2,
      "task": "Gently push the file folders into the file organizer.",
      "source_dir": "task12_num25",
      "episodes": 83,
      "frames": 94094,
      "hours": 0.8712,
      "length_min": 451,
      "length_median": 1155,
      "length_max": 1512,
      "paraphrases": [
        "Gently push the file folders into the file organizer.",
        "Place the folders in the organizer with a light forward push.",
        "Insert each file folder into the organizer.",
        "Pick up the folders and gently slide them into the file organizer.",
        "Approach the table, then lightly push the folders into the organizer.",
        "Position each folder at the organizer and slide it inside.",
        "Use the right hand first and the left hand afterward to push the folders into the file organizer.",
        "Gently slide one folder into the organizer with the right hand, then insert the other with the left hand.",
        "Start by pushing a folder into the organizer with the right hand, then use the left hand for the remaining folder.",
        "Complete the task with all the file folders placed inside the file organizer."
      ]
    },
    {
      "task_index": 3,
      "task": "Remove the lid from the kettle.",
      "source_dir": "task13_num26",
      "episodes": 53,
      "frames": 54396,
      "hours": 0.5037,
      "length_min": 855,
      "length_median": 1007,
      "length_max": 1319,
      "paraphrases": [
        "Remove the lid from the kettle.",
        "Open the kettle by taking off its lid.",
        "Lift the lid away from the top of the kettle.",
        "Take the kettle lid off so that the kettle is open.",
        "Use your right hand to remove the lid while holding the kettle with your left hand.",
        "Grip the lid with your right hand and steady the kettle with your left as you open it.",
        "Approach the table and take the lid off the kettle.",
        "Position yourself in front of the table, then open the kettle by removing its lid.",
        "With the lid in your right hand and the kettle in your left, separate the lid from the kettle.",
        "Hold the kettle steady with your left hand as your right hand lifts off the lid."
      ]
    },
    {
      "task_index": 4,
      "task": "Put the lid back on the kettle.",
      "source_dir": "task14_num27",
      "episodes": 52,
      "frames": 55514,
      "hours": 0.514,
      "length_min": 872,
      "length_median": 1021,
      "length_max": 1522,
      "paraphrases": [
        "Put the lid back on the kettle.",
        "Close the kettle by replacing its lid.",
        "Fit the lid onto the opening of the kettle.",
        "Return the lid to the top of the kettle so that it is closed.",
        "Use your right hand to place the lid while holding the kettle with your left hand.",
        "Hold the lid in your right hand and steady the kettle with your left as you close it.",
        "Approach the table and replace the lid on the kettle.",
        "Position yourself at the table, then close the kettle with its lid.",
        "With the lid in your right hand and the kettle in your left, place the lid over the kettle opening.",
        "Keep the kettle steady with your left hand while your right hand puts the lid back in place."
      ]
    },
    {
      "task_index": 5,
      "task": "Pour the grains from the kettle into the bowl on the left.",
      "source_dir": "task15_num28",
      "episodes": 32,
      "frames": 59654,
      "hours": 0.5524,
      "length_min": 1534,
      "length_median": 1857,
      "length_max": 2434,
      "paraphrases": [
        "Pour the grains from the kettle into the bowl on the left.",
        "Empty the kettle's grain into the left-hand bowl.",
        "Use your right hand to pour the grains into the bowl on your left.",
        "Pick up the kettle with your right hand, move it to the left, and pour the grains into the left bowl.",
        "Lift the kettle in your right hand and tilt it over the bowl on the left.",
        "Keep your left hand still while using your right hand to pour the grains into the left bowl.",
        "Approach the table and pour the kettle's contents into the bowl on the left.",
        "Position yourself in front of the table, then use your right hand to empty the grains into the left-hand bowl.",
        "Carry the kettle leftward after picking it up with your right hand, then pour the grains into the left bowl.",
        "With your left hand remaining at rest, hold and tilt the kettle with your right hand until the grains are poured into the bowl on the left."
      ]
    },
    {
      "task_index": 6,
      "task": "Pour the grains from the kettle into the bowl on the right.",
      "source_dir": "task16_num29",
      "episodes": 43,
      "frames": 59514,
      "hours": 0.5511,
      "length_min": 607,
      "length_median": 1269,
      "length_max": 3707,
      "paraphrases": [
        "Pour the grains from the kettle into the bowl on the right.",
        "Empty the kettle's grain into the right-hand bowl.",
        "Use your left hand to pour the grains into the bowl on your right.",
        "Pick up the kettle with your left hand, move it to the right, and pour the grains into the right bowl.",
        "Lift the kettle in your left hand and tilt it over the bowl on the right.",
        "Keep your right hand still while using your left hand to pour the grains into the right bowl.",
        "Approach the table and pour the kettle's contents into the bowl on the right.",
        "Position yourself in front of the table, then use your left hand to empty the grains into the right-hand bowl.",
        "Carry the kettle rightward after picking it up with your left hand, then pour the grains into the right bowl.",
        "With your right hand remaining at rest, hold and tilt the kettle with your left hand until the grains are poured into the bowl on the right."
      ]
    },
    {
      "task_index": 7,
      "task": "Open the microwave and remove the item inside.",
      "source_dir": "task17_num31",
      "episodes": 89,
      "frames": 105357,
      "hours": 0.9755,
      "length_min": 887,
      "length_median": 1141,
      "length_max": 2214,
      "paraphrases": [
        "Open the microwave and remove the item inside.",
        "Take the object out of the microwave after opening the door.",
        "Open the microwave door, then retrieve the item from inside.",
        "Remove the item from the microwave compartment.",
        "Access the inside of the microwave by opening its door and taking out the object.",
        "Approach the microwave, open the door, and retrieve the item inside.",
        "Position yourself in front of the microwave before opening it and removing its contents.",
        "Pull the microwave door open and take the object out of the interior.",
        "First open the microwave, then extract whatever item is inside.",
        "Leave the microwave item outside the appliance after opening the door and removing it."
      ]
    },
    {
      "task_index": 8,
      "task": "Use the scoop to transfer some grains from the large bowl to the small bowl.",
      "source_dir": "task18_num32",
      "episodes": 91,
      "frames": 108998,
      "hours": 1.0092,
      "length_min": 606,
      "length_median": 1156,
      "length_max": 1888,
      "paraphrases": [
        "Use the scoop to transfer some grains from the large bowl to the small bowl.",
        "Scoop some of the grains out of the large bowl and place them in the small bowl.",
        "Move a portion of the grains from the large bowl into the small bowl using the scoop.",
        "Take some grains from the large bowl with the scoop and deposit them into the smaller bowl.",
        "Use the scoop to collect a small amount of grain from the large bowl, then empty it into the small bowl.",
        "Transfer some of the large bowl's contents to the small bowl with the scoop.",
        "Approach the table and scoop some grains from the large bowl into the small bowl.",
        "Position yourself in front of the bowls, then use the scoop to move some grains into the smaller bowl.",
        "Dip the scoop into the large bowl, lift out some grains, and release them into the small bowl.",
        "Collect a portion of grain from the large bowl with the scoop and transfer it to the small bowl."
      ]
    },
    {
      "task_index": 9,
      "task": "Set the tipped-over cup upright.",
      "source_dir": "task19_num30",
      "episodes": 83,
      "frames": 53754,
      "hours": 0.4977,
      "length_min": 388,
      "length_median": 638,
      "length_max": 1036,
      "paraphrases": [
        "Set the tipped-over cup upright.",
        "Return the fallen cup to an upright position.",
        "Pick up the overturned cup and stand it upright.",
        "Raise the cup from its tipped position and place it upright.",
        "Reposition the fallen water cup so that it stands upright.",
        "Turn the overturned cup back to its normal upright orientation.",
        "Approach the table and set the tipped cup upright.",
        "Position yourself in front of the table, then restore the fallen cup to an upright position.",
        "Grasp the cup that is lying on its side and place it upright on the table.",
        "Lift and rotate the overturned water cup until it is standing upright."
      ]
    },
    {
      "task_index": 10,
      "task": "Move to the front of the table, then put the red block into the red cup and the yellow block into the yellow cup.",
      "source_dir": "task1_num15",
      "episodes": 80,
      "frames": 72826,
      "hours": 0.6743,
      "length_min": 607,
      "length_median": 892,
      "length_max": 1334,
      "paraphrases": [
        "Move to the front of the table, then put the red block into the red cup and the yellow block into the yellow cup.",
        "Navigate to the table and place the red and yellow blocks into their respective color-matched cups.",
        "Approach the table, then pick up each colored block and place it inside the cup of the same color.",
        "Go to the table and sort the red and yellow blocks into their corresponding colored cups.",
        "Position yourself in front of the table, then place each block into the cup that matches its color.",
        "Put the red block into the red cup and the yellow block into the yellow cup.",
        "Place the red and yellow blocks into the cups that match their respective colors.",
        "Sort the red and yellow blocks into their matching colored cups.",
        "Match the blocks with the cups by color and put each block into the correct cup.",
        "Pick up each colored block from the table and place it inside the cup of the same color."
      ]
    },
    {
      "task_index": 11,
      "task": "Put the umbrella from the table into the umbrella stand.",
      "source_dir": "task20_num19",
      "episodes": 70,
      "frames": 108496,
      "hours": 1.0046,
      "length_min": 1103,
      "length_median": 1519,
      "length_max": 2114,
      "paraphrases": [
        "Put the umbrella from the table into the umbrella stand.",
        "Insert the umbrella into the umbrella stand.",
        "Pick up the umbrella from the table and place it in the stand.",
        "Transfer the umbrella from the tabletop into the umbrella holder.",
        "Lift the umbrella off the table and insert it into the umbrella stand.",
        "Place the umbrella that is lying on the table inside the umbrella holder.",
        "Approach the table, pick up the umbrella, and put it into the umbrella stand.",
        "Position yourself at the table before transferring the umbrella to the stand.",
        "Take the umbrella from the tabletop and lower it into the umbrella holder.",
        "Remove the umbrella from the table and leave it standing in the umbrella stand."
      ]
    },
    {
      "task_index": 12,
      "task": "Put the fruit scattered on the table into the bowl.",
      "source_dir": "task21_num18",
      "episodes": 63,
      "frames": 109845,
      "hours": 1.0171,
      "length_min": 1088,
      "length_median": 1613,
      "length_max": 2564,
      "paraphrases": [
        "Put the fruit scattered on the table into the bowl.",
        "Gather the scattered fruit from the tabletop and place it in the bowl.",
        "Use both hands to collect the fruit scattered across the table and put it into the bowl.",
        "Pick up the loose pieces of fruit from the table and transfer them into the bowl.",
        "Collect the tabletop fruit with both hands and place it inside the bowl.",
        "Approach the table, gather the scattered fruit, and put it into the bowl.",
        "Move to the worktable and transfer the scattered pieces of fruit into the bowl.",
        "Using both hands, pick up the fruit spread across the tabletop and place it in the bowl.",
        "Gather the loose fruit with your right and left hands, then put it into the bowl.",
        "Collect the scattered fruit from the table until it is in the bowl."
      ]
    },
    {
      "task_index": 13,
      "task": "Choose one umbrella at random from the umbrella stand and place it on the table.",
      "source_dir": "task22_num17",
      "episodes": 88,
      "frames": 109876,
      "hours": 1.0174,
      "length_min": 846,
      "length_median": 1222,
      "length_max": 2021,
      "paraphrases": [
        "Choose one umbrella at random from the umbrella stand and place it on the table.",
        "Randomly select an umbrella from the rack and put it on the tabletop.",
        "Take any one umbrella out of the umbrella holder and set it on the table.",
        "Pick one umbrella at random from the rack, pull it out, and place it on the table.",
        "Remove a randomly chosen umbrella from its holder and put it on the tabletop.",
        "Select any single umbrella from the umbrella rack and transfer it to the table.",
        "Approach the umbrella holder, choose one umbrella at random, and place it on the table.",
        "Go to the rack of umbrellas, pull out any one of them, and set it on the tabletop.",
        "From the umbrellas stored in the stand, randomly choose one and put it on the table.",
        "Randomly take a single umbrella from its storage rack and leave it on the table."
      ]
    },
    {
      "task_index": 14,
      "task": "Tighten the large bolt into the nut, then place the assembled pair on the table.",
      "source_dir": "task23_num16",
      "episodes": 47,
      "frames": 83475,
      "hours": 0.7729,
      "length_min": 1165,
      "length_median": 1654,
      "length_max": 3169,
      "paraphrases": [
        "Tighten the large bolt into the nut, then place the assembled pair on the table.",
        "Screw the large bolt into the nut until tight, then set the joined parts on the tabletop.",
        "Turn the bolt until it is fastened to the nut, then put the assembly on the table.",
        "Fasten the bolt and nut together, then place the connected pieces on the tabletop.",
        "While holding the bolt and nut, screw them tightly together and set the assembly on the table.",
        "Rotate the large bolt into the nut until it is tight, then place the assembled parts on the table.",
        "Secure the bolt in the nut before setting the completed assembly down on the tabletop.",
        "Finish tightening the bolt into the nut, then put the fastened pair on the table.",
        "With the bolt and nut already in hand, tighten them together and place the assembly on the tabletop.",
        "Join the large bolt and nut by screwing them together, then set the assembled object on the table."
      ]
    },
    {
      "task_index": 15,
      "task": "Unscrew the large bolt from the nut, then place both separated parts on the table.",
      "source_dir": "task24_num15",
      "episodes": 40,
      "frames": 87792,
      "hours": 0.8129,
      "length_min": 640,
      "length_median": 2064,
      "length_max": 4157,
      "paraphrases": [
        "Unscrew the large bolt from the nut, then place both separated parts on the table.",
        "Loosen and remove the bolt from the nut before setting both pieces on the tabletop.",
        "Rotate the bolt out of the nut, separate the two parts, and put them on the table.",
        "Unscrew the bolt-and-nut assembly and place the separated bolt and nut on the tabletop.",
        "While holding the assembly, turn the bolt out of the nut and set both parts on the table.",
        "Separate the large bolt from the nut by unscrewing it, then place the pieces on the tabletop.",
        "Finish unscrewing the bolt from the nut before putting both components on the table.",
        "Turn the bolt until it comes free from the nut, then set the separated parts on the tabletop.",
        "With the bolt and nut already in hand, unscrew them and place both pieces on the table.",
        "Take the bolt-and-nut assembly apart by unscrewing it, then put the two parts on the tabletop."
      ]
    },
    {
      "task_index": 16,
      "task": "Fold the towel on the table.",
      "source_dir": "task25_num14",
      "episodes": 26,
      "frames": 55100,
      "hours": 0.5102,
      "length_min": 1220,
      "length_median": 1994,
      "length_max": 3890,
      "paraphrases": [
        "Fold the towel on the table.",
        "Fold up the towel lying on the tabletop.",
        "Move to the table and fold the towel.",
        "Approach the table, then fold the towel on its surface.",
        "Fold the towel from its unfolded state into a compact form.",
        "Position yourself in front of the table and fold the towel.",
        "Fold the spread-out towel on the tabletop.",
        "Go over to the table and fold up the towel.",
        "Arrange the towel into a folded state on the table.",
        "Stand at the table and complete folding the towel."
      ]
    },
    {
      "task_index": 17,
      "task": "Unfold the towel on the table.",
      "source_dir": "task26_num13",
      "episodes": 29,
      "frames": 55042,
      "hours": 0.5096,
      "length_min": 988,
      "length_median": 1744,
      "length_max": 2807,
      "paraphrases": [
        "Unfold the towel on the table.",
        "Open out the folded towel on the tabletop.",
        "Move to the table and unfold the towel.",
        "Approach the table, then spread out the folded towel.",
        "Unfold the towel until it is open on the tabletop.",
        "Position yourself in front of the table and open out the towel.",
        "Spread the folded towel out on the table.",
        "Go over to the table and unfold the towel lying there.",
        "Change the towel from its folded state to an unfolded state.",
        "Stand at the table and fully open out the folded towel."
      ]
    },
    {
      "task_index": 18,
      "task": "Open the bag and remove the toy from inside.",
      "source_dir": "task27_num12",
      "episodes": 62,
      "frames": 110325,
      "hours": 1.0215,
      "length_min": 1213,
      "length_median": 1730,
      "length_max": 2529,
      "paraphrases": [
        "Open the bag and remove the toy from inside.",
        "Pull the bag open, then take out the toy it contains.",
        "Move to the table, open the bag, and remove the toy.",
        "Approach the table, open the bag, and take the toy out.",
        "Open the bag on the table and retrieve the toy from inside.",
        "Position yourself in front of the table, pull open the bag, and take out the toy.",
        "Open the bag to access its interior, then remove the toy.",
        "Go over to the table, open the bag, and extract the toy it contains.",
        "Pull open the mouth of the bag and take the toy out.",
        "Stand at the table, open the bag, and remove the toy from its interior."
      ]
    },
    {
      "task_index": 19,
      "task": "Fold the clothing on the table.",
      "source_dir": "task28_num11",
      "episodes": 33,
      "frames": 54949,
      "hours": 0.5088,
      "length_min": 1134,
      "length_median": 1644,
      "length_max": 2521,
      "paraphrases": [
        "Fold the clothing on the table.",
        "Fold up the garment lying on the tabletop.",
        "Fold the clothing into a compact form on the table.",
        "Move to the table and fold the garment.",
        "Approach the tabletop, then fold the clothing placed there.",
        "Turn the unfolded garment into a folded garment.",
        "Position yourself in front of the table and fold the clothing.",
        "Fold the garment from its spread-out state.",
        "Go over to the table and complete folding the clothing.",
        "Arrange the garment on the tabletop into a folded state."
      ]
    },
    {
      "task_index": 20,
      "task": "Unfold the clothing on the table.",
      "source_dir": "task29_num10",
      "episodes": 33,
      "frames": 53138,
      "hours": 0.492,
      "length_min": 758,
      "length_median": 1504,
      "length_max": 2798,
      "paraphrases": [
        "Unfold the clothing on the table.",
        "Open out the folded garment on the tabletop.",
        "Spread the folded clothing out on the table.",
        "Move to the table and unfold the garment.",
        "Approach the tabletop, then open out the folded clothing.",
        "Change the garment from its folded state to an unfolded state.",
        "Position yourself in front of the table and spread out the clothing.",
        "Unfold the garment until it is open on the tabletop.",
        "Go over to the table and open out the folded garment.",
        "Stand at the table and complete unfolding the clothing."
      ]
    },
    {
      "task_index": 21,
      "task": "Drive to the front of the table, pick up one pen with the right hand and the other with the left hand, then place both pens inside the pen holder.",
      "source_dir": "task2_num16",
      "episodes": 90,
      "frames": 108534,
      "hours": 1.0049,
      "length_min": 833,
      "length_median": 1207,
      "length_max": 1750,
      "paraphrases": [
        "Drive to the front of the table, pick up one pen with the right hand and the other with the left hand, then place both pens inside the pen holder.",
        "Head over to the table and put the pens from the tabletop into the pen holder.",
        "Proceed to the table, grasp one pen in each hand, and place both of them into the pen holder.",
        "Get into position at the table, collect the pens from the tabletop, and put them into the pen holder.",
        "Travel to the table and use both hands to pick up one pen each before placing them into the pen holder.",
        "Use the right hand to pick up one pen and the left hand to pick up the other, then put both pens into the pen holder.",
        "Place the pens from the table inside the pen holder.",
        "Pick up the two pens separately, one with each hand, and place them inside the pen holder.",
        "Collect the pens from the tabletop and put them in the pen holder.",
        "Place each pen into the pen holder."
      ]
    },
    {
      "task_index": 22,
      "task": "Place the toy into the bag and zip the bag closed.",
      "source_dir": "task30_num9",
      "episodes": 66,
      "frames": 111643,
      "hours": 1.0337,
      "length_min": 948,
      "length_median": 1565,
      "length_max": 3058,
      "paraphrases": [
        "Place the toy into the bag and zip the bag closed.",
        "Go to the table, put the toy inside the bag, and close the zipper.",
        "Insert the toy into the bag, then zip it up completely.",
        "Put the toy in the bag and pull the zipper shut.",
        "Place the stuffed toy inside the bag and fasten the zipper.",
        "Move to the table, pack the toy into the bag, and zip it closed.",
        "Pick up the toy, put it into the bag, and close the bag with the zipper.",
        "Pack the toy inside the bag, then pull the zipper until the bag is closed.",
        "Put the toy securely into the bag and zip the opening shut.",
        "Approach the table, place the toy in the bag, and fully close the zipper."
      ]
    },
    {
      "task_index": 23,
      "task": "Find the table and sofa, then move the bag from the table to the sofa.",
      "source_dir": "task31_num8",
      "episodes": 65,
      "frames": 123637,
      "hours": 1.1448,
      "length_min": 1398,
      "length_median": 1876,
      "length_max": 2508,
      "paraphrases": [
        "Find the table and sofa, then move the bag from the table to the sofa.",
        "Locate the bag on the table and place it on the sofa.",
        "Go to the table, pick up the bag, and carry it to the sofa.",
        "Find the table and the sofa, then transfer the bag onto the sofa.",
        "Take the bag from the tabletop and set it down on the sofa.",
        "Locate the table, retrieve the bag, and place it on the nearby sofa.",
        "Pick up the bag resting on the table and move it to the sofa.",
        "Carry the bag from the table to the sofa and place it down.",
        "Find the bag on the table, lift it, and leave it on the sofa.",
        "Approach the table, take the bag, and put it on the sofa."
      ]
    },
    {
      "task_index": 24,
      "task": "Insert the test tube from the table into the test tube rack.",
      "source_dir": "task32_num7",
      "episodes": 63,
      "frames": 109547,
      "hours": 1.0143,
      "length_min": 1241,
      "length_median": 1738,
      "length_max": 2380,
      "paraphrases": [
        "Insert the test tube from the table into the test tube rack.",
        "Pick up the test tube on the table and place it in the rack.",
        "Take the test tube from the tabletop and put it into the test tube holder.",
        "Lift the test tube and insert it into an open slot in the rack.",
        "Place the test tube standing upright in the test tube rack.",
        "Move the test tube from the table into the rack.",
        "Pick up the test tube and secure it in the test tube holder.",
        "Take the test tube from the table and set it upright in the rack.",
        "Insert the tabletop test tube into an available position in the holder.",
        "Retrieve the test tube from the table and place it securely in the rack."
      ]
    },
    {
      "task_index": 25,
      "task": "Push the office chair underneath the desk.",
      "source_dir": "task33_num36",
      "episodes": 84,
      "frames": 111234,
      "hours": 1.0299,
      "length_min": 978,
      "length_median": 1282,
      "length_max": 1872,
      "paraphrases": [
        "Push the office chair underneath the desk.",
        "Move the office chair forward and place it under the desk.",
        "Slide the office chair into the space beneath the desk.",
        "Push the chair in until it is positioned under the desk.",
        "Move the office chair from its current position to underneath the desk.",
        "Guide the office chair into the area below the desk.",
        "Push the office chair toward the desk and tuck it underneath.",
        "Roll the office chair forward until it is under the desk.",
        "Position the office chair neatly beneath the desk.",
        "Move the chair closer to the desk and push it fully underneath."
      ]
    },
    {
      "task_index": 26,
      "task": "Place the two water bottles from the table in front of their corresponding chairs.",
      "source_dir": "task34_num37",
      "episodes": 61,
      "frames": 109752,
      "hours": 1.0162,
      "length_min": 1434,
      "length_median": 1807,
      "length_max": 2162,
      "paraphrases": [
        "Place the two water bottles from the table in front of their corresponding chairs.",
        "Pick up the two remaining water bottles and put each one in front of the appropriate chair.",
        "Move both unplaced water bottles from the table to their matching chair positions.",
        "Take the two water bottles still on the table and place them before the corresponding chairs.",
        "Put each of the two remaining bottles on the floor in front of its assigned chair.",
        "Move the two bottles that have not yet been positioned to the fronts of their respective chairs.",
        "Pick up both water bottles from the table and set each one in front of the correct chair.",
        "Distribute the two remaining water bottles by placing them before their matching chairs.",
        "Take the unplaced pair of water bottles and position each bottle in front of its corresponding chair.",
        "Finish arranging the water bottles by moving the two on the table to the appropriate chair fronts."
      ]
    },
    {
      "task_index": 27,
      "task": "Go to the table and stack the bowls.",
      "source_dir": "task35_num38",
      "episodes": 56,
      "frames": 110408,
      "hours": 1.0223,
      "length_min": 1625,
      "length_median": 1921,
      "length_max": 3096,
      "paraphrases": [
        "Go to the table and stack the bowls.",
        "Move to the table and place the bowls one on top of another.",
        "Approach the table and arrange the bowls into a stack.",
        "Go over to the table and stack the bowls together.",
        "Move up to the table and nest the bowls into one another.",
        "Approach the tabletop and stack the bowls on it.",
        "Go to the table and put the bowls together in a stack.",
        "Move to the table and nest the bowls together.",
        "Approach the table and place the bowls into a single stack.",
        "Go to the table and stack the bowls one by one."
      ]
    },
    {
      "task_index": 28,
      "task": "Pick up the mouse from the table and place it on the mouse pad on the adjacent table.",
      "source_dir": "task36_num39",
      "episodes": 80,
      "frames": 114283,
      "hours": 1.0582,
      "length_min": 981,
      "length_median": 1404,
      "length_max": 2335,
      "paraphrases": [
        "Pick up the mouse from the table and place it on the mouse pad on the adjacent table.",
        "Move the computer mouse from the table onto the mouse pad on the table beside it.",
        "Take the mouse off the table and set it on the neighboring table's mouse pad.",
        "Lift the mouse from the tabletop and put it on the mouse mat on the adjacent table.",
        "Transfer the mouse from the table to the mouse pad on the next table.",
        "Pick up the computer mouse and move it to the mouse mat on the table beside this one.",
        "Take the mouse from this table and place it on the other table's mouse pad.",
        "Carry the mouse from the tabletop to the adjacent table and set it on the mouse pad.",
        "Retrieve the mouse from the table and put it on the mouse mat on the neighboring table.",
        "Lift the computer mouse off the table and place it on the mouse pad on the table next to it."
      ]
    },
    {
      "task_index": 29,
      "task": "Sweep the blocks into the dustpan, then pour them into the bowl on the adjacent table.",
      "source_dir": "task37_num40",
      "episodes": 47,
      "frames": 111840,
      "hours": 1.0356,
      "length_min": 1705,
      "length_median": 2369,
      "length_max": 3195,
      "paraphrases": [
        "Sweep the blocks into the dustpan, then pour them into the bowl on the adjacent table.",
        "Collect the blocks in the dustpan by sweeping them up, then empty them into the bowl on the next table.",
        "Sweep the blocks onto the dustpan and transfer them into the bowl on the neighboring table.",
        "Use the dustpan to collect the swept blocks, then tip them into the bowl on the table beside you.",
        "Sweep up the blocks into the dustpan and pour them into the bowl on the table next to this one.",
        "Gather the blocks by sweeping them into the dustpan, then put them in the bowl on the adjacent table.",
        "Sweep the blocks into the pan, carry them to the next table, and empty them into the bowl.",
        "Load the dustpan by sweeping the blocks into it, then pour the blocks into the neighboring table's bowl.",
        "Sweep the blocks onto the pan and tip them into the bowl on the adjacent table.",
        "Collect the blocks with a sweeping motion into the dustpan, then transfer them to the bowl on the next table."
      ]
    },
    {
      "task_index": 30,
      "task": "Unfold the napkin and cover the bread in the bread basket.",
      "source_dir": "task38_num41",
      "episodes": 90,
      "frames": 112352,
      "hours": 1.0403,
      "length_min": 674,
      "length_median": 1198,
      "length_max": 2027,
      "paraphrases": [
        "Unfold the napkin and cover the bread in the bread basket.",
        "Open out the napkin and lay it over the bread inside the basket.",
        "Spread out the cloth napkin and use it to cover the bread in the basket.",
        "Unfold the cloth and place it over the bread in the bread basket.",
        "Open the napkin and drape it over the bread in the basket.",
        "Unfold the napkin, then lay it across the bread inside the bread basket.",
        "Spread the napkin open and cover the basket's bread with it.",
        "Open out the cloth napkin, then place it over the bread in the basket.",
        "Unfold the covering cloth and drape it over the bread inside the basket.",
        "Spread out the napkin and lay it over the bread in the bread basket."
      ]
    },
    {
      "task_index": 31,
      "task": "Go to the table and put the fruit from the tabletop into the cabinet.",
      "source_dir": "task39_num42",
      "episodes": 40,
      "frames": 54563,
      "hours": 0.5052,
      "length_min": 1115,
      "length_median": 1297,
      "length_max": 1913,
      "paraphrases": [
        "Go to the table and put the fruit from the tabletop into the cabinet.",
        "Move to the table and transfer the fruit into the cupboard.",
        "Approach the table, pick up the fruit, and place it inside the cabinet.",
        "Go over to the table and move the fruit from it into the cabinet.",
        "Move up to the table and put the fruit away in the cupboard.",
        "Approach the table and place its fruit inside the cabinet.",
        "Go to the table, take the fruit from the tabletop, and put it in the cupboard.",
        "Move to the table and carry the fruit from it into the cabinet.",
        "Approach the tabletop and transfer the fruit into the cabinet.",
        "Go to the table and place the fruit from its surface into the cupboard."
      ]
    },
    {
      "task_index": 32,
      "task": "Using one hand, lift the banana out of the basket on the current table and place it in the basket on the table behind you.",
      "source_dir": "task3_num1/banana",
      "episodes": 10,
      "frames": 11606,
      "hours": 0.1075,
      "length_min": 995,
      "length_median": 1154,
      "length_max": 1395,
      "paraphrases": [
        "Using one hand, lift the banana out of the basket on the current table and place it in the basket on the table behind you.",
        "Pick up the banana from the first basket, carry it to the table behind you, and put it into that table's basket.",
        "Transfer the banana from the basket on the current table to the basket on the other table.",
        "With one hand, take the banana from the source basket and place it in the basket on the other table.",
        "Retrieve the banana from the basket and carry it to the basket behind you.",
        "Take the banana out of one table's basket and put it into the destination basket on the other table."
      ]
    },
    {
      "task_index": 33,
      "task": "With one hand, pick up the bread slice from the basket and place it in the basket on the table behind you.",
      "source_dir": "task3_num1/bread_slice",
      "episodes": 10,
      "frames": 11532,
      "hours": 0.1068,
      "length_min": 968,
      "length_median": 1064,
      "length_max": 1862,
      "paraphrases": [
        "With one hand, pick up the bread slice from the basket and place it in the basket on the table behind you.",
        "Remove the slice of bread from the current basket and transfer it to the basket on the other table.",
        "Carry the bread slice from the basket on the current table to the basket on the table behind you.",
        "Take the bread slice out of the source basket and put it into the other table's basket.",
        "Pick up the slice of bread and place it inside the basket behind you.",
        "Using one hand, transfer the bread slice between the baskets on the two tables, from the current table to the other one."
      ]
    },
    {
      "task_index": 34,
      "task": "Pick up the lemon from the basket and carry it to the basket on the table behind you.",
      "source_dir": "task3_num1/lemon",
      "episodes": 10,
      "frames": 11896,
      "hours": 0.1101,
      "length_min": 965,
      "length_median": 1196,
      "length_max": 1380,
      "paraphrases": [
        "Pick up the lemon from the basket and carry it to the basket on the table behind you.",
        "Using one hand, take the lemon from the current basket and place it in the basket behind you.",
        "Transfer the lemon from one table's basket to the basket on the other table.",
        "Remove the lemon from the source basket and put it into the basket on the table behind you.",
        "With one hand, carry the lemon from the first basket to the destination basket on the other table.",
        "Take the lemon out of the basket on the current table and place it in the other table's basket."
      ]
    },
    {
      "task_index": 35,
      "task": "Using one hand, pick up the red apple and place it in the basket on the table behind you.",
      "source_dir": "task3_num1/red_apple",
      "episodes": 10,
      "frames": 13370,
      "hours": 0.1238,
      "length_min": 1062,
      "length_median": 1351,
      "length_max": 1479,
      "paraphrases": [
        "Using one hand, pick up the red apple and place it in the basket on the table behind you.",
        "Take the red apple from the current basket and carry it to the basket behind you.",
        "With one hand, transfer the red apple from the source basket to the basket on the other table.",
        "Move the red apple from the basket on the current table into the other table's basket.",
        "Using one hand, remove the red apple from the first basket and put it into the basket on the table behind you.",
        "Carry the red apple from its basket to the receiving basket behind you."
      ]
    },
    {
      "task_index": 36,
      "task": "Take the water bottle from the basket and place it in the basket on the table behind you.",
      "source_dir": "task3_num1/water_bottle",
      "episodes": 10,
      "frames": 12395,
      "hours": 0.1148,
      "length_min": 1064,
      "length_median": 1241,
      "length_max": 1392,
      "paraphrases": [
        "Take the water bottle from the basket and place it in the basket on the table behind you.",
        "Using one hand, grasp the water bottle from the current basket and carry it to the basket behind you.",
        "Transfer the water bottle from the basket on one table to the basket on the other table.",
        "With one hand, pick up the water bottle and put it into the destination basket on the other table.",
        "Remove the water bottle from the source basket and carry it to the basket on the table behind you.",
        "Using one hand, move the water bottle from the current table's basket into the basket behind you."
      ]
    },
    {
      "task_index": 37,
      "task": "Using one hand, pick up the yellow plush toy from the basket and place it in the basket on the table behind you.",
      "source_dir": "task3_num1/yellow_plush_toy",
      "episodes": 10,
      "frames": 10974,
      "hours": 0.1016,
      "length_min": 863,
      "length_median": 1107,
      "length_max": 1344,
      "paraphrases": [
        "Using one hand, pick up the yellow plush toy from the basket and place it in the basket on the table behind you.",
        "Carry the yellow plush toy from the current basket to the basket behind you.",
        "Transfer the yellow plush toy from one table's basket to the basket on the other table.",
        "With one hand, take the yellow plush toy out of the source basket and put it into the basket on the table behind you.",
        "Using one hand, move the yellow plush toy from the first basket to the destination basket on the other table.",
        "Retrieve the yellow plush toy and carry it to the receiving basket behind you."
      ]
    },
    {
      "task_index": 38,
      "task": "Go to the table and take the fruit out of the cabinet.",
      "source_dir": "task40_num43",
      "episodes": 38,
      "frames": 56899,
      "hours": 0.5268,
      "length_min": 1194,
      "length_median": 1493,
      "length_max": 1876,
      "paraphrases": [
        "Go to the table and take the fruit out of the cabinet.",
        "Move to the table and remove the fruit from the cupboard.",
        "Approach the table and retrieve the fruit from inside the cabinet.",
        "Go over to the table and take the fruit out of the cupboard.",
        "Move up to the table and bring the fruit out of the cabinet.",
        "Approach the table and remove the fruit stored in the cabinet.",
        "Go to the table and retrieve the fruit from the cupboard.",
        "Move to the table and take out the fruit inside the cabinet.",
        "Approach the table and bring the fruit out of the cupboard.",
        "Go to the table and remove the fruit from inside the cabinet."
      ]
    },
    {
      "task_index": 39,
      "task": "Open the refrigerator door, put the water bottle you are holding inside, and close the door.",
      "source_dir": "task41_num33",
      "episodes": 73,
      "frames": 112331,
      "hours": 1.0401,
      "length_min": 1111,
      "length_median": 1514,
      "length_max": 2158,
      "paraphrases": [
        "Open the refrigerator door, put the water bottle you are holding inside, and close the door.",
        "Open the fridge, place the water bottle already in your hand inside, then shut the door.",
        "Put the water bottle you are holding into the refrigerator by opening the door, placing it inside, and closing the door.",
        "Open the refrigerator and place the water bottle in your hand inside it, then close the door.",
        "With the water bottle already in hand, open the fridge door, put the bottle inside, and shut the door.",
        "Open the fridge door and set the water bottle you are holding inside, then close the fridge.",
        "Place the water bottle already in your hand in the refrigerator after opening the door, then shut the door.",
        "Open the refrigerator door, transfer the water bottle from your hand into the fridge, and close the door.",
        "While holding the water bottle, open the fridge, place the bottle inside, and close its door.",
        "Open the fridge, put in the water bottle you are currently holding, and shut the refrigerator door."
      ]
    },
    {
      "task_index": 40,
      "task": "Using one hand, take the banana from the current basket and place it in the basket on the table to your left.",
      "source_dir": "task4_num2/banana",
      "episodes": 10,
      "frames": 8759,
      "hours": 0.0811,
      "length_min": 796,
      "length_median": 866,
      "length_max": 966,
      "paraphrases": [
        "Using one hand, take the banana from the current basket and place it in the basket on the table to your left.",
        "Pick up the banana, move to the table on your left, and put it into the basket there.",
        "Transfer the banana from the source basket to the basket on the left-hand table.",
        "With one hand, carry the banana from the first basket to the basket on the other table.",
        "Remove the banana from the current basket and place it inside the destination basket.",
        "Take the banana out of the basket, go over to the table on your left, and set it in that table's basket."
      ]
    },
    {
      "task_index": 41,
      "task": "Pick up the bread slice with one hand and place it in the basket on the table to your left.",
      "source_dir": "task4_num2/bread_slice",
      "episodes": 10,
      "frames": 9593,
      "hours": 0.0888,
      "length_min": 795,
      "length_median": 964,
      "length_max": 1140,
      "paraphrases": [
        "Pick up the bread slice with one hand and place it in the basket on the table to your left.",
        "Take the slice of bread from the current basket and carry it to the basket on the left-hand table.",
        "Transfer the bread slice between the baskets, moving from the current table to the table on your left.",
        "Using one hand, remove the bread slice from the source basket and put it into the other basket.",
        "Carry the slice of bread to the other table and place it inside the destination basket.",
        "Take the bread slice from the basket, move over to the table on your left, and deposit it in the basket there."
      ]
    },
    {
      "task_index": 42,
      "task": "Using one hand, lift the lemon from the basket and put it in the basket on the table to your left.",
      "source_dir": "task4_num2/lemon",
      "episodes": 10,
      "frames": 8738,
      "hours": 0.0809,
      "length_min": 776,
      "length_median": 868,
      "length_max": 946,
      "paraphrases": [
        "Using one hand, lift the lemon from the basket and put it in the basket on the table to your left.",
        "Pick up the lemon and carry it over to the left-hand table's basket.",
        "Transfer the lemon from the basket on the current table to the basket on the other table.",
        "Take the lemon out of the source basket, move to the table on your left, and place it in the basket.",
        "With one hand, carry the lemon from the first basket to the destination basket.",
        "Remove the lemon from its basket and put it into the receiving basket on the left."
      ]
    },
    {
      "task_index": 43,
      "task": "With one hand, pick up the red apple and place it in the basket on the table to your left.",
      "source_dir": "task4_num2/red_apple",
      "episodes": 9,
      "frames": 8355,
      "hours": 0.0774,
      "length_min": 810,
      "length_median": 904,
      "length_max": 1161,
      "paraphrases": [
        "With one hand, pick up the red apple and place it in the basket on the table to your left.",
        "Take the red apple from the current basket and carry it to the left-hand table.",
        "Transfer the red apple from the source basket to the basket on the other table.",
        "Remove the red apple from the basket, walk over to the table on your left, and put it into the basket there.",
        "Using one hand, move the red apple between the two baskets.",
        "Carry the red apple from the current table to the destination basket on the left."
      ]
    },
    {
      "task_index": 44,
      "task": "Take the water bottle from the basket with one hand and place it in the basket on the table to your left.",
      "source_dir": "task4_num2/water_bottle",
      "episodes": 10,
      "frames": 9297,
      "hours": 0.0861,
      "length_min": 814,
      "length_median": 917,
      "length_max": 1063,
      "paraphrases": [
        "Take the water bottle from the basket with one hand and place it in the basket on the table to your left.",
        "Pick up the water bottle, move to the left-hand table, and put it into the basket.",
        "Transfer the water bottle from the current basket to the basket on the other table.",
        "Using one hand, carry the water bottle from the source basket to the destination basket.",
        "Remove the water bottle from its basket and place it inside the receiving basket on the left.",
        "Take the water bottle out of the basket, go over to the table on your left, and set it in the basket there."
      ]
    },
    {
      "task_index": 45,
      "task": "Using one hand, take the yellow plush toy from the basket and place it in the basket on the table to your left.",
      "source_dir": "task4_num2/yellow_plush_toy",
      "episodes": 10,
      "frames": 9316,
      "hours": 0.0863,
      "length_min": 709,
      "length_median": 943,
      "length_max": 1208,
      "paraphrases": [
        "Using one hand, take the yellow plush toy from the basket and place it in the basket on the table to your left.",
        "Pick up the yellow plush toy and carry it to the left-hand table's basket.",
        "Transfer the yellow plush toy from the current basket to the basket on the other table.",
        "Move over to the table on your left with the yellow plush toy and put it into the basket.",
        "With one hand, remove the yellow plush toy from the source basket and place it in the destination basket.",
        "Carry the yellow plush toy between the two baskets, ending at the basket on the left."
      ]
    },
    {
      "task_index": 46,
      "task": "Take the banana from the current basket with one hand and place it in the basket on the table to your right.",
      "source_dir": "task5_num3/banana",
      "episodes": 10,
      "frames": 9087,
      "hours": 0.0841,
      "length_min": 808,
      "length_median": 897,
      "length_max": 1028,
      "paraphrases": [
        "Take the banana from the current basket with one hand and place it in the basket on the table to your right.",
        "Pick up the banana, head to the table on your right, and put it into the basket there.",
        "Transfer the banana from the source basket to the basket on the right-hand table.",
        "Carry the banana from the first basket to the basket on the other table.",
        "Using one hand, remove the banana from its basket and place it inside the destination basket.",
        "Lift the banana out of the basket, move over to the table on your right, and set it in that table's basket."
      ]
    },
    {
      "task_index": 47,
      "task": "Using one hand, pick up the bread slice and place it in the basket on the table to your right.",
      "source_dir": "task5_num3/bread_slice",
      "episodes": 10,
      "frames": 10467,
      "hours": 0.0969,
      "length_min": 899,
      "length_median": 1048,
      "length_max": 1265,
      "paraphrases": [
        "Using one hand, pick up the bread slice and place it in the basket on the table to your right.",
        "Take the slice of bread from the current basket and carry it over to the right-hand table.",
        "Transfer the bread slice from one basket to the basket on the other table.",
        "Remove the bread slice from the source basket, go to the table on your right, and put it into the basket.",
        "With one hand, carry the slice of bread to the destination basket.",
        "Pick up the bread slice and deposit it in the receiving basket on the right."
      ]
    },
    {
      "task_index": 48,
      "task": "Pick up the lemon with one hand and put it in the basket on the table to your right.",
      "source_dir": "task5_num3/lemon",
      "episodes": 10,
      "frames": 8989,
      "hours": 0.0832,
      "length_min": 842,
      "length_median": 886,
      "length_max": 999,
      "paraphrases": [
        "Pick up the lemon with one hand and put it in the basket on the table to your right.",
        "Take the lemon out of the current basket, move to the right-hand table, and place it in the basket there.",
        "Transfer the lemon from the source basket to the basket on the other table.",
        "Carry the lemon from the current table to the receiving basket on the right.",
        "Using one hand, remove the lemon from the first basket and place it into the destination basket.",
        "Lift the lemon from its basket and take it across to the basket on the table to your right."
      ]
    },
    {
      "task_index": 49,
      "task": "Using one hand, pick up the red apple and place it in the basket on the table to your right.",
      "source_dir": "task5_num3/red_apple",
      "episodes": 8,
      "frames": 8133,
      "hours": 0.0753,
      "length_min": 804,
      "length_median": 951,
      "length_max": 1362,
      "paraphrases": [
        "Using one hand, pick up the red apple and place it in the basket on the table to your right.",
        "Take the red apple from the current basket and carry it over to the right-hand table.",
        "Transfer the red apple between the baskets on the two tables.",
        "Remove the red apple from the source basket, move to the table on your right, and put it into the basket.",
        "With one hand, carry the red apple to the destination basket.",
        "Pick up the red apple and place it inside the receiving basket on the right."
      ]
    },
    {
      "task_index": 50,
      "task": "With one hand, take the water bottle from the basket and place it in the basket on the table to your right.",
      "source_dir": "task5_num3/water_bottle",
      "episodes": 10,
      "frames": 10636,
      "hours": 0.0985,
      "length_min": 837,
      "length_median": 1049,
      "length_max": 1375,
      "paraphrases": [
        "With one hand, take the water bottle from the basket and place it in the basket on the table to your right.",
        "Pick up the water bottle, go over to the right-hand table, and put it into the basket.",
        "Transfer the water bottle from the current basket to the basket on the other table.",
        "Carry the water bottle from the source table to the receiving basket on the right.",
        "Using one hand, remove the water bottle from its basket and place it in the destination basket.",
        "Take the water bottle out of the first basket, move to the table on your right, and set it inside the basket there."
      ]
    },
    {
      "task_index": 51,
      "task": "Pick up the yellow plush toy with one hand and place it in the basket on the table to your right.",
      "source_dir": "task5_num3/yellow_plush_toy",
      "episodes": 10,
      "frames": 9038,
      "hours": 0.0837,
      "length_min": 805,
      "length_median": 896,
      "length_max": 1050,
      "paraphrases": [
        "Pick up the yellow plush toy with one hand and place it in the basket on the table to your right.",
        "Take the yellow plush toy from the current basket and carry it to the right-hand table's basket.",
        "Transfer the yellow plush toy from the source basket to the basket on the other table.",
        "Move over to the table on your right with the yellow plush toy and put it in the basket.",
        "Using one hand, carry the yellow plush toy between the two baskets.",
        "Remove the yellow plush toy from its basket and place it inside the receiving basket on the right."
      ]
    },
    {
      "task_index": 52,
      "task": "Using both hands, lift the blue plastic basket from the current table and place it on the table behind you.",
      "source_dir": "task6-num4/blue_plastic_basket",
      "episodes": 20,
      "frames": 22520,
      "hours": 0.2085,
      "length_min": 867,
      "length_median": 1112,
      "length_max": 1567,
      "paraphrases": [
        "Using both hands, lift the blue plastic basket from the current table and place it on the table behind you.",
        "Pick up the blue plastic basket, turn around, and set it down on the other table.",
        "Carry the blue plastic basket from the source table to the tabletop behind you.",
        "With both hands, transfer the blue plastic basket between the two tables.",
        "Lift the blue plastic basket, move to the table behind you, and place it on the tabletop.",
        "Take the blue plastic basket from the current table and set it down on the destination table."
      ]
    },
    {
      "task_index": 53,
      "task": "Using both hands, pick up the folded umbrella and place it on the table behind you.",
      "source_dir": "task6-num4/folded_umbrella",
      "episodes": 20,
      "frames": 16245,
      "hours": 0.1504,
      "length_min": 650,
      "length_median": 798,
      "length_max": 1027,
      "paraphrases": [
        "Using both hands, pick up the folded umbrella and place it on the table behind you.",
        "Lift the folded umbrella from the current table, turn around, and set it down on the other table.",
        "Carry the folded umbrella to the table behind you and place it on the tabletop.",
        "With both hands, transfer the folded umbrella from the source table to the destination table.",
        "Take the folded umbrella, move to the table behind you, and put it down there.",
        "Remove the folded umbrella from the current tabletop and carry it to the other table."
      ]
    },
    {
      "task_index": 54,
      "task": "Using both hands, lift the open cardboard box and place it on the table behind you.",
      "source_dir": "task6-num4/open_cardboard_box",
      "episodes": 20,
      "frames": 15702,
      "hours": 0.1454,
      "length_min": 598,
      "length_median": 769,
      "length_max": 971,
      "paraphrases": [
        "Using both hands, lift the open cardboard box and place it on the table behind you.",
        "Pick up the open cardboard box from the current table, turn around, and set it down on the other tabletop.",
        "Carry the open cardboard box to the table behind you and place it there.",
        "With both hands, transfer the open cardboard box from the source table to the destination table.",
        "Lift the open cardboard box, move over to the table behind you, and set it on the tabletop.",
        "Take the open cardboard box from the current table and put it down on the other table."
      ]
    },
    {
      "task_index": 55,
      "task": "Using both hands, lift the blue plastic basket and place it on the table to your left.",
      "source_dir": "task7_num5/blue_plastic_basket",
      "episodes": 5,
      "frames": 4517,
      "hours": 0.0418,
      "length_min": 629,
      "length_median": 795,
      "length_max": 1259,
      "paraphrases": [
        "Using both hands, lift the blue plastic basket and place it on the table to your left.",
        "Pick up the blue plastic basket, move to the left-hand table, and set it down on the tabletop.",
        "Carry the blue plastic basket from the current table to the table on your left.",
        "With both hands, transfer the blue plastic basket between the two tables.",
        "Take the blue plastic basket from the source table and place it on the destination tabletop.",
        "Lift the blue plastic basket, go over to the table on your left, and put it down there."
      ]
    },
    {
      "task_index": 56,
      "task": "With both hands, pick up the blue storage crate and place it on the table to your left.",
      "source_dir": "task7_num5/blue_storage_crate",
      "episodes": 10,
      "frames": 8612,
      "hours": 0.0797,
      "length_min": 776,
      "length_median": 852,
      "length_max": 1013,
      "paraphrases": [
        "With both hands, pick up the blue storage crate and place it on the table to your left.",
        "Lift the blue storage crate from the current table and carry it over to the left-hand table.",
        "Transfer the blue storage crate from the source tabletop to the other table.",
        "Using both hands, move the blue storage crate to the table on your left and set it down.",
        "Carry the blue storage crate between the two tables and place it on the destination tabletop.",
        "Take the blue storage crate from the current table, move left, and put it down on the other table."
      ]
    },
    {
      "task_index": 57,
      "task": "Using both hands, take the folded umbrella and place it on the table to your left.",
      "source_dir": "task7_num5/folded_umbrella",
      "episodes": 5,
      "frames": 5179,
      "hours": 0.048,
      "length_min": 885,
      "length_median": 1017,
      "length_max": 1314,
      "paraphrases": [
        "Using both hands, take the folded umbrella and place it on the table to your left.",
        "Pick up the folded umbrella from the current tabletop and carry it to the left-hand table.",
        "Move the folded umbrella from the source table to the other table and set it down.",
        "With both hands, lift the folded umbrella, go to the table on your left, and place it there.",
        "Transfer the folded umbrella between the two tables.",
        "Carry the folded umbrella to the destination tabletop on your left and put it down."
      ]
    },
    {
      "task_index": 58,
      "task": "Using both hands, lift the open cardboard box and set it down on the table to your left.",
      "source_dir": "task7_num5/open_cardboard_box",
      "episodes": 5,
      "frames": 4543,
      "hours": 0.0421,
      "length_min": 818,
      "length_median": 884,
      "length_max": 998,
      "paraphrases": [
        "Using both hands, lift the open cardboard box and set it down on the table to your left.",
        "Pick up the open cardboard box, move to the left-hand table, and place it on the tabletop.",
        "Carry the open cardboard box from the current table to the other table.",
        "With both hands, transfer the open cardboard box to the table on your left.",
        "Take the open cardboard box from the source tabletop and put it down on the destination table.",
        "Lift the open cardboard box, move left to the other table, and place it there."
      ]
    },
    {
      "task_index": 59,
      "task": "With both hands, pick up the sealed cardboard box and place it on the table to your left.",
      "source_dir": "task7_num5/sealed_cardboard_box",
      "episodes": 10,
      "frames": 14499,
      "hours": 0.1343,
      "length_min": 1289,
      "length_median": 1444,
      "length_max": 1664,
      "paraphrases": [
        "With both hands, pick up the sealed cardboard box and place it on the table to your left.",
        "Lift the sealed cardboard box from the current table and carry it to the left-hand table.",
        "Transfer the sealed cardboard box between the two tables and set it down.",
        "Using both hands, move the sealed cardboard box to the destination tabletop on your left.",
        "Take the sealed cardboard box from the source table, go to the other table, and place it there.",
        "Carry the sealed cardboard box over to the table on your left and put it down."
      ]
    },
    {
      "task_index": 60,
      "task": "Using both hands, lift the white drawstring bag and place it on the table to your left.",
      "source_dir": "task7_num5/white_drawstring_bag",
      "episodes": 10,
      "frames": 8911,
      "hours": 0.0825,
      "length_min": 822,
      "length_median": 873,
      "length_max": 1017,
      "paraphrases": [
        "Using both hands, lift the white drawstring bag and place it on the table to your left.",
        "Pick up the white drawstring bag from the current table and carry it to the left-hand table.",
        "Transfer the white drawstring bag from the source tabletop to the other table.",
        "With both hands, take the white drawstring bag to the table on your left and set it down.",
        "Carry the white drawstring bag between the two tables and place it on the destination tabletop.",
        "Lift the white drawstring bag, move over to the other table on your left, and put it down there."
      ]
    },
    {
      "task_index": 61,
      "task": "With both hands, lift the blue plastic basket and place it on the table to your right.",
      "source_dir": "task8_num6/blue_plastic_basket",
      "episodes": 5,
      "frames": 4372,
      "hours": 0.0405,
      "length_min": 694,
      "length_median": 794,
      "length_max": 1081,
      "paraphrases": [
        "With both hands, lift the blue plastic basket and place it on the table to your right.",
        "Pick up the blue plastic basket, move over to the right-hand table, and set it down.",
        "Carry the blue plastic basket from the current table to the table on your right.",
        "Using both hands, transfer the blue plastic basket between the two tables.",
        "Take the blue plastic basket from the source tabletop and place it on the destination table.",
        "Lift the blue plastic basket, go to the table on your right, and put it down on the tabletop."
      ]
    },
    {
      "task_index": 62,
      "task": "Using both hands, pick up the blue storage crate and place it on the table to your right.",
      "source_dir": "task8_num6/blue_storage_crate",
      "episodes": 10,
      "frames": 7512,
      "hours": 0.0696,
      "length_min": 609,
      "length_median": 755,
      "length_max": 837,
      "paraphrases": [
        "Using both hands, pick up the blue storage crate and place it on the table to your right.",
        "Lift the blue storage crate from the current table and carry it to the right-hand table.",
        "Transfer the blue storage crate from the source table to the other tabletop.",
        "With both hands, move the blue storage crate over to the table on your right and set it down.",
        "Carry the blue storage crate between the two tables and place it on the destination table.",
        "Take the blue storage crate from the current tabletop, move right, and put it down on the other table."
      ]
    },
    {
      "task_index": 63,
      "task": "With both hands, take the folded umbrella and place it on the table to your right.",
      "source_dir": "task8_num6/folded_umbrella",
      "episodes": 5,
      "frames": 5713,
      "hours": 0.0529,
      "length_min": 898,
      "length_median": 1157,
      "length_max": 1441,
      "paraphrases": [
        "With both hands, take the folded umbrella and place it on the table to your right.",
        "Pick up the folded umbrella from the current table and carry it over to the right-hand table.",
        "Transfer the folded umbrella to the other table and set it down on the tabletop.",
        "Using both hands, lift the folded umbrella, move to the table on your right, and place it there.",
        "Carry the folded umbrella from the source table to the destination table.",
        "Take the folded umbrella to the tabletop on your right and put it down."
      ]
    },
    {
      "task_index": 64,
      "task": "With both hands, lift the open cardboard box and place it on the table to your right.",
      "source_dir": "task8_num6/open_cardboard_box",
      "episodes": 5,
      "frames": 4728,
      "hours": 0.0438,
      "length_min": 790,
      "length_median": 977,
      "length_max": 1104,
      "paraphrases": [
        "With both hands, lift the open cardboard box and place it on the table to your right.",
        "Pick up the open cardboard box, go over to the right-hand table, and set it down on the tabletop.",
        "Carry the open cardboard box from the current table to the other table.",
        "Using both hands, transfer the open cardboard box to the table on your right.",
        "Take the open cardboard box from the source tabletop and place it on the destination table.",
        "Lift the open cardboard box, move right to the other table, and put it down there."
      ]
    },
    {
      "task_index": 65,
      "task": "Using both hands, pick up the sealed cardboard box and place it on the table to your right.",
      "source_dir": "task8_num6/sealed_cardboard_box",
      "episodes": 10,
      "frames": 15894,
      "hours": 0.1472,
      "length_min": 1338,
      "length_median": 1518,
      "length_max": 1914,
      "paraphrases": [
        "Using both hands, pick up the sealed cardboard box and place it on the table to your right.",
        "Lift the sealed cardboard box from the current table and carry it over to the right-hand table.",
        "Transfer the sealed cardboard box between the two tables and set it down.",
        "With both hands, move the sealed cardboard box to the destination tabletop on your right.",
        "Take the sealed cardboard box from the source table, go to the other table, and place it there.",
        "Carry the sealed cardboard box to the table on your right and put it down on the tabletop."
      ]
    },
    {
      "task_index": 66,
      "task": "With both hands, lift the white drawstring bag and place it on the table to your right.",
      "source_dir": "task8_num6/white_drawstring_bag",
      "episodes": 10,
      "frames": 9030,
      "hours": 0.0836,
      "length_min": 813,
      "length_median": 899,
      "length_max": 996,
      "paraphrases": [
        "With both hands, lift the white drawstring bag and place it on the table to your right.",
        "Pick up the white drawstring bag from the current table and carry it to the right-hand table.",
        "Transfer the white drawstring bag from the source tabletop to the other table.",
        "Using both hands, take the white drawstring bag over to the table on your right and set it down.",
        "Carry the white drawstring bag between the two tables and place it on the destination tabletop.",
        "Lift the white drawstring bag, move to the other table on your right, and put it down there."
      ]
    },
    {
      "task_index": 67,
      "task": "Unscrew the cap from the test tube.",
      "source_dir": "task9_num22",
      "episodes": 43,
      "frames": 48463,
      "hours": 0.4487,
      "length_min": 655,
      "length_median": 1080,
      "length_max": 2050,
      "paraphrases": [
        "Unscrew the cap from the test tube.",
        "Move in front of the table, then twist off the test tube cap.",
        "Hold the test tube steady and turn the cap counterclockwise until it comes off.",
        "Twist the cap loose and remove it completely from the test tube.",
        "Approach the worktable and take the screw cap off the test tube.",
        "Use one hand to steady the test tube while the other hand unscrews and removes the cap.",
        "Rotate the cap counterclockwise until it separates from the test tube.",
        "Remove the cap by unscrewing it from the top of the test tube.",
        "Position yourself at the table before unscrewing the cap and leaving it fully detached.",
        "Loosen the test tube cap with a twisting motion, then lift it off."
      ]
    }
  ]
}