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+{"episode_index": 0, "tasks": ["place cable"], "length": 1161, "global_instruction": "Rearrange all objects on the wooden table to new positions on the table surface.", "scene_description": "A light wooden table holds a red plush strawberry, pink cloth, pale yellow cloth, pale pink cloth, and a coiled white cord, with a cardboard box at the far end of the table, and a right robotic arm positioned above the table surface.", "global_instruction_dense": "The right robotic arm sequentially grasps the red plush strawberry, pink cloth, pale yellow cloth, and pale pink cloth, moves each to a new position on the table and releases them, then adjusts the position of the coiled white cord on the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 1, "tasks": ["place cable"], "length": 951, "global_instruction": "Arrange the fabrics on the upper end of the wooden table and adjust the position of the white flexible cord on the table.", "scene_description": "A wooden table holds a stack of assorted fabrics (pink, light pink, white) with white straps at its center, a brown cardboard box at the far end, and a small green plush toy with a red top near the box, with a striped panel behind the table and a workbench with containers to the left.", "global_instruction_dense": "The left robotic arm first grasps the pink fabric from the stack and places it at the upper end of the table near the box, next grasps the small green plush toy and places it beside the pink fabric, then grasps the light pink fabric and places it on the lower right area of the table, then grasps the white fabric and places it on the lower left area of the table, and finally repeatedly adjusts the position of the white flexible cord on the center of the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 2, "tasks": ["place cable"], "length": 1454, "global_instruction": "Place the loose end of the white rope fully into the groove of the black long track on the wooden table.", "scene_description": "A light brown wooden worktable is in the center, with a long black grooved track placed lengthwise on it. A white flexible rope is partially seated in the track's groove, with its loose end resting on the table to the right of the track. A Franka robotic arm base is on a black workbench to the right of the table, and a metal tool chest with a wooden top is to the left of the table, with a multicolored tiled wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the loose end of the white rope on the wooden table, grasps the rope end, lifts it, aligns it with the groove of the black track, guides the full length of the rope into the groove, then releases the rope and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 3, "tasks": ["place cable"], "length": 1362, "global_instruction": "Fully insert the thick white rope into the slot of the long black rail on the wooden table.", "scene_description": "A light wooden worktable holds a long black slotted rail, with a thick white rope partially inserted into the rail's slot and the rest of the rope lying on the table surface. A Franka robotic arm is positioned to the right of the table against a multicolored striped mosaic wall, with metal tool cabinets in the left background.", "global_instruction_dense": "The right robotic arm moves toward the free end of the white rope on the table, grasps it, lifts and aligns the rope with the slot of the black rail, then moves along the length of the rail to press the entire rope into the slot, before lifting away and returning to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 4, "tasks": ["place cable"], "length": 1184, "global_instruction": "Tuck the entire loose white rope fully into the black slotted track on the table.", "scene_description": "A light wooden table holds a long black slotted track, with a white braided rope partially inserted into the track's left end and its other end lying loose on the table. A robotic arm is positioned above the right side of the table, with a tool cabinet and colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm lowers to grasp the loose end of the white rope on the table, lifts the end, inserts it into the upper end of the black slotted track, slides along the track to tuck the full length of the rope into the slot, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 5, "tasks": ["place cable"], "length": 1062, "global_instruction": "Place the entire white rope into the black grooved track on the wooden table.", "scene_description": "A light brown wooden table holds a long black grooved track, with a white rope partially inserted into the left end of the track and the rest of the rope resting on the table to the right of the track, while a Franka Emika robotic arm is positioned to the right of the table and a tool workbench is in the left background.", "global_instruction_dense": "The right robotic gripper moves toward the free end of the white rope on the table, grasps the rope, lifts and lays the free end into the black grooved track, then moves along the track repeatedly adjusting the rope to fully seat it into the groove before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 6, "tasks": ["place cable"], "length": 1018, "global_instruction": "Place the loose portion of the white rope fully into the slot of the black track on the table.", "scene_description": "A wooden worktable holds a black long slotted track and a white rope, with the rope partially placed inside the track's slot and partially resting on the table to the right of the track. A Franka Emika robotic manipulator is positioned to the right of the table, with its gripper raised above the table surface. A metal tool cabinet sits to the left of the table, and a multicolored patterned wall is in the background.", "global_instruction_dense": "The left robotic arm moves its gripper toward the free end of the white rope on the table, grasps the rope end, lifts it, moves along the length of the black track while laying the rope into the track's slot, adjusts the rope to ensure it is fully seated in the slot, then releases the rope and moves the gripper away from the track.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 7, "tasks": ["place cable"], "length": 959, "global_instruction": "Place the entire white flexible rope into the slotted black guide rail on the worktable.", "scene_description": "A wooden worktable holds a long black slotted guide rail and a white flexible rope. The rope's left end is seated in the rail's slot, while its right end rests on the table surface. A Franka robotic arm is positioned to the right of the table, with its gripper held above the right side of the table.", "global_instruction_dense": "The left robotic gripper moves downward toward the free end of the white rope, grasps it, lifts it, moves left along the length of the black slotted guide rail while pressing the rope into the rail's slot, and releases the rope once it is fully seated in the rail.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 8, "tasks": ["place cable"], "length": 892, "global_instruction": "Place the flexible white cable fully into the groove of the long black rail on the table.", "scene_description": "A light brown wooden table holds a long black grooved rail and a curved flexible white cable with one end resting on the rail, a white Franka robotic arm is on the right side of the table, a dark grey tool cabinet is in the left background, and a multicolored vertical striped wall is behind the table.", "global_instruction_dense": "The right robotic gripper moves toward the free end of the white cable on the table, grasps it, lifts and aligns the cable with the groove of the black rail, places the cable into the groove, then slides along the cable to press its full length securely into the rail's groove before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 9, "tasks": ["place cable"], "length": 1083, "global_instruction": "Place the white flexible cable fully into the slot of the black long holder on the table.", "scene_description": "A light wooden table holds a long black slotted holder resting on small wooden blocks, with a white flexible cable partially lying on the holder and partially on the table surface to the holder's right. A Franka robotic arm base is positioned on the right side of the table, with the arm's gripper above the table.", "global_instruction_dense": "The right robotic arm lowers toward the free end of the white cable on the table, grasps it, lifts and aligns it with the slot of the black holder, slides the full length of the cable into the slot to seat it, then releases the cable and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 10, "tasks": ["place cable"], "length": 1034, "global_instruction": "Place the white rope fully into the groove of the black track fixture on the worktable.", "scene_description": "A white rope is partially resting on a long black track fixture atop a light brown wooden worktable. A left Franka robotic arm is positioned above the table, a stationary right Franka robotic arm sits at the table's right side, and a metal tool chest is in the background left.", "global_instruction_dense": "The left robotic arm moves toward the free end of the white rope, grasps it, lifts and places the end into the black track's groove, slides along the track to tuck the full length of the rope into the groove, then releases the rope and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 11, "tasks": ["place cable"], "length": 897, "global_instruction": "Place the white flexible cord fully into the groove of the long black fixture on the worktable", "scene_description": "A light wooden worktable holds a long black grooved fixture, with a white flexible cord partially resting inside the fixture's groove, a metal tool chest is to the left of the table, and a Franka robotic arm base is on the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the loose end of the white cord, grasps it, lifts the cord to place it into the black fixture's groove, then presses and adjusts the cord along the full length of the groove to seat it completely before releasing the cord and moving upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 12, "tasks": ["place cable"], "length": 241, "global_instruction": "Place the white flexible cord fully into the black grooved track.", "scene_description": "A light wooden table holds a long black grooved track and a white flexible cord; one end of the cord rests on the track, the other lies on the table surface. The left robotic gripper is positioned above the table, and a Franka robotic arm base sits to the right of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the loose end of the white flexible cord on the table, grasps the cord end, lifts it, aligns the cord with the black grooved track, lowers the cord into the track groove, releases the cord, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 13, "tasks": ["place cable"], "length": 268, "global_instruction": "Place the white rope completely into the long black grooved track on the worktable.", "scene_description": "A light wooden worktable has a long black grooved track on its left, a white flexible rope partially lying in the track and the rest curved on the table, with two Franka robotic arms positioned at the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the free end of the white rope on the table, grasps the rope end, pulls it to align with the black grooved track, lays the entire rope into the track, releases the rope, then moves upward away from the worktable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 14, "tasks": ["place cable"], "length": 241, "global_instruction": "Place the loose portion of the white rope into the long black grooved fixture on the table.", "scene_description": "A wooden worktable holds a long black grooved fixture and a white flexible rope. One end of the rope is in the fixture's groove, the rest lies on the table, and a robotic arm is positioned above the table's right side.", "global_instruction_dense": "The right robotic arm moves down to grasp the free end of the white rope, lifts and moves the rope along the black grooved fixture to lay the entire loose part of the rope into the groove, then releases the rope and moves back up to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 15, "tasks": ["place cable"], "length": 316, "global_instruction": "Place the white flexible rope into the groove of the black slotted track on the table.", "scene_description": "A wooden table holds a long black slotted track and a white flexible rope partially draped over the left end of the track; a Franka Emika robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the right end of the white rope on the table, grasps the rope end, lifts the rope, moves leftward along the black track to lay the rope fully into the track's groove, then releases the rope and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 16, "tasks": ["place cable"], "length": 195, "global_instruction": "Place the loose portion of the white cord fully into the black track on the table", "scene_description": "A long black slotted track and a white flexible cord are placed on a light brown wooden table. The white cord is partially seated in the track, with its right end lying loose on the table surface. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves downward toward the loose right end of the white cord, grasps the cord, lifts it, aligns it with the track slot, places the full length of the cord into the slot, then releases the cord and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 17, "tasks": ["place cable"], "length": 223, "global_instruction": "Place the entire white flexible rope into the long black slotted track on the table.", "scene_description": "A wooden tabletop holds a long black slotted track and a white flexible rope, with one end of the rope inserted in the track and the other end resting on the table to the right of the track. A robotic arm is positioned to the upper right of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the free end of the white rope on the table, lifts the end, aligns it with the black slotted track, places the full length of the rope into the track, releases the rope, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 18, "tasks": ["place cable"], "length": 311, "global_instruction": "Place the white rope fully into the slot of the black long rail.", "scene_description": "A light wooden worktable holds a long black slotted rail, with a curved white rope resting partially in the rail's slot. A Franka robotic arm base is positioned to the right of the table, and a gray tool chest is in the left background.", "global_instruction_dense": "The left robotic arm moves down toward the loose end of the white rope on the black rail, grasps the rope, pulls it straight to fit the full length into the rail's slot, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 19, "tasks": ["place cable"], "length": 225, "global_instruction": "Place the white rope fully into the slot of the long black strip on the wooden table.", "scene_description": "A light wooden table holds a long black slotted strip at its center, with a white rope partially seated in the slot and looping outward. A left robotic arm is positioned above the table, a right robotic arm base is on the table's right edge, and a metal tool chest with items on top sits in the left background.", "global_instruction_dense": "The left robotic arm moves down toward the loose end of the white rope, grasps the rope, pulls it along the slot of the black strip to lay the entire rope into the slot, then releases the rope and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 20, "tasks": ["place cable"], "length": 248, "global_instruction": "Place the white rope fully into the groove of the black long strip on the wooden table.", "scene_description": "A wooden table holds a black long grooved strip, with a white rope partially lying in the strip's groove. A robotic arm is positioned above the table, and a metal storage workbench is to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the free end of the white rope, grasps it, pulls it along the black grooved strip to lay the full length of the rope into the groove, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 21, "tasks": ["place cable"], "length": 256, "global_instruction": "Place the white rope fully into the long black slotted holder on the wooden table.", "scene_description": "A light wooden worktable is at the center, with a long black slotted holder holding a partially placed curved white rope. A Franka robotic arm is positioned on the right side of the table, with a metal tool cabinet in the left background.", "global_instruction_dense": "The right robotic arm moves toward the free end of the partially placed white rope, grasps it, pulls it along the length of the black slotted holder to lay the rope fully into the slot, then releases the rope and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 22, "tasks": ["place cable"], "length": 289, "global_instruction": "Place the curved section of the white cord fully into the black slotted track on the worktable.", "scene_description": "A long black slotted track rests on a light wooden worktable, with a white flexible cord partially laid in the track (a section of the cord curves upward out of the track). A robotic arm is positioned to the right of the table, and a grey tool chest sits to the left of the table against a wall with blue and multicolored striped sections.", "global_instruction_dense": "The left robotic arm moves down toward the upward-curved section of the white cord on the track, grasps the cord, pulls it straight, lays it fully into the slotted track, then releases the cord and lifts back up away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 23, "tasks": ["place cable"], "length": 276, "global_instruction": "Lay the white rope fully into the slot of the black track on the wooden table.", "scene_description": "A light wooden table holds a long black slotted track with a thick white rope looped on the track. To the left of the table is a dark metal tool chest with assorted items on its wooden top, and to the right is a white robotic arm base, with the left robotic manipulator positioned above the table near a multicolored striped wall.", "global_instruction_dense": "The left robotic arm moves downward toward the white rope on the black track, grasps the free end of the rope, pulls it along the track to lay the entire rope into the track's slot, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 24, "tasks": ["place cable"], "length": 262, "global_instruction": "Place the partially positioned white cable fully into the groove of the black long fixture on the worktable.", "scene_description": "A wooden worktable holds a long black grooved fixture with a white flexible cable partially resting in its groove; a Franka robot base sits to the right of the table, and a metal tool cabinet is in the left background against a multicolor patterned grid wall.", "global_instruction_dense": "The left robotic arm descends from above the worktable, grasps the free end of the partially placed white cable, pulls it along the black fixture's groove to lay the full length of the cable into the groove, then releases the cable and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 25, "tasks": ["place cable"], "length": 378, "global_instruction": "Place the white rope fully into the groove of the black track on the worktable.", "scene_description": "A light wooden worktable holds a small wooden mallet, a long black grooved track, and a white rope partially laid on the track. A metal tool chest with assorted items is to the left of the table, and a Franka Emika robotic system is positioned to the right.", "global_instruction_dense": "The right robotic gripper moves downward toward the white rope on the black grooved track, grasps the free end of the rope, pulls it lengthwise along the track to lay the full rope into the groove, adjusts the rope to fit properly, then releases the rope and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 26, "tasks": ["place cable"], "length": 443, "global_instruction": "Place the loose end of the white flexible cord fully into the groove of the black long fixture.", "scene_description": "A wooden worktable holds a black long grooved fixture, a white flexible cord with one end fixed to the left end of the fixture and the other end resting on the right end of the fixture, and a small wooden mallet to the left of the fixture. A robotic arm is positioned above the right side of the table, with a metal tool chest and a colorful striped wall in the background.", "global_instruction_dense": "The left robotic gripper moves toward the loose right end of the white cord on the black fixture, grasps the cord end, pulls it along the length of the fixture's groove to lay the entire cord into the groove, adjusts the cord to ensure it is fully seated, then releases the cord and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 27, "tasks": ["place cable"], "length": 274, "global_instruction": "Place the white rope fully into the black channel strip on the worktable.", "scene_description": "A wooden worktable holds a small light brown wooden mallet, a long black channel strip, and a thick white rope. A Franka robotic arm base sits to the table's right, and a gray tool chest with items on top is to the left, against a blue and colorful striped background wall.", "global_instruction_dense": "The left robotic arm moves downward toward the white rope on the wooden worktable, grasps the free end of the rope, pulls and adjusts the rope to lay it completely straight inside the long black channel strip, then releases the rope and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 28, "tasks": ["place cable"], "length": 228, "global_instruction": "Lay the white rope fully into the long black grooved channel on the workbench.", "scene_description": "A light brown wooden workbench holds a small wooden mallet, a long black grooved channel, and a white rope with one end resting in the channel's left end and the other end lying on the table to the channel's right. A left robotic gripper is positioned above the workbench.", "global_instruction_dense": "The left robotic gripper moves downward toward the free end of the white rope on the workbench, grasps the rope, lifts it, pulls it to align and seat the full length of the rope into the black grooved channel, then releases the rope and lifts away from the workbench.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 29, "tasks": ["place cable"], "length": 300, "global_instruction": "Place the loose white rope on the table into the black grooved bar.", "scene_description": "A wooden worktable holds a small wooden mallet, a long black grooved bar, and two white ropes, with one rope partially placed in the bar's left end and the other loose to the bar's right. A Franka robotic arm is positioned to the right of the table, and a metal tool chest is visible in the left background.", "global_instruction_dense": "The right robotic gripper moves downward toward the loose white rope to the right of the black grooved bar, grasps the rope, lifts and aligns it with the bar's groove, places the full length of the rope into the groove, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 30, "tasks": ["place cable"], "length": 229, "global_instruction": "Place the white flexible rope fully into the long black slotted channel strip.", "scene_description": "A wooden lab worktable holds a small light brown wooden mallet, a long black slotted channel strip, and a white flexible rope partially draped inside the left end of the channel. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the free end of the white rope on the worktable, grasps the rope, lifts it, aligns it with the long black slotted channel, lowers it fully into the channel, then releases the rope and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 31, "tasks": ["place cable"], "length": 238, "global_instruction": "Place the white flexible cord fully into the long black slotted track on the table.", "scene_description": "A wooden tabletop holds a small wooden mallet, a long black slotted track, and a white flexible cord lying partially outside the track. A robotic arm is positioned to the right of the table, with a metal tool chest to the left against a patterned striped wall.", "global_instruction_dense": "The right robotic arm moves toward the end of the white cord on the track, grasps the cord, pulls it along the track to lay it fully into the track's slot, then releases the cord and returns to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 32, "tasks": ["place cable"], "length": 353, "global_instruction": "Place the loose section of the white rope into the groove of the black long rail on the worktable.", "scene_description": "A wooden worktable holds a long black grooved rail, a partially inserted white rope, and a small wooden mallet. A grey tool chest sits in the left background, and Franka robotic arms are positioned to the right of the table.", "global_instruction_dense": "The left robotic arm lowers toward the loose end of the white rope on the worktable, grasps the rope, lifts and aligns it with the black rail's groove, lays the full length of the rope into the groove, releases the rope, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 33, "tasks": ["place cable"], "length": 263, "global_instruction": "Place the white rope into the groove of the long black rail on the worktable.", "scene_description": "A wooden worktable holds a white flexible rope, a long black grooved rail, and a small wooden mallet. A metal tool chest sits to the left of the table, and a Franka robotic arm is positioned to the right of the table with its gripper above the rear of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the white rope on the worktable, grasps its free end, lifts and pulls the rope to lay it fully into the groove of the long black rail, then releases the rope and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 34, "tasks": ["place cable"], "length": 314, "global_instruction": "Place the white flexible rope into the groove of the black long rail on the worktable.", "scene_description": "A light wooden worktable holds a black grooved long rail, a coiled white flexible rope, and a small wooden mallet. A robotic arm is positioned to the right of the table, with a tool workbench and striped wall in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the white rope on the worktable, grasps the rope, lifts and aligns it with the groove of the black rail, places the rope fully along the rail's groove, then releases the rope and moves back to its initial raised position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 35, "tasks": ["place cable"], "length": 206, "global_instruction": "Place the white rope fully into the groove of the long black bar", "scene_description": "A wooden table holds a long black grooved bar, a white rope partially laid in the bar's groove, and a small wooden mallet. A right robotic arm is positioned to the right of the table, with a tool chest and striped wall in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the loose end of the white rope, pulls the rope to straighten it, aligns and lowers the rope into the groove of the black bar, releases the rope, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 36, "tasks": ["place cable"], "length": 303, "global_instruction": "Place the white rope fully into the groove of the black rail on the worktable.", "scene_description": "A wooden worktable holds a light brown wooden mallet on its left, a black grooved rail at its center with a white rope partially resting on the rail, and a robotic arm on the right of the table, with a grey tool chest and colorful striped wall in the background.", "global_instruction_dense": "The left robotic arm moves toward the free end of the white rope on the black grooved rail, grasps the rope end, pulls the rope along the rail to lay it fully into the rail's groove, then releases the rope and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 37, "tasks": ["place cable"], "length": 239, "global_instruction": "Place the partially laid white rope fully into the black grooved track on the table.", "scene_description": "A wooden table holds a light brown wooden mallet on its left, a long black grooved track at its center with a white rope partially laid in the track. The base of a Franka robotic arm is positioned on the right of the table. A grey tool cabinet with assorted items on top sits in the background next to a striped patterned wall.", "global_instruction_dense": "The left robotic arm moves down from above the table, positions its gripper to grasp the free end of the white rope, pulls the rope to align it, and lays the full length of the rope into the black grooved track before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 38, "tasks": ["place cable"], "length": 280, "global_instruction": "Place the full length of the white rope into the black slotted track on the worktable.", "scene_description": "A wooden worktable holds a light brown wooden mallet on its left, a black slotted long track at its center, and a white rope partially positioned inside the track, with two Franka robotic arms arranged around the table.", "global_instruction_dense": "The left robotic gripper lowers toward the loose end of the white rope on the worktable, grasps it, lifts and aligns the rope over the black slotted track, places the rope fully into the track's slot, then releases the rope and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 39, "tasks": ["place cable"], "length": 283, "global_instruction": "Place the white flexible cord fully into the black grooved track on the worktable.", "scene_description": "A wooden worktable holds a light brown wooden mallet on its left, a black long grooved track at its center, and a white flexible cord partially placed in the track. A Franka robotic arm is positioned to the right of the table, with a metal tool cabinet and multicolored striped wall in the background.", "global_instruction_dense": "The right robotic arm moves down toward the end of the partially placed white cord, grasps it, pulls it to straighten and lay it fully into the black grooved track, releases the cord, then lifts and moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 40, "tasks": ["place cable"], "length": 252, "global_instruction": "Place the flexible white cord into the black grooved track on the wooden table.", "scene_description": "A wooden table holds a long black grooved track and a flexible white cord; a Franka robotic arm is positioned to the right of the table, and a metal workbench with assorted items is to the left of the table.", "global_instruction_dense": "The left robotic gripper lowers toward the white cord on the table, grasps it, lifts it, aligns it with the black grooved track, places the cord into the track, then releases the cord and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 41, "tasks": ["place cable"], "length": 234, "global_instruction": "Place the white flexible rope into the slot of the long black fixture on the wooden table.", "scene_description": "A wooden worktable holds a long black slotted fixture, a small wooden stick, and a white flexible rope. A robotic arm with a black gripper is positioned to the right of the table, and a metal tool chest sits to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the free end of the white rope on the wooden table, grasps the rope end, lifts the rope, moves it to align with the slot of the long black fixture, lowers the rope into the slot until it is fully positioned, then releases the rope and lifts the gripper away from the fixture.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 42, "tasks": ["place cable"], "length": 275, "global_instruction": "Place the white flexible rope into the groove of the black long track on the wooden table.", "scene_description": "A wooden worktable holds a black long grooved track with a white flexible rope draped over it; a Franka robotic arm is positioned to the right of the table, with a tool cabinet on the left background and a colorful striped wall behind the table.", "global_instruction_dense": "The right robotic arm moves downward from above the table, grasps the end of the white rope draped over the black track, lifts and aligns the rope with the track's groove, lays the full length of the rope into the groove, then releases the rope and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 43, "tasks": ["place cable"], "length": 268, "global_instruction": "Place the white rope into the black grooved rail on the worktable.", "scene_description": "A wooden worktable holds a black long grooved rail supported by small wooden blocks and a curved white rope next to the rail; a robotic arm is positioned to the right of the table, with a dark tool cabinet and colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the white rope on the table, grasps the end of the rope, lifts and aligns it with the black grooved rail, lays and adjusts the rope to fit into the rail, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 44, "tasks": ["place cable"], "length": 181, "global_instruction": "Place the curved white rope into the groove of the black slotted fixture on the table.", "scene_description": "A light brown wooden table holds a black slotted long fixture with a curved white flexible rope resting on it. A robotic arm is positioned above the table, with workshop cabinets and a patterned wall in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the curved white rope on the black fixture, grasps its free end, pulls the rope straight to align with the fixture, lays it into the fixture's groove, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 45, "tasks": ["place cable"], "length": 298, "global_instruction": "Place the white rope into the groove of the black rail on the wooden table.", "scene_description": "A wooden table holds a black long rail propped on small wooden blocks, with a white rope draped over the rail. A Franka robotic arm base is positioned to the right of the table, and a gray tool cabinet is in the left background.", "global_instruction_dense": "The right robotic arm moves down toward the white rope draped over the black rail, grasps the upper end of the rope, pulls it along the rail's groove to lay the rope straight in the groove, then releases the rope and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 46, "tasks": ["place cable"], "length": 211, "global_instruction": "Place the white rope on the worktable into the long black grooved rail.", "scene_description": "A light wooden worktable has a long black grooved rail (supported by small wooden blocks) on its left side, a partially coiled white rope lying across the rail and table, and a small metallic cylindrical nut next to the rope. A left Franka robotic arm is positioned above the table, with the right robotic arm base at the table's right edge.", "global_instruction_dense": "The left robotic gripper moves down to the free end of the white rope, grasps the rope, lifts it, moves along the length of the black grooved rail to lay the rope fully into the rail's groove, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 47, "tasks": ["place cable"], "length": 246, "global_instruction": "Place the white rope fully into the black grooved track on the wooden table", "scene_description": "A wooden tabletop holds a black grooved track supported by small wooden blocks, a white rope partially resting in the track, and a small metal cylinder on the table surface. A stationary right robotic arm base is visible to the right of the table.", "global_instruction_dense": "The left robotic arm moves above the wooden table, grasps the partially placed white rope, adjusts it to lay fully inside the black grooved track, then releases the rope and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 48, "tasks": ["place cable"], "length": 222, "global_instruction": "Lay the white rope fully into the groove of the black rail on the worktable.", "scene_description": "A wooden worktable holds a black grooved rail supported by small wooden blocks, a white rope partially looped over the rail, and a small metal cylindrical object. A white robotic arm is positioned to the right of the table, with a metal tool chest and striped patterned wall in the background.", "global_instruction_dense": "The left robotic arm descends toward the white rope on the black rail, grasps the loose end of the rope, pulls it along the length of the rail to lay the entire rope into the rail's groove, then releases the rope and moves upward away from the worktable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 49, "tasks": ["place cable"], "length": 183, "global_instruction": "Place the white flexible rope fully into the slot of the black slotted track on the wooden table.", "scene_description": "A light brown wooden table holds a black slotted long track supported by small wooden blocks, a white flexible rope partially resting on the track, a small copper-colored cylindrical metal object on the table to the right of the track, and two Franka robotic arms are positioned near the table with the left arm above the right side of the table.", "global_instruction_dense": "The left robotic arm moves from its initial position above the right side of the table toward the white rope draped over the black track, grasps the rope's free end, pulls the rope to align it fully into the track's slot, then releases the rope and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 50, "tasks": ["place cable"], "length": 286, "global_instruction": "Place the white flexible rope fully into the groove of the black track on the worktable.", "scene_description": "A wooden worktable holds a black long grooved track supported by small wooden blocks, a white flexible rope partially resting on the track, and a small silver cylindrical object on the table. A left robotic arm is positioned above the far end of the worktable.", "global_instruction_dense": "The left robotic arm moves down toward the end of the white rope on the worktable, grasps the rope end, lifts it, aligns it with the black track's groove, places and adjusts the rope to fit fully along the groove, then releases the rope and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 51, "tasks": ["place cable"], "length": 286, "global_instruction": "Place the white flexible cord into the black grooved track on the worktable.", "scene_description": "A wooden worktable holds a white flexible cord, a black long grooved track elevated on small wooden blocks, and a small copper-colored cylindrical object. A robotic arm is positioned above the table, with a stationary Franka Emika robotic arm base on the right side.", "global_instruction_dense": "The left robotic arm moves downward to grasp the free end of the white flexible cord, lifts it, places the cord into the black grooved track, adjusts it to fit properly, then releases the cord and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 52, "tasks": ["place cable"], "length": 288, "global_instruction": "Place the white rope fully into the black grooved rail on the wooden table", "scene_description": "A wooden worktable holds a black long grooved rail, a partially inserted white rope, a small wooden mallet, a small metallic cylindrical weight, and a small white block. A robotic arm is positioned to the right of the table, with a tool chest on the left and a striped wall in the background.", "global_instruction_dense": "The right robotic gripper moves toward the exposed end of the white rope on the table, grasps the rope, pulls it along the black grooved rail to fully seat the rope into the rail, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 53, "tasks": ["place cable"], "length": 219, "global_instruction": "Place the white braided rope fully into the long black slotted track on the table.", "scene_description": "A light brown wooden table holds a long black slotted track, a partially positioned white braided rope, a small wooden mallet, a small metal weight, and two small light fragments. A robotic arm base is to the right of the table, a metal tool chest is in the left background, and a striped wall is behind the table.", "global_instruction_dense": "The left robotic gripper moves down toward the free end of the white rope, grasps the rope end, pulls and lays the full length of the rope into the slot of the black track, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 54, "tasks": ["place cable"], "length": 252, "global_instruction": "Place the white rope into the slot of the long black rail.", "scene_description": "A light brown wooden table holds a long black slotted rail, a white rope with one end fixed in the rail's left end, a small metallic cylinder, and a small wooden mallet. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the free end of the white rope on the table, grasps it, pulls it along to lay the full length of the rope into the black rail's slot, then releases the rope and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 55, "tasks": ["place cable"], "length": 244, "global_instruction": "Place the loose white cord into the slot of the black slotted strip on the wooden table.", "scene_description": "A wooden worktable holds a black long slotted strip, a loose white cord, a small metal cylinder, and a small wooden mallet. A robotic arm is positioned above the table, a Franka robotic arm base sits on the table's right side, and a tool chest is in the background.", "global_instruction_dense": "The left robotic gripper moves downward toward the loose white cord, grasps it, pulls it along the slot of the black strip to fit the cord fully into the slot, then releases the cord and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 56, "tasks": ["place cable"], "length": 225, "global_instruction": "Place the white rope fully into the black slotted channel on the table.", "scene_description": "A wooden table holds a black slotted channel, a partially inserted white rope, a small wooden mallet, and a small metal cylinder. A robotic arm base is positioned to the right of the table, with a tool chest and striped wall in the background.", "global_instruction_dense": "The left robotic arm moves down toward the white rope, grasps its free end, lifts and aligns the rope to place its full length into the black slotted channel, then releases the rope and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 57, "tasks": ["place cable"], "length": 211, "global_instruction": "Place the white rope into the groove of the black rail on the worktable.", "scene_description": "A wooden worktable holds a black grooved rail, a thick white rope partially looped over the rail's left end, a small wooden mallet, and a small metal cylinder. A left robotic arm is positioned above the table, with a right robotic arm base on the table's right side, and a tool workbench in the background.", "global_instruction_dense": "The left robotic arm descends toward the free end of the white rope, grasps it, lifts and pulls the rope along the black rail's groove to lay it fully in the channel, then releases the rope and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 58, "tasks": ["place cable"], "length": 216, "global_instruction": "Lay the white rope into the groove of the black track on the table.", "scene_description": "A wooden table holds a black grooved track, a white rope partially draped over the track's left end, a small wooden cylinder, and a small metal cylinder. A stationary white robotic arm is positioned to the right of the table, and a tool chest sits on the left side of the scene.", "global_instruction_dense": "The left robotic gripper moves toward the free end of the white rope, grasps it, pulls the rope along the length of the black track to lay the full length of the rope into the track's groove, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 59, "tasks": ["place cable"], "length": 182, "global_instruction": "Place the white rope fully into the slot of the long black slotted rail on the table.", "scene_description": "A light wooden table holds a white rope, a long black slotted rail, two small orange discs, a short wooden cylinder, an orange cup, and a small metallic object. Two white robotic arms are positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves down toward the free end of the white rope, grasps the end, lifts and pulls the rope to align it along the slot of the long black rail, then releases the rope to rest fully inside the rail slot.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 60, "tasks": ["place cable"], "length": 374, "global_instruction": "Place the white rope fully into the long black slotted rail on the workbench", "scene_description": "A light wooden workbench holds a curved white thick rope, a long black slotted rail fixture, two orange circular discs, a small orange plastic cup, a silver cylindrical metal object, and a short wooden dowel. A left robotic gripper is positioned above the workbench.", "global_instruction_dense": "The left robotic gripper moves downward to grasp the free end of the white rope, lifts the end, drags it along the length of the black slotted rail to lay the entire rope into the slot, then releases the rope and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 61, "tasks": ["place cable"], "length": 196, "global_instruction": "Lay the white rope fully into the long black grooved rail on the work table.", "scene_description": "A wooden work table holds a curved white rope partially resting on a long black grooved rail, two small orange discs, an orange small cup, and a small silver cylinder. A robotic arm base is positioned to the right of the table, with a tool chest and colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the free end of the curved white rope on the table, grasps the rope end, pulls the rope along the length of the black grooved rail to lay the rope entirely into the rail, then releases the rope and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 62, "tasks": ["place cable"], "length": 313, "global_instruction": "Place the white soft rope fully into the black long groove on the table", "scene_description": "A wooden worktable holds a black long groove, a partially placed white soft rope, an orange plastic cup, two small orange discs, and a small silver cylinder. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm lowers toward the free end of the white rope on the table, grasps it, pulls it to align with and place into the black long groove, adjusts the rope to fit fully in the groove, then releases and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 63, "tasks": ["place cable"], "length": 226, "global_instruction": "Place the white rope into the groove of the long black rail on the table.", "scene_description": "A wooden worktable holds a long black grooved rail, a white rope draped over the left end of the rail, an orange cup, two small orange round discs, and a small silver metallic cylinder on its left side.", "global_instruction_dense": "The left robotic arm moves downward toward the free end of the white rope on the table, grasps the rope end, lifts and pulls the rope along the length of the black grooved rail to place the rope fully into the rail's groove, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 64, "tasks": ["place cable"], "length": 204, "global_instruction": "Place the white rope into the long black grooved fixture on the wooden table.", "scene_description": "A wooden table holds a white rope, a long black grooved fixture, two small orange discs, an orange cup, a small silver metal cylinder, and a wooden peg. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the free end of the white rope on the table, grasps the rope, lifts it, lays the rope into the long black grooved fixture, then releases the rope and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 65, "tasks": ["place cable"], "length": 226, "global_instruction": "Place the white rope into the long black slotted rail on the worktable.", "scene_description": "A light wooden worktable holds a long black slotted rail, a white rope partially threaded through the rail's left end, two small orange discs, an orange cup, a small wooden cylinder, and a small metallic weight. A white robotic arm is positioned to the right of the table above the table surface.", "global_instruction_dense": "The left robotic arm moves toward the free end of the white rope on the worktable, grasps the rope end, lifts it, moves along the length of the black slotted rail to lay the rope fully into the rail's slot, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 66, "tasks": ["place cable"], "length": 168, "global_instruction": "Place the white rope into the long black slotted track on the worktable.", "scene_description": "A light brown wooden worktable holds a white thick rope, a long black slotted track, two small orange discs, a small orange cup, a small silver metallic weight, and a small wooden cylinder. A left robotic arm is positioned above the far end of the table, a Franka robotic arm base sits to the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the free end of the white rope, grasps it, pulls the rope along the length of the black slotted track to lay the full rope into the track slot, then releases the rope and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 67, "tasks": ["place cable"], "length": 489, "global_instruction": "Place the white rope along the black grooved bar on the wooden worktable.", "scene_description": "A wooden worktable holds a black grooved long bar, a white rope, a small wooden mallet, two small orange discs, an orange plastic cup, and a small metal cylinder. A Franka robotic arm is positioned to the right of the table, with a metal tool chest and stacked items to the table's left, against a multicolored striped wall.", "global_instruction_dense": "The right robotic arm moves toward the end of the white rope on the worktable, grasps it, pulls and lays it along the length of the black grooved bar, releases the rope, then adjusts the position of the black grooved bar before lifting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 68, "tasks": ["place cable"], "length": 230, "global_instruction": "Place the white rope fully into the black grooved rail on the worktable.", "scene_description": "A wooden worktable holds a black long grooved rail, a white rope with one end resting on the rail, a small wooden mallet, two orange circular discs, an orange small cup, and a small silver cylinder at the left edge. A left robotic arm is positioned above the table's right side, a stationary robotic arm sits at the table's right, and a metal tool chest is in the left background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the free end of the white rope on the table, lifts the rope, moves along the length of the black grooved rail to lay the entire rope into the rail's groove, then releases the rope and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 69, "tasks": ["place cable"], "length": 196, "global_instruction": "Remove the black metal wire assembly from the transparent plastic bag and place it on the wooden table.", "scene_description": "A light wooden table holds a transparent plastic bag filled with black metal parts on its upper section. A grey curved panel is in the left background, and a multicolored vertical striped wall is in the right background.", "global_instruction_dense": "The right robotic arm moves down toward the transparent plastic bag on the table, grasps the black metal wire assembly inside the bag, lifts the assembly out of the bag, places it onto the wooden table surface, then releases the assembly and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 70, "tasks": ["place cable"], "length": 214, "global_instruction": "Pick up the black coiled cable on the middle shelf and place it in a new position on the same shelf.", "scene_description": "Orange plastic bins sit on the top tier of a white storage shelf. The middle tier holds a white PLA box, yellow-black power drill, black coiled cable, gray printers, and small miscellaneous items. A robotic arm is positioned at the right edge of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the black coiled cable on the middle shelf, grasps and lifts the cable, moves it to a new position on the middle shelf, releases the cable, then retracts back to the right edge of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 71, "tasks": ["place cable"], "length": 209, "global_instruction": "Pick up the black coiled cable from the middle shelf, move it, then place it back onto the shelf.", "scene_description": "A white multi-tier storage shelf holds two orange bins on the top level, and a yellow-black drill, white PLA box, black coiled cable, grey label printers, and small tools on the middle level. A robotic arm is positioned to the right of the shelf initially.", "global_instruction_dense": "The right robotic arm moves toward the black coiled cable on the middle storage shelf, grasps it, moves it horizontally across the shelf, places it back in position, then retracts to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 72, "tasks": ["place cable"], "length": 184, "global_instruction": "Move the coiled black cable on the middle shelf to a deeper left position on the same shelf.", "scene_description": "A white multi-tier storage shelf holds two large orange plastic bins on its top tier, and on its middle tier: a yellow-and-black cordless drill, a white box with a green PLA label, electronic devices, a coiled black cable, and small tools. A glass-front server rack sits to the left of the shelf, and a robotic arm is positioned upright to the right of the shelf.", "global_instruction_dense": "The right robotic arm lowers toward the coiled black cable on the middle shelf, grasps it, moves it leftward deeper into the middle shelf, releases the cable, then retracts upward to its initial starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 73, "tasks": ["place cable"], "length": 169, "global_instruction": "Place the loose yellow cable on the middle shelf tier onto the adjacent gray electronic device.", "scene_description": "A white metal storage shelf has orange plastic bins on its top tier, and a white PLA material box, yellow power drill, loose yellow cable, and assorted electronic tools on its middle tier, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the loose yellow cable on the middle shelf tier, grasps the cable, lifts it, moves it to rest on top of the adjacent gray electronic device, adjusts its placement, releases the cable, then retracts back from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 74, "tasks": ["place cable"], "length": 240, "global_instruction": "Pick up the coiled yellow cable on the white shelf and place it at a new position on the same shelf.", "scene_description": "A white storage shelf holds a coiled yellow cable, black-and-yellow power drill, white PLA filament box, assorted black cables and small tools, with two orange plastic storage bins on the shelf's top level, and a robotic arm positioned at the shelf's right side.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the white storage shelf, grasps the cable with its gripper, lifts and moves the cable to a different position on the shelf, then releases the cable and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 75, "tasks": ["place cable"], "length": 211, "global_instruction": "Pick up the yellow coiled cable from the middle shelf and place it onto the gray device on the same shelf.", "scene_description": "A white multi-tier storage shelf holds various items: a yellow coiled cable on the middle shelf, a white box with green text, a black-and-yellow drill, gray electronic devices, and orange hard cases on the top shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the middle shelf, grasps it with its gripper, lifts it, moves it left to above the adjacent gray device, lowers and releases the cable onto the device, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 76, "tasks": ["place cable"], "length": 182, "global_instruction": "Place the coiled yellow cable on the middle storage shelf into the adjacent grey open receptacle.", "scene_description": "A white storage shelf holds a yellow power drill, white printed box, black electronic devices, coiled yellow cable, and grey open receptacles on its middle shelf, with orange containers on the top shelf, and a robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the coiled yellow cable on the middle storage shelf, grasps the cable with its gripper, lifts it, moves it over the adjacent grey open receptacle, lowers and releases the cable into the receptacle, then retracts back to its original position to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 77, "tasks": ["place cable"], "length": 137, "global_instruction": "Pick up the coiled yellow cable on the middle shelf and place it into the gray storage slot on the same shelf.", "scene_description": "A white multi-tier metal storage shelf holds various items: a white PLA filament box with green labeling sits on the left of the middle shelf, a yellow-black power drill, a black fabric pouch, a coiled yellow cable on the right section of the middle shelf, with additional tools and storage containers behind these items, and a robotic arm is positioned on the right side of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the middle shelf, grasps the cable, lifts it, moves left toward the gray storage slot on the shelf, places the cable into the slot, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 78, "tasks": ["place cable"], "length": 142, "global_instruction": "Place the black round cable on the front of the middle shelf to the rear section of the same shelf.", "scene_description": "A white metal storage shelf holds various items: a white PLA filament box, yellow-black power drill, multiple cables, and small containers on the middle shelf, with orange containers on the top shelf. A robotic arm rests to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends toward the black cable on the front of the middle shelf, grasps the cable, lifts it, moves it to the rear part of the middle shelf, releases the cable, then retracts back to its starting position to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 79, "tasks": ["place cable"], "length": 166, "global_instruction": "Pick up the coiled yellow cable on the shelf and place it in a new position on the same shelf.", "scene_description": "A white storage shelf holds a coiled yellow cable, yellow-and-black power drill, white PLA filament box, assorted tools and bags, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the middle storage shelf, grasps it with its gripper, lifts and shifts it to a new position on the same shelf, lowers and releases the cable, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 80, "tasks": ["place cable"], "length": 166, "global_instruction": "Pick up the black coiled cable on the middle shelf and place it in a new position on the same shelf.", "scene_description": "A white metal shelf holds multiple items: a white PLA filament box with green branding, a yellow-black power drill, black cables, gray electronic devices on the middle shelf, and an orange container on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the black coiled cable on the middle shelf, grasps the cable with its gripper, lifts and moves it to a new position on the shelf, releases the cable, then moves back to its initial right position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 81, "tasks": ["place cable"], "length": 182, "global_instruction": "Place the yellow coiled cable on the middle shelf into the gray document holder", "scene_description": "A metal storage shelf holds multiple items: top shelf has orange plastic containers, middle shelf has a white PLA filament box, yellow-and-black power drill, black gear bags, gray document holders, a yellow coiled cable, and small supplies, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the middle of the storage shelf, grasps the cable, lifts it, moves it over the adjacent gray document holder, lowers the cable into the holder, then retracts back to its starting position to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 82, "tasks": ["place cable"], "length": 214, "global_instruction": "Move the coiled black cable on the middle storage shelf to a new position on the same shelf.", "scene_description": "A white metal storage shelf has orange plastic containers on its top level, while the middle level holds a white PLA box, yellow-and-black power drill, coiled black cable, grey electronic devices, and small supplies. A robotic arm is positioned to the right of the shelf initially.", "global_instruction_dense": "The right robotic arm extends from the right side of the shelf toward the coiled black cable on the middle shelf, grasps the cable, lifts and moves it to a new spot on the middle shelf, releases the cable, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 83, "tasks": ["place cable"], "length": 164, "global_instruction": "Pick up the yellow coiled cable on the front of the middle shelf and place it at the rear of the same shelf.", "scene_description": "A metal storage shelf has orange containers on its top layer, and tools including a white PLA box, yellow-black power drill, and yellow coiled cable on its middle layer. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the front of the middle shelf, grasps it, moves it to the rear section of the middle shelf, releases it, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 84, "tasks": ["place cable"], "length": 151, "global_instruction": "Place the coiled black cable from its initial position to a new spot on the same storage shelf.", "scene_description": "A white multi-tier storage shelf holds a white PLA filament box with a green label, a yellow and black power drill, a coiled black cable, beige electronic devices, and orange containers on the top shelf, with a robotic arm to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves downward toward the coiled black cable on the middle shelf, grasps the cable with its gripper, lifts it, moves it leftward to a new position on the shelf, lowers and releases the cable, then moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 85, "tasks": ["place cable"], "length": 164, "global_instruction": "Place the coiled yellow cable on the middle shelf into the adjacent grey equipment slot.", "scene_description": "A white multi-tier storage shelf holds a green-and-white PLA filament box, a yellow-and-black cordless drill, a coiled yellow cable, assorted electronic devices, and orange storage containers on the top shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the middle storage shelf, grasps it, lifts and moves it to the adjacent grey equipment slot, lowers and places the cable into the slot, then releases the cable and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 86, "tasks": ["place cable"], "length": 156, "global_instruction": "Move the coiled black cable on the middle shelf deeper onto the same shelf.", "scene_description": "A white workshop shelf holds a white PLA filament box with green label, yellow-black power drill, coiled black cable, and assorted tools. A robotic arm is positioned to the right of the shelf, with orange storage containers on the shelf's upper level.", "global_instruction_dense": "The right robotic arm moves toward the coiled black cable on the middle shelf, grasps it, lifts it, moves it further back onto the shelf, releases it, and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 87, "tasks": ["place cable"], "length": 138, "global_instruction": "Pick up the coiled yellow cable from the shelf and place it into the gray equipment slot on the shelf.", "scene_description": "A metal storage shelf holds items: a white PLA filament box on the middle shelf's left, a yellow-black power drill, black headsets, a coiled yellow cable on the middle shelf's right, orange containers on the top shelf, with a robotic arm to the shelf's right.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the right of the middle shelf, grasps it, lifts it, moves it left to the gray equipment slot, places the cable into the slot, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 88, "tasks": ["place cable"], "length": 127, "global_instruction": "Pick up the black coiled cable on the middle shelf and place it at the back of the same shelf.", "scene_description": "A white multi-tier storage shelf holds various items: a white PLA filament box with green label, yellow-black power drill, black headsets, gray devices, and a black coiled cable on the middle shelf, with orange containers on the top shelf. A robotic arm is positioned to the right of the shelf above the coiled cable.", "global_instruction_dense": "The right robotic arm moves downward toward the black coiled cable on the middle shelf, grasps it, lifts it, moves it to the back area of the middle shelf, lowers it, releases the cable, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 89, "tasks": ["place cable"], "length": 159, "global_instruction": "Place the coiled yellow cable on the middle shelf into the gray storage slot behind it.", "scene_description": "A white multi-level storage shelf holds various tools: a white PLA filament box sits on the left of the middle shelf, a yellow and black power drill is next to the box, a coiled yellow cable is placed on the right side of the middle shelf, with other equipment and cases arranged behind these items; a robotic arm is partially visible at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm extends toward the coiled yellow cable on the middle shelf, grasps the cable with its gripper, lifts the cable, moves it left to the gray storage slot, lowers it into the slot, releases the cable, then retracts back to the right.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 90, "tasks": ["place cable"], "length": 174, "global_instruction": "Reposition the black cable with gray connectors on the middle storage shelf.", "scene_description": "A white metal storage shelf holds multiple items: a white PLA 3D printing material box on the lower left, a yellow and black cordless drill, coiled black and yellow cables in gray holders, and orange hard cases on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left from the right side of the shelf, grasps the black cable with gray connectors on the middle shelf, lifts and shifts the cable to a new position on the same shelf, releases the cable, then retracts back toward the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 91, "tasks": ["place cable"], "length": 166, "global_instruction": "Place the yellow coiled cable on the storage shelf into the gray equipment slot on the same shelf.", "scene_description": "A white metal storage shelf holds a white PLA filament box, a yellow-and-black power drill, black coiled cables, a yellow coiled cable, gray electronic devices, and orange top-shelf containers, with a robotic arm to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the middle storage shelf, grasps it, lifts it, moves it left to the gray equipment slot, places the cable into the slot, then retracts back to its starting position right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 92, "tasks": ["place cable"], "length": 189, "global_instruction": "Move the small black wired component on the middle shelf to a new position on the same shelf.", "scene_description": "A white workshop storage shelf holds various items: a white PLA filament box on the left, a yellow-and-black cordless drill, black coiled cables, grey storage bins, and a small black wired component. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the middle white shelf, grasps the small black wired component on the shelf, shifts it to a different spot on the same shelf, releases it, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 93, "tasks": ["place cable"], "length": 149, "global_instruction": "Reposition the coiled black cable on the middle of the white storage shelf.", "scene_description": "A white storage shelf holds a white PLA filament box, a yellow and black power drill, a coiled black cable, gray electronics, and black bags, with orange containers on the top shelf and a right robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves down to the middle shelf, grasps the coiled black cable, adjusts its position on the shelf, releases it, and moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 94, "tasks": ["place cable"], "length": 157, "global_instruction": "Place the coiled yellow cable on the middle shelf into the storage slot behind its initial position.", "scene_description": "A white storage shelf holds various items: a white PLA filament box on the left of the middle shelf, a yellow-and-black power drill, black cables, a coiled yellow cable on the right of the middle shelf, and orange containers on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the middle shelf, grasps it, lifts it, moves it into the empty storage slot behind the cable's original position, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 95, "tasks": ["place cable"], "length": 146, "global_instruction": "Reposition the black coiled cable on the white shelf to a new position.", "scene_description": "A white metal shelf holds a white PLA filament box, yellow and black power drill, black coiled cable, grey electronic devices, and orange storage containers on the top shelf, with a robotic arm positioned at the right of the shelf.", "global_instruction_dense": "The right robotic arm moves from the right side of the shelf toward the black coiled cable, lowers its gripper to grasp the cable, shifts it to a new position on the shelf, then releases the cable, lifts up and moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 96, "tasks": ["place cable"], "length": 258, "global_instruction": "Place the coiled yellow cable on the middle shelf into the gray storage slot on the same shelf.", "scene_description": "A white multi-level storage shelf holds various items: a white PLA box on the left of the middle shelf, a yellow-black power drill, a black tool, a coiled yellow cable at the middle shelf center, gray storage slots behind the cable, and orange containers on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends toward the coiled yellow cable on the middle storage shelf, grasps the cable, lifts it, moves it to the empty gray storage slot, places the cable into the slot, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 97, "tasks": ["place cable"], "length": 148, "global_instruction": "Pick up the coiled yellow cable on the middle shelf and place it into the rear gray compartment.", "scene_description": "A white multi-layer storage shelf holds various items: a green-and-white PLA box, a yellow-black power drill, a black SKL tool, a coiled yellow cable, gray electronic devices, and orange containers on the top shelf, with empty space to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves in from the right side of the frame, approaches the coiled yellow cable on the middle shelf, grasps it, lifts it, moves it to the rear gray compartment to place it inside, then retracts back to the right.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 98, "tasks": ["place cable"], "length": 136, "global_instruction": "Move the coiled black cable on the middle storage shelf to a new position on the same shelf.", "scene_description": "A white metal storage shelf holds various items: a white PLA box with a green label on the left of the middle shelf, a yellow and black power drill, multiple cables, a coiled black cable in the center of the middle shelf, and orange containers on the top shelf, with a robotic arm positioned at the far right outside the shelf.", "global_instruction_dense": "The right robotic arm moves from the far right toward the coiled black cable on the middle storage shelf, grasps the cable, lifts it slightly, shifts it to a new position on the shelf, releases the cable, and moves slightly back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 99, "tasks": ["place cable"], "length": 130, "global_instruction": "Pick up the coiled yellow cable on the right of the middle shelf and place it on the left section of the same shelf.", "scene_description": "A white storage shelf holds a PLA filament box, yellow-black power drill, black pouch, coiled yellow cable, and electronic devices on its middle shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the right side of the middle storage shelf, grasps and lifts it, moves left to place it against the grey electronic device on the shelf, releases the cable, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 100, "tasks": ["place cable"], "length": 160, "global_instruction": "Reposition the small black charging cable on the middle storage shelf to a new spot on the same shelf.", "scene_description": "A white multi-tier storage shelf holds various items: a white PLA box with a green label on the left of the middle shelf, a yellow-black power drill, coiled black cables, a grey organizer with a yellow cable inside, small accessories, and orange containers on the top shelf. A robotic arm is positioned at the right side of the shelf.", "global_instruction_dense": "The right robotic arm moves left into the middle shelf area, grasps the small black charging cable, moves it to a new position on the shelf, releases the cable, then moves back right away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 101, "tasks": ["place cable"], "length": 138, "global_instruction": "Relocate the coiled black cable on the middle storage shelf to a new position on the same shelf.", "scene_description": "A multi-level white storage shelf holds an orange container on the top shelf, a yellow-black power drill, a white PLA filament box, and a coiled black cable on the middle shelf, with a robotic arm positioned at the right of the shelf.", "global_instruction_dense": "The right robotic arm extends left from its initial position at the right of the shelf, grasps the coiled black cable on the middle shelf, moves the cable to a new position on the same middle shelf, then retracts back to its starting position at the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 102, "tasks": ["place cable"], "length": 158, "global_instruction": "Pick up the coiled black cable on the middle storage shelf and place it in a new position on the same shelf.", "scene_description": "A white multi-level storage shelf holds various items: a white PLA box with green label, yellow-black cordless drill, coiled black cable, beige electronic devices, and orange containers on the top shelf, with a robotic arm positioned at the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled black cable on the middle shelf, grasps it with its gripper, lifts and moves it to a new position on the same shelf, then lowers and releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 103, "tasks": ["place cable"], "length": 198, "global_instruction": "Move the black cable on the middle storage shelf to a new position on the same shelf.", "scene_description": "A white multi-level storage shelf holds orange containers on the top tier, a white PLA filament box with green label, a yellow and black cordless drill, coiled black cables, and grey electronic devices on the middle tier, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves from its position right of the shelf toward the black cable on the middle shelf, grasps the cable, lifts it, moves it to a new position on the middle shelf, releases the cable, and withdraws from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 104, "tasks": ["place cable"], "length": 145, "global_instruction": "Move the coiled yellow cable on the right of the middle shelf to the left side of the same shelf next to the gray printers.", "scene_description": "A white metal storage shelf holds various items: a white PLA filament box on the left of the middle shelf, a yellow-black cordless drill next to it, two gray label printers, a coiled yellow cable on the right of the middle shelf, an orange container on the top shelf, and assorted tools and cables across the shelves.", "global_instruction_dense": "The right robotic arm approaches the coiled yellow cable on the right of the middle shelf, grasps it, lifts it, moves it leftward to the space beside the gray printers on the same shelf, lowers it, releases it, then moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 105, "tasks": ["place cable"], "length": 159, "global_instruction": "Pick up the small black cable connector from the middle shelf and reposition it on the same shelf.", "scene_description": "A white multi-level storage shelf holds various items: a white PLA filament box with green accents sits on the left of the middle shelf, next to a yellow-and-black power drill, a black tool case, grey printers, coiled black cables, and a small black cable connector on the right of the middle shelf. A robotic arm is positioned to the right of the shelf, with an orange container on the shelf's top level.", "global_instruction_dense": "The right robotic arm moves left toward the small black cable connector on the middle white shelf, grasps it with its gripper, lifts it, adjusts its position over the shelf, places it at a new spot on the middle shelf, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 106, "tasks": ["place cable"], "length": 145, "global_instruction": "Pick up the yellow coiled cable from the right of the middle shelf and place it on the left part of the middle shelf.", "scene_description": "A white metal storage shelf holds various items: a white box with social media icons, a yellow-black power drill, a black case, a yellow coiled cable, and gray electronic devices on the middle shelf, plus an orange container on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the right of the middle shelf, grasps it with its gripper, lifts it, moves it leftward over the middle shelf, and places it next to the gray electronic devices on the middle shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 107, "tasks": ["place cable"], "length": 154, "global_instruction": "Reposition the black cable on the white storage shelf to a new position.", "scene_description": "A white metal storage shelf holds various items: a white printed box, a yellow-black power drill, coiled cables, small gray devices, and assorted hardware, with empty space on the right shelf section.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves to the black cable on the shelf, grasps the cable, adjusts its position on the shelf, then releases the cable and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 108, "tasks": ["place cable"], "length": 145, "global_instruction": "Move the coiled yellow cable on the right of the middle shelf to the left side of the same shelf.", "scene_description": "A white shelving unit holds various items on its middle shelf including a white printed box, yellow-and-black power drill, grey electronic printers, black tools, and a coiled yellow cable on the right of the shelf, with a robotic arm positioned to the right of the shelving unit.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the right of the middle shelf, grasps it with its gripper, lifts the cable, moves it leftward across the middle shelf, and places it down in the left section of the middle shelf near the grey printers.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 109, "tasks": ["place cable"], "length": 141, "global_instruction": "Pick the black coiled cable from the middle shelf and place it into the gray storage bin holding the yellow cable.", "scene_description": "A white three-tier storage shelf holds various tools: a yellow-and-black power drill, white printed box, black coiled cable, black tool pouch, and two gray storage bins (one holds a coiled yellow cable), with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the black coiled cable on the middle shelf, grasps the cable, lifts it, moves it over the adjacent gray storage bin holding yellow cables, lowers it, and releases the cable into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 110, "tasks": ["place cable"], "length": 183, "global_instruction": "Pick up a black cable from the upper shelf and place it into the grey open storage bin on the same shelf.", "scene_description": "A white multi-tier storage shelf holds various items: a yellow and black handheld power drill, a white printed packaging box, black coiled cables, grey open storage bins, and brown cardboard boxes on the bottom shelf; a robotic gripper is positioned at the upper right of the shelf.", "global_instruction_dense": "The right robotic arm moves downward toward the black coiled cables on the upper shelf, grasps a black cable with its gripper, lifts the cable, moves left toward the open grey storage bin, releases the cable into the bin, then retracts back to its initial position above the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 111, "tasks": ["place cable"], "length": 164, "global_instruction": "Pick up the yellow coiled cable from the shelf and place it into the grey storage bin.", "scene_description": "A white multi-tier storage shelf holds various items: a white printed box, a yellow-black power drill, coiled black cables, a yellow coiled cable, and grey storage bins on the middle shelf, with cardboard boxes at the bottom. A right robotic arm is positioned to the right of the shelf near the yellow cable.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the middle shelf, grasps it with its gripper, lifts it, moves it left over the open grey storage bin, lowers it, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 112, "tasks": ["place cable"], "length": 141, "global_instruction": "Place the yellow coiled cable from the middle shelf into the left grey storage bin on the same shelf.", "scene_description": "A multi-tier white storage shelf holds assorted tools and items: its middle shelf has a yellow coiled cable, yellow-black power drill, white packaging boxes, grey open-front storage bins, coiled black cables, and small hardware. A robotic arm is positioned at the right edge of the shelf at the start.", "global_instruction_dense": "The right robotic arm moves left toward the yellow coiled cable on the middle shelf, grasps it with its gripper, lifts and moves it left over the left grey storage bin on the middle shelf, releases the cable into the bin, then retracts back to the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 113, "tasks": ["place cable"], "length": 142, "global_instruction": "Place the yellow coiled cable from the middle shelf into the adjacent gray label printer receptacle.", "scene_description": "A white metal storage shelf holds assorted tools and supplies: the middle shelf has a yellow coiled cable, yellow and black power drill, white product boxes, gray label printers, coiled black cables, and small hardware; a brown cardboard box rests on the bottom shelf.", "global_instruction_dense": "The right robotic gripper moves toward the yellow coiled cable on the middle storage shelf, grasps it, lifts and moves it left to the empty gray label printer slot, lowers the cable into the slot, releases it, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 114, "tasks": ["place cable"], "length": 205, "global_instruction": "Reposition the black coiled cable on the middle tier of the storage shelf.", "scene_description": "A white multi-tier storage shelf holds assorted items including a yellow-black power drill, white printed boxes, black cables, gray storage bins, small white containers, and brown cardboard boxes under the shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends toward the middle tier of the storage shelf, grasps the black coiled cable, moves it to a new position on the same shelf, then retracts back to its starting position on the right.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 115, "tasks": ["place cable"], "length": 158, "global_instruction": "Move the yellow coiled cable on the middle shelf to the gray equipment to its left.", "scene_description": "A white metal storage shelf holds various tools including a yellow coiled cable on the right of the middle shelf, a yellow power drill, a white printed box, gray equipment, and cardboard boxes on the lower shelf, with a robotic arm at the right side of the shelf.", "global_instruction_dense": "The right robotic arm approaches the yellow coiled cable on the right of the middle shelf, grasps it, lifts and moves it leftward, places it on top of the gray equipment left of its original position, then releases the cable and retracts.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 116, "tasks": ["place cable"], "length": 142, "global_instruction": "Place the coiled yellow cable on the top shelf into the adjacent gray storage bin.", "scene_description": "A white multi-tier storage shelf holds assorted items including a white printed box, yellow-black power drill, black Dell mouse, coiled yellow cable, and gray storage bins, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the top of the storage shelf, grasps the cable, lifts it, moves it left to the gray storage bin, and places the cable inside the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 117, "tasks": ["place cable"], "length": 179, "global_instruction": "Place the coiled yellow cable on the upper storage shelf into the adjacent grey receptacle on the same shelf.", "scene_description": "A white storage shelf holds a coiled yellow cable, a yellow-and-black cordless drill, a white printed box, grey electronic devices, and black cables on its upper tier; a glass sliding door is on the shelf's right, a robotic arm is positioned outside the right of the shelf.", "global_instruction_dense": "The right robotic arm moves into the open shelf, grasps the coiled yellow cable resting on the upper shelf surface, lifts the cable, moves left to position it over the open grey receptacle, lowers and releases the cable into the receptacle, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 118, "tasks": ["place cable"], "length": 147, "global_instruction": "Place the coiled yellow cable on the middle shelf into the adjacent gray open storage bin.", "scene_description": "A white multi-tier storage shelf holds assorted items: a white printed box with social media icons on the left of the middle shelf, a yellow and black power drill next to the box, a coiled yellow cable further right on the middle shelf, gray open storage bins on the middle and lower shelves, and other small tools. A robotic arm is positioned at the right side of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the coiled yellow cable on the middle shelf, grasps the cable, lifts it, moves it further left, lowers it into the gray open storage bin, releases the cable, and retracts back to the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 119, "tasks": ["place cable"], "length": 149, "global_instruction": "Move the coiled yellow cable on the middle shelf to a leftward position on the same shelf.", "scene_description": "A white multi-tier storage shelf holds a white printed box, a yellow-and-black power drill, coiled black cables, a coiled yellow cable, grey storage bins, and brown cardboard boxes. A white and black robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the coiled yellow cable on the middle shelf, grasps the cable, lifts it, moves it to a left position on the shelf, places and releases the cable, then moves back to its starting position right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 120, "tasks": ["place cable"], "length": 115, "global_instruction": "Pick up the yellow coiled cable on the middle shelf and place it into the gray storage bin.", "scene_description": "A metal storage rack with white shelves holds various items: a white box with social media icons on the left of the middle shelf, a yellow-black power drill, black cables, a yellow coiled cable, and gray storage bins, with a robotic arm positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the middle white shelf, grasps it with its gripper, lifts the cable, moves it leftward over the gray storage bin, then lowers and releases the cable into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 121, "tasks": ["place cable"], "length": 124, "global_instruction": "Pick up the black coiled cable on the upper shelf and place it into the gray storage bin on the same shelf.", "scene_description": "A white multi-layer storage shelf holds assorted items: a white printed box on the left of the upper shelf, a yellow-black power drill, coiled black and yellow cables, gray storage bins, and small containers. A robotic arm is positioned at the right edge of the shelf, outside the shelf space.", "global_instruction_dense": "The right robotic arm moves left from the right side of the shelf, lowers toward the black coiled cable on the upper shelf, grasps the cable, lifts it, moves left over the gray storage bin, lowers the cable, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 122, "tasks": ["place cable"], "length": 155, "global_instruction": "Place the yellow coiled cable from the upper shelf into the open grey storage bin on the upper shelf.", "scene_description": "A white multi-level storage shelf holds various items: a white box with social media icons on the left of the upper shelf, a yellow and black power drill beside it, a black stapler, a yellow coiled cable, grey plastic storage bins, and black coiled cables at the back. A robotic arm is positioned on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the yellow coiled cable on the upper white shelf, grasps the cable with its gripper, lifts it, moves it over the open grey storage bin on the shelf, releases the cable into the bin, then moves back to its initial right-side position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 123, "tasks": ["place cable"], "length": 112, "global_instruction": "Reposition the coiled black cable on the upper storage shelf.", "scene_description": "A white multi-level storage shelf holds a yellow-black cordless drill, a white printed box, coiled black cables, gray storage bins, small containers, and cardboard boxes on lower tiers. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the coiled black cable on the upper storage shelf, grasps the cable, adjusts its position on the shelf, releases it, then retracts back to its starting position on the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 124, "tasks": ["place cable"], "length": 119, "global_instruction": "Place the coiled yellow cable from the middle shelf into the gray storage tray on the same shelf.", "scene_description": "A white multi-tier storage shelf holds various items including a white printed box, yellow-black power drill, coiled yellow cable, gray electronic devices and small tools on the middle shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves from the right side of the shelf toward the coiled yellow cable on the middle shelf, grasps the cable, lifts it, moves it left above the gray storage tray, lowers and releases the cable into the tray, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 125, "tasks": ["place cable"], "length": 182, "global_instruction": "Pick up the yellow coiled cable on the middle shelf and place it into the adjacent gray storage bin.", "scene_description": "A white metal storage shelf holds a white box with social media icons, a yellow-black power drill, and a yellow coiled cable on its middle shelf, gray storage bins, an orange container on the top shelf, with a robotic arm at the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the yellow coiled cable on the middle of the storage shelf, grasps the cable, lifts it, moves it to the open gray storage bin, lowers and releases the cable into the bin, then retracts back to its starting position on the right.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 126, "tasks": ["place cable"], "length": 126, "global_instruction": "Pick up the yellow coiled cable on the upper shelf and place it into the gray storage compartment on the same shelf.", "scene_description": "A white multi-tier storage shelf holds assorted items on its upper shelf: a yellow coiled cable, yellow-and-black power drill, white printed box, gray electronic devices, and coiled black cables, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the upper shelf, grasps it, lifts it, moves it to the gray storage compartment on the shelf, and releases the cable into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 127, "tasks": ["place cable"], "length": 141, "global_instruction": "Pick up the yellow coiled cable on the right of the middle shelf and place it on the grey electronic device to its left.", "scene_description": "A white multi-tier shelf holds a white printed box, yellow-black power drill, grey electronic devices, and yellow coiled cable on its middle shelf, with an orange container on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends toward the yellow coiled cable on the right of the middle shelf, grasps the cable, lifts it, moves left to position it over the left grey electronic device, lowers the cable to place it on the device, then releases the cable and retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 128, "tasks": ["place cable"], "length": 192, "global_instruction": "Reposition the black cable on the middle shelf of the storage unit.", "scene_description": "A white metal shelf holds assorted items: a white box with green markings, a yellow and black power drill, grey storage bins, black cables, small metal containers, and an orange case on the top shelf. A robotic arm is positioned at the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the middle shelf, grasps a black cable, lifts and adjusts its position on the shelf, releases the cable, then moves back to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 129, "tasks": ["place cable"], "length": 135, "global_instruction": "Pick up the yellow coiled cable on the middle shelf and place it into the adjacent gray storage bin.", "scene_description": "A white multi-tier storage shelf holds various items: a yellow-black power drill, a white PLA filament box on the left of the middle shelf, a yellow coiled cable, gray storage bins, and an orange container on the top shelf, with empty space to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves from the right of the shelf toward the yellow coiled cable on the middle shelf, grasps it, lifts it, moves it to the open gray storage bin behind the cable's original position, lowers it into the bin, releases it, then retracts back to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 130, "tasks": ["place cable"], "length": 145, "global_instruction": "Place the black cable on the middle shelf into the adjacent gray cable organizer.", "scene_description": "A white multi-tier metal shelf holds various tools: a green-and-white PLA filament box, yellow-black power drill, gray cable organizers, and a black cable on the middle shelf, with orange storage bins on the top shelf; a white robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the middle shelf, grasps the black cable resting on the shelf, lifts the cable, moves it to the gray cable organizer with the yellow strap, releases the cable into the organizer, then retracts rightward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 131, "tasks": ["place cable"], "length": 183, "global_instruction": "Place the coiled black cable from the middle shelf into the gray storage tray on the same shelf.", "scene_description": "A white multi-level storage shelf holds a white printed box, yellow and black power drill, coiled black cable, gray storage trays, and assorted tools. A robotic arm is positioned at the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled black cable on the middle storage shelf, grasps it, lifts it, moves it over the gray storage tray, lowers it, releases it into the tray, then retracts back to the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 132, "tasks": ["place cable"], "length": 157, "global_instruction": "Place the coiled yellow cable on the middle cabinet shelf into the adjacent gray electronic equipment slot.", "scene_description": "A white multi-tier storage cabinet holds various items: the middle shelf has a white box, yellow tape measure, black mouse, gray electronic equipment, and a coiled yellow cable; orange tool cases sit on the top shelf, cardboard boxes are on the bottom shelf, and a robotic arm is positioned to the right of the cabinet.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the middle cabinet shelf, grasps it with its gripper, lifts the cable, moves it to the gray electronic equipment on the same shelf, places the cable into the equipment's slot, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 133, "tasks": ["place cable"], "length": 162, "global_instruction": "Place the yellow coiled cable on the middle shelf into the adjacent light gray storage bin.", "scene_description": "A white multi-tier storage shelf holds various items: a yellow coiled cable on the right of the middle shelf, a white printed box, a yellow-black measuring tape, black cables, light gray open storage bins, and orange containers on the top shelf. A robotic arm is at the upper right of the shelf.", "global_instruction_dense": "The right robotic arm moves down toward the yellow coiled cable on the middle storage shelf, grasps it, lifts and moves it left to the light gray storage bin, releases the cable into the bin, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 134, "tasks": ["place cable"], "length": 130, "global_instruction": "Pick the yellow coiled cable from the middle shelf and place it into the grey label printer on the same shelf", "scene_description": "A white multi-tier storage shelf holds a white printed box, yellow-black tape measure, coiled black cables, a yellow coiled cable, grey label printers, small tools, and orange cases on the top shelf. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the middle shelf, grasps the cable, lifts it, moves it to the adjacent grey label printer, places the cable inside the printer, then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 135, "tasks": ["place cable"], "length": 140, "global_instruction": "Place the yellow coiled cable from the upper shelf into the gray equipment bin on the same shelf.", "scene_description": "A multi-tier white metal storage shelf holds a yellow coiled cable, a yellow-black tape measure, white boxes, gray equipment bins, and small hardware items, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm extends left toward the yellow coiled cable on the upper shelf, grasps the cable, lifts it, moves it over the gray equipment bin, releases the cable into the bin, then retracts back to the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 136, "tasks": ["place cable"], "length": 188, "global_instruction": "Move the black coiled cable from the middle shelf to the upper shelf area.", "scene_description": "A white multi-level storage shelf holds a yellow-and-black drill, white cardboard boxes, gray plastic bins, small containers, and black electrical cables. A white robotic arm is positioned at the right side of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the black coiled cable on the middle shelf, grasps the cable, lifts it upward to the upper shelf area, and adjusts its placement.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 137, "tasks": ["place cable"], "length": 178, "global_instruction": "Pick up the coiled yellow cable on the upper storage shelf and place it into the adjacent grey storage bin.", "scene_description": "A white multi-tier storage shelf holds assorted items: the upper shelf has a white printed box, a yellow-and-black tape measure, a black pouch, a coiled yellow cable, and grey storage containers; a white and black robotic arm is positioned to the right of the shelf at upper shelf level.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the upper storage shelf, grasps the cable with its gripper, lifts the cable, moves it to the adjacent open grey storage bin on the same shelf, lowers and releases the cable into the bin, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 138, "tasks": ["place cable"], "length": 153, "global_instruction": "Pick up the yellow coiled cable on the upper shelf and place it into the gray printer tray on the same shelf.", "scene_description": "A white two-tier storage shelf holds items on its upper tier: a yellow coiled cable on the right, a black-and-yellow power drill, a white printed box, and two gray printer trays, with a robotic arm at the shelf's right edge.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the upper shelf's right, grasps it, lifts it, moves it left over the left gray printer tray, lowers and releases it into the tray, then moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 139, "tasks": ["place cable"], "length": 152, "global_instruction": "Take the black cable from the upper shelf gray storage box and place it on the upper shelf surface.", "scene_description": "A multi-tier white storage shelf holds assorted tools and supplies: a gray storage box with a black cable inside sits on the upper shelf, a yellow and black tape measure is left of the box, a white robotic arm is at the right side of the shelf, lower shelves hold stacked cardboard boxes and small supplies, metal slatted shutters are on the left edge.", "global_instruction_dense": "The right robotic arm moves left toward the gray storage box on the upper shelf, grasps the black cable inside the box, lifts the cable out of the box, moves it left onto the upper shelf surface, and releases the cable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 140, "tasks": ["place cable"], "length": 160, "global_instruction": "Place the coiled yellow cable on the upper shelf into the adjacent light gray open storage bin.", "scene_description": "A multi-layer white storage shelf holds various items: on the upper shelf are a white printed box, a yellow and black power tool, a black pouch, a gray label printer, a coiled yellow cable, small containers, and a light gray open storage bin. A robotic arm is positioned at the right side of the shelf.", "global_instruction_dense": "The right robotic arm moves from the right side toward the coiled yellow cable on the upper storage shelf, grasps the cable with its gripper, lifts the cable, moves it left over the light gray open storage bin, lowers the cable into the bin, releases it, and moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 141, "tasks": ["place cable"], "length": 134, "global_instruction": "Place the black cable from the upper shelf into the grey bin containing the yellow coiled cable.", "scene_description": "A white multi-layer storage shelf holds various items including a black and yellow electric drill, a white printed box, a grey bin with a yellow coiled cable, small containers, cardboard boxes, and a black cable resting on the upper shelf, with a robotic arm positioned on the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the black cable on the upper shelf, grasps the cable, lifts it, moves it left toward the grey bin with the yellow coiled cable, and places the black cable inside the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 142, "tasks": ["place cable"], "length": 115, "global_instruction": "Pick up the yellow coiled cable on the upper shelf and place it into the adjacent light gray storage bin.", "scene_description": "A white multi-tier storage shelf holds various items including a yellow coiled cable, a yellow-black power drill, light gray storage bins, and boxes, with a right robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the yellow coiled cable on the upper shelf, grasps it, lifts it, moves it over the adjacent light gray storage bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 143, "tasks": ["place cable"], "length": 156, "global_instruction": "Pick up the small black cable on the upper shelf and place it on the upper shelf surface.", "scene_description": "A three-tier white storage shelf holds assorted items: the top tier has a white printed box, yellow-and-black power drill, grey bin with yellow cables, and small black cable; the middle tier holds grey bins, tape rolls, and small boxes; the bottom tier has large brown cardboard boxes. A robotic arm is positioned on the right, extended toward the top shelf.", "global_instruction_dense": "The right robotic arm moves toward the small black cable on the upper shelf, grasps it with its gripper, lifts it, moves it a short horizontal distance, lowers it, and releases it onto the upper shelf surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 144, "tasks": ["place cable"], "length": 160, "global_instruction": "Place the black coiled cable on the top shelf into the adjacent gray storage bin.", "scene_description": "A white multi-tier storage shelf holds assorted items: a white printed box, yellow-black power drill, gray storage bins, small tape rolls, and brown cardboard boxes at the bottom. A robotic arm is positioned to the right of the shelf initially.", "global_instruction_dense": "The right robotic arm moves from its position on the right toward the top shelf, grasps the black coiled cable, lifts it, moves it over the gray storage bin with yellow contents, lowers the cable, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 145, "tasks": ["place cable"], "length": 124, "global_instruction": "Pick up the coiled yellow cable from the upper shelf and place it into the open gray storage container on the upper shelf.", "scene_description": "A white multi-tier storage shelf holds tools including a yellow power drill, a white printed box, a black mouse, a coiled yellow cable, and gray storage bins. A robotic arm is positioned to the right of the upper shelf.", "global_instruction_dense": "The right robotic arm moves toward the coiled yellow cable on the upper shelf, grasps it, lifts it, moves it over the open gray storage container, lowers it into the container, releases the cable, and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 146, "tasks": ["place cable"], "length": 165, "global_instruction": "Pick the black cable from the top shelf and place it into the grey storage bin on the same shelf.", "scene_description": "A multi-tier white storage shelf holds various items: a white box with social media icons, a yellow and black power drill, grey plastic storage bins, small tape rolls, and a brown cardboard box with blue tape. A robotic arm is positioned to the right of the shelf in the initial frame.", "global_instruction_dense": "The right robotic arm moves from the right side of the shelf toward the black cable on the right of the top shelf, grasps the cable, lifts and moves it left over the grey storage bin on the top shelf, releases the cable into the bin, then retracts slightly away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 147, "tasks": ["place cable"], "length": 154, "global_instruction": "Pick up the yellow coiled cable on the top shelf and place it into the adjacent grey storage bin.", "scene_description": "A multi-layer white storage shelf holds items including a white printed box, yellow-black power tool, yellow coiled cable, grey storage bins, tape rolls, and a large brown cardboard box at the bottom. A robotic arm is positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the top shelf, grasps the yellow coiled cable, lifts and moves it left above the adjacent grey storage bin, lowers and releases the cable into the bin, then moves back to its original position on the right.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 148, "tasks": ["place cable"], "length": 147, "global_instruction": "Place the coiled black cable on the upper shelf into the light gray storage bin on the same shelf.", "scene_description": "A two-tier white storage shelf holds various items: the upper shelf has a yellow and black power tool, a white printed box, plastic packaging, a coiled black cable, two light gray storage bins, and small containers; the lower shelf holds foam blocks, cables, tape rolls, books, and a brown cardboard box with purple tape at the bottom. A robotic arm is positioned at the right side of the shelf.", "global_instruction_dense": "The right robotic arm extends toward the coiled black cable on the right of the upper shelf, grasps it, lifts and moves it left over the light gray storage bin, releases the cable into the bin, then retracts back to the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 149, "tasks": ["place cable"], "length": 150, "global_instruction": "Pick up the yellow coiled cable on the top storage shelf and place it into the left light grey storage bin on the same shelf.", "scene_description": "A multi-tier white storage shelf holds various items: the top shelf has a white printed box, yellow-and-black power drill, yellow coiled cable, two light grey storage bins, and small hardware supplies; the middle shelf contains cardboard boxes, two more light grey storage bins, and small tape rolls; a large brown cardboard box sits on the lowest tier. A robotic arm is positioned at the far right, outside the shelf area.", "global_instruction_dense": "The right robotic gripper moves from the right side toward the yellow coiled cable on the top shelf, grasps the cable, lifts it, moves it left over the left light grey storage bin on the top shelf, lowers it, and releases the cable into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 150, "tasks": ["place cable"], "length": 156, "global_instruction": "Pick up the yellow coiled cable from the top storage shelf and place it into the gray storage tray on the top shelf.", "scene_description": "A three-tier white storage shelf holds assorted tools and supplies: a yellow coiled cable, black and yellow DeWalt power tool, white printed box, two gray label printers, and small hardware on the top shelf; two gray storage bins, rolls of tape, and cardboard boxes on the middle shelf; a brown cardboard box on the bottom shelf. A robotic arm is positioned at the far right outside the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the yellow coiled cable on the top shelf, grasps the cable, lifts and moves it left to the gray storage tray, releases the cable into the tray, then retracts back to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 151, "tasks": ["place cable"], "length": 164, "global_instruction": "Pick up the black cable from the top storage shelf and place it into the grey bin holding yellow cables.", "scene_description": "A white three-tiered storage shelf holds assorted tools, cables, storage boxes, tape rolls, and a brown fragile box on the lowest level. A right robotic arm is positioned at the right edge of the frame near the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the top of the storage shelf, grasps the black cable resting on the shelf, lifts it, moves it over the adjacent grey bin containing yellow cables, and releases the cable into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 152, "tasks": ["place cable"], "length": 140, "global_instruction": "Pick up the white cable from the chair back and place it into the blue box.", "scene_description": "A light brown wooden table holds a brown plush toy, a small yellow block, and white paper. To the table's right are a grey chair, an open blue box, and a robotic arm, with a white cable resting on the chair back.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the grey chair back, grasps it with its gripper, lifts it, moves it over the open blue box, and releases it to drop into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 153, "tasks": ["place cable"], "length": 120, "global_instruction": "Place the white curved cable on the gray chair into the blue box.", "scene_description": "A light brown wooden table holds a brown plush toy, a small yellow cube, and white paper on its left. To the right of the table are a gray chair with a white curved cable on its back, a right robotic gripper at the far right, a blue box below the chair, and black curtains with work equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white curved cable on the gray chair back, grasps the cable with its gripper, lifts it, moves it over the adjacent blue box, and releases the cable into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 154, "tasks": ["place cable"], "length": 134, "global_instruction": "Place the white cord from the chair back into the open blue box", "scene_description": "A light brown wooden table holds a brown plush toy, a small yellow block, and a white paper on its left edge. To the table's right is a gray chair with a white cord draped over its back, an open blue box below the chair, and a robotic arm positioned on the right side of the scene, with a black curtain and striped panel in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white cord resting on the gray chair back, grasps the cord, lifts it, moves it over the open blue box below the chair, and releases the cord to drop it inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 155, "tasks": ["place cable"], "length": 122, "global_instruction": "Pick up the white cable from the gray chair back and place it into the blue box.", "scene_description": "A light brown wooden table holds a brown plush toy, a folded white cloth, and a small yellow block. A gray chair with a white cable on its back sits to the right of the table, a Franka robotic arm is at the far right, an open blue box is below the chair, and a black curtain is in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cable resting on the gray chair's back, grasps the cable, lifts it, moves it over the open blue box below the chair, and releases the cable to drop it into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 156, "tasks": ["place cable"], "length": 123, "global_instruction": "Pick up the white U-shaped cable from the gray chair back and place it into the open blue box.", "scene_description": "A wooden table holds a brown plush toy, a small yellow block, and a folded white cloth. To the right of the table is a gray chair with a white U-shaped cable on its back, an open blue box in front of the chair, and a robotic arm on the far right.", "global_instruction_dense": "The right robotic arm moves toward the white U-shaped cable resting on the gray chair back, grasps the cable with its gripper, lifts the cable, moves it over the open blue box in front of the chair, and lowers it into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 157, "tasks": ["place cable"], "length": 108, "global_instruction": "Place the white U-shaped cord from the chair back into the open blue paper bag", "scene_description": "A light wooden table holds a brown plush toy, folded white cloth, and small yellow block. Next to the table, a gray chair has a white U-shaped cord on its back, and an open blue paper bag on its seat. A robotic arm is positioned to the right of the chair, with a black curtain and colorful striped panel in the background.", "global_instruction_dense": "The right robotic arm moves toward the white U-shaped cord on the gray chair back, grasps the cord, lifts it, moves it over the open blue paper bag on the chair seat, and releases the cord into the bag.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 158, "tasks": ["place cable"], "length": 125, "global_instruction": "Place the white cable from the chair back into the blue open box on the chair seat.", "scene_description": "A light brown wooden worktable holds a brown stuffed toy, crumpled white cloth, small yellow block, and white paper. To the table's right is a gray office chair with a white cable on its back and an open blue box on its seat, with a black curtain and colorful striped panel in the background.", "global_instruction_dense": "The right robotic arm moves left from off-screen to grasp the white cable on the gray chair back, lifts the cable, moves it over the blue open box on the chair seat, and releases the cable into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 159, "tasks": ["place cable"], "length": 193, "global_instruction": "Place the white cable on the table into the white rectangular box.", "scene_description": "A white round table has a white rectangular box on its left, a white cable at its center, a dark small block, a pink cloth, and small wooden items on its right, with a robotic arm at the table's right side and a window with outdoor buildings in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cable at the center of the table, grasps and lifts the cable, carries it over the white rectangular box on the left of the table, drops the cable into the box, then moves back toward its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 160, "tasks": ["place cable"], "length": 477, "global_instruction": "Place the white data cable on the table into the white plastic storage bin.", "scene_description": "A yellow table holds a white plastic storage bin on the left, a white data cable next to the bin, a folded white cloth to the cable's right, and a brown cardboard box behind the bin. A depth camera on a stand is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm enters the frame above the table, grasps the white cable, briefly lifts and drops it back onto the table, re-grasps the cable, lifts it again, moves it over the white plastic storage bin, and releases the cable into the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 161, "tasks": ["place cable"], "length": 206, "global_instruction": "Take the white cord from the white storage box and place it on the yellow table.", "scene_description": "A yellow table holds a white rectangular storage box with fabrics inside and a brown cardboard box behind it. A concrete pillar is to the right of the table, a dark blue partition to the left, with an office hallway in the background.", "global_instruction_dense": "The left robotic arm moves down toward the white storage box on the yellow table, grasps the white cord inside the box, lifts the cord, moves it right over the table, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 162, "tasks": ["place cable"], "length": 561, "global_instruction": "Retrieve the white cable from the white box and place it on the yellow tabletop.", "scene_description": "A yellow table holds a white box with blue fabric inside, a partially visible white cable, and a brown box behind the white box, with a robotic arm above the left table area and an office corridor in the background.", "global_instruction_dense": "The left robotic arm moves toward the white cable in the white box, grasps the cable, pulls it out of the box, moves it over the yellow table, lowers it onto the table, and adjusts its position on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 163, "tasks": ["place cable"], "length": 497, "global_instruction": "Move the white cable on the yellow table to a new position on the table surface.", "scene_description": "A yellow wooden table sits between a dark blue left wall and a concrete right pillar. On the table, a white rectangular box with blue cloth inside is at the back, a brown cardboard box is behind it, and a white cable lies on the front tabletop.", "global_instruction_dense": "The left robotic arm descends from above, moves toward the white cable on the table, grasps the cable, lifts and swings it across the tabletop, then releases the cable and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 164, "tasks": ["place cable"], "length": 238, "global_instruction": "Place the white cable attached to the white storage box onto the pile of clothing on the table", "scene_description": "A light brown wooden table holds a white rectangular storage box on its left side, four folded clothing items (pink with orange print, dark navy, light grey, light peach with printed text) in the center, a plate with a blue object and decorative peach, and a white notepad with pen on the right. A brown cardboard box sits behind the white storage box, and a robotic gripper is clamped to the white box.", "global_instruction_dense": "The right robotic gripper first releases the white storage box it is grasping, then grips the attached white cable, pulls it upward and rightward across the table, then lowers it to lay across the pile of clothing on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 165, "tasks": ["place cable"], "length": 748, "global_instruction": "Place all white cables on the workbench into the open blue cardboard box.", "scene_description": "A wooden workbench holds an open blue cardboard box on its left side, multiple white cables on the surface right of the box, plus lab items like a spray bottle, paper cups, and electronic equipment around. A white robotic arm is positioned above the right side of the workbench, with a whiteboard with handwritten text behind the bench.", "global_instruction_dense": "The right robotic gripper repeatedly grasps each white cable from the wooden workbench surface, lifts each cable, moves it over the open blue cardboard box, releases the cable into the box, and finally returns to a position above the workbench.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 166, "tasks": ["place cable"], "length": 684, "global_instruction": "Place segments of the white cable on the table into the blue snack box", "scene_description": "A blue and red snack box, a coiled white cable, a plastic spray bottle, paper cups, and background lab equipment are placed on a wooden table. A Franka Emika robotic arm is positioned above the table, with a whiteboard behind the table that has handwritten text on it.", "global_instruction_dense": "The right robotic gripper repeatedly moves down to grasp segments of the white cable on the wooden table, lifts each segment, moves it over the blue snack box, releases the cable into the box, and returns to the table to grasp more cable segments until multiple pieces of the cable are stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 167, "tasks": ["place cable"], "length": 388, "global_instruction": "Place the white cable lying on the wooden table into the blue cardboard box.", "scene_description": "A wooden table sits against a whiteboard with handwritten text. A blue printed cardboard box is on the left of the table, a loose white cable lies on the table in front of the box, and a robotic arm is positioned on the right side of the table, with small items like cups and a spray bottle placed on the table edge.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the white cable on the table, lifts each segment, moves it over the blue cardboard box, releases the segment into the box, until multiple parts of the cable are stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 168, "tasks": ["place cable"], "length": 553, "global_instruction": "Place the white rope on the table into the open blue box.", "scene_description": "A wooden table has a white rope on its center, an open blue box to the rope's right, cleaning supplies (spray bottle, plastic cups, glass container) on its left edge, and a robotic arm on its right side, with a whiteboard behind the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the white rope on the table, lifts each segment over the open blue box, releases the segment into the box, and returns to its initial position once the entire rope is placed in the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 169, "tasks": ["place cable"], "length": 657, "global_instruction": "Place the white rope on the wooden table into the blue cardboard box", "scene_description": "A white rope lies on a wooden table against a whiteboard, a blue printed cardboard box is near the wall, and a Franka Emika robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the white rope on the table, lifts each segment, moves it over the blue cardboard box, releases the segment into the box, and returns to its starting position after placing the rope into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 170, "tasks": ["place cable"], "length": 637, "global_instruction": "Place the loose white cord on the table into the blue cardboard box.", "scene_description": "A wooden table holds a blue cardboard box near the wall, a loose white cord on the table surface, a Franka Emika robotic arm positioned above the right side of the table, cleaning supplies including a spray bottle and disposable cups on the left edge of the table, and a whiteboard with handwritten text on the wall behind the table.", "global_instruction_dense": "The right robotic arm moves toward the loose white cord on the table, grasps it, lifts and drops it into the blue box, then grasps the remaining segment of the cord, lifts it, drops it into the box, and moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 171, "tasks": ["place cable"], "length": 251, "global_instruction": "Place the white rope on the wooden table into the open blue cardboard box", "scene_description": "A wooden table holds an open blue cardboard box, a coiled white rope left of the box, a clear spray bottle, and white paper cups on the far left. A FRANKA robotic arm is positioned to the right of the box, with a handwritten whiteboard on the left adjacent wall.", "global_instruction_dense": "The right robotic arm moves downward toward the coiled white rope on the wooden table, grasps the rope, lifts it upward, moves it over the open blue cardboard box, lowers the rope into the box, releases it, then moves back to its initial resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 172, "tasks": ["place cable"], "length": 528, "global_instruction": "Place the white coiled cable on the table into the blue open box.", "scene_description": "A wooden table holds a coiled white cable, a blue open box on its left side, and gray electronic devices on its right side, with a handwritten whiteboard behind the table and a robotic arm above the table.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cable on the table, grasps it, lifts it above the blue open box, releases part of the cable into the box, then grasps the white cable remaining on the table, lifts it above the box, releases it into the box, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 173, "tasks": ["place cable"], "length": 506, "global_instruction": "Place the white cable segments into the open blue box on the table.", "scene_description": "A wooden table holds a flat white cable, an open blue box to the left of the cable, cleaning supplies and cups at the table's far left, and a robotic arm above the right side of the table, with a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the wooden table, grasps segments of the cable sequentially, lifts each segment, moves it over the open blue box, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 174, "tasks": ["place cable"], "length": 426, "global_instruction": "Pick up the coiled white rope on the desk and place it into the blue open box.", "scene_description": "A blue open box, a coiled white rope, and a robotic arm are placed on a wooden desk, with a whiteboard behind the desk and spray bottles and cups on the far left of the desk.", "global_instruction_dense": "The right robotic gripper moves toward the coiled white rope on the desk, grasps it, lifts and moves it above the blue open box, releases the rope into the box, presses the remaining portion of the rope fully into the box, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 175, "tasks": ["place cable"], "length": 470, "global_instruction": "Place all white ropes from the table into the blue open box", "scene_description": "A wooden table holds a blue open box on its left, multiple white thick ropes in its center, a robotic arm on its right, and cleaning supplies at its far left edge. A whiteboard with handwritten text is mounted on the wall behind the table.", "global_instruction_dense": "The right robotic arm grasps white ropes from the table one by one, lifts each rope, moves it over the blue open box, releases it into the box, and moves back to its initial position after all ropes are placed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 176, "tasks": ["place cable"], "length": 280, "global_instruction": "Pick up the white coiled cable and place it into the open blue cardboard box.", "scene_description": "A wooden table is placed against a whiteboard with handwritten text. An open blue cardboard box sits on the left of the table, a white coiled cable is next to the box, and a robotic arm is positioned at the right of the table with assorted lab items around the table edges.", "global_instruction_dense": "The right robotic arm moves toward the white coiled cable on the wooden table, grasps it with its gripper, lifts the cable, moves it over the open blue cardboard box, lowers it into the box, releases the cable, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 177, "tasks": ["place cable"], "length": 482, "global_instruction": "Place the white cable into the blue open box on the table", "scene_description": "A wooden table holds a blue open box on its left, a white cable next to the box, and lab equipment including a robotic arm on the right, with a text-marked whiteboard behind the table.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the table, grasps it, lifts it, moves it over the blue open box, lowers it into the box and releases it, then returns to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 178, "tasks": ["place cable"], "length": 707, "global_instruction": "Place the white cable on the table into the open blue box.", "scene_description": "A wooden tabletop has an open blue box on its left side, a white flexible cable laid out on its center, and a robotic arm positioned above its right side. A whiteboard with handwritten text is in the background.", "global_instruction_dense": "The right robotic arm grasps segments of the white cable on the table one by one, lifts each segment, moves it over the blue box, and releases it into the box until the entire cable is inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 179, "tasks": ["place cable"], "length": 697, "global_instruction": "Place the coiled white rope on the table into the open blue box on the left side of the table", "scene_description": "A wooden table sits in front of a whiteboard with handwritten 'Slow motion' and 'full speed' text. A coiled white rope rests on the center of the table, an open blue box is on the left side of the table, and a robotic arm is positioned on the upper right of the table, with a black pan, plastic cups, and a spray bottle placed on the table edges.", "global_instruction_dense": "The right robotic arm moves down toward the coiled white rope on the table, grasps the rope, lifts it, moves it leftward over the open blue box, lowers and releases the rope into the box, adjusts the rope inside the box, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 180, "tasks": ["place cable"], "length": 614, "global_instruction": "Place the white cord on the wooden table into the open blue box.", "scene_description": "A wooden table stands against a whiteboard with handwritten text. On the table, an open blue box is near the whiteboard on the left, a white cord lies in the center of the table, and a robotic arm is positioned above the right side of the table, alongside small items like cups, a spray bottle, and electronic equipment.", "global_instruction_dense": "The right robotic arm moves toward the white cord on the table, grasps sections of the cord sequentially, lifts each section, moves it over the open blue box, releases it into the box, and repeats until all of the cord is inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 181, "tasks": ["place cable"], "length": 774, "global_instruction": "Move the white rope on the tabletop to a new position near the blue mask package.", "scene_description": "A wooden tabletop holds a coiled white rope near its center, a blue mask package to the rope's left, cups and cleaning supplies further left. A robotic arm is positioned above the rope, with a whiteboard with handwritten text behind the table, and office items including keyboards, boxes, and a cup on the right side of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the white rope on the wooden tabletop, lifts it, moves it toward the left side of the table above the blue mask package, adjusts its position, lowers it, places it on the table, then moves away from the workspace.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 182, "tasks": ["place cable"], "length": 683, "global_instruction": "Pick up the white rope on the table and place it into the blue cardboard box.", "scene_description": "A coiled white rope, a blue printed cardboard box, and small miscellaneous items are placed on a wooden table, with a robotic arm positioned above the table and a writing whiteboard on the wall behind the table.", "global_instruction_dense": "The right robotic gripper moves toward the coiled white rope on the wooden table, grasps it, lifts and moves it over the blue cardboard box, releases the rope into the box across multiple adjustment steps, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 183, "tasks": ["place cable"], "length": 300, "global_instruction": "Place the white rope on the table into the blue packaging box", "scene_description": "A wooden table holds a loose white rope, a blue packaging box on the left of the rope, small items like cups and metal boxes, a whiteboard with text written on it behind the table, and a Franka robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white rope on the wooden table, grasps the rope with its gripper, lifts and moves the rope over the blue packaging box to the left of the rope's original position, releases the rope into the box, then moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 184, "tasks": ["place cable"], "length": 1077, "global_instruction": "Grasp the coiled white cable on the wooden desk and place it near the blue labeled box.", "scene_description": "A white Franka Emika robotic arm is positioned on the right side of a wooden desk. A coiled white cable rests on the desk surface near a blue labeled box, and a whiteboard with handwritten speed-related text is mounted on the wall behind the desk, with additional office items (keyboard, white cup, metal containers) placed on the desk.", "global_instruction_dense": "The right robotic arm reaches toward the coiled white cable on the wooden desk, grasps and lifts the cable, moves and adjusts it around the nearby blue labeled box, releases the cable near the box, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 185, "tasks": ["place cable"], "length": 697, "global_instruction": "Place the white cable on the wooden table into the open blue box.", "scene_description": "A white cable lies on a wooden table, with an open blue box to the left of the cable. A white robotic arm is positioned above the right side of the table, a whiteboard marked 'Slow motion' and 'Full speed' sits behind the table, and desk items including a spray bottle and paper cups are at the left edge of the table.", "global_instruction_dense": "The right robotic gripper repeatedly grasps segments of the white cable on the wooden table, lifts each segment, moves it over the open blue box, lowers it, and releases it into the box until the cable is placed inside, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 186, "tasks": ["place cable"], "length": 701, "global_instruction": "Place the white coiled cable on the table into the blue snack box", "scene_description": "A wooden table is positioned against a whiteboard. On the table, a blue snack box sits near the whiteboard, a coiled white cable lies on the table in front of the box, with a spray bottle, paper cups, and small storage containers scattered on the left side of the table, and a robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the white coiled cable on the table, grasps the cable with its gripper, lifts the cable, moves it over the blue snack box, lowers it, releases and adjusts the cable to fit inside the box, then moves away from the box back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 187, "tasks": ["place cable"], "length": 436, "global_instruction": "Place the white coiled cable on the workbench into the blue open box.", "scene_description": "A brown wooden workbench holds a coiled white cable, a blue open box to the left of the cable, a spray bottle, white cups, a black pan, and lab equipment, with a text-marked whiteboard in the background and a robotic arm above the right side of the bench.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cable on the workbench, grasps the cable, lifts and moves it over the blue open box, lowers the cable into the box, adjusts the cable's position inside the box, then returns to its initial position above the workbench.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 188, "tasks": ["place cable"], "length": 426, "global_instruction": "Place the white cable on the tabletop into the blue open box", "scene_description": "A wooden tabletop holds a white cable, a blue open box at lower center, a spray bottle, white cups and other small items. A robotic arm is at the upper right, with a whiteboard marked with text behind the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white cable on the tabletop, grasps the cable, lifts it, moves it over the blue open box, releases the cable into the box, then moves back upward to its original position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 189, "tasks": ["place cable"], "length": 515, "global_instruction": "Place the white rope into the blue file holder", "scene_description": "A whiteboard with handwritten text is mounted above a wooden table. On the table, there is a coiled white rope, a blue file holder, a spray bottle, disposable cups, and assorted lab equipment. A robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the coiled white rope on the wooden table, grasps sections of the rope, lifts each section, moves it over the blue file holder, and releases it into the holder until all rope segments are placed in the holder.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 190, "tasks": ["place cable"], "length": 534, "global_instruction": "Place the white cable on the table into the open blue box", "scene_description": "A wooden table holds a loose white cable, an open blue box, plastic cups, and a spray bottle. A FRANKA EMIKA robotic arm is positioned above the table, with a whiteboard with handwritten text behind the table.", "global_instruction_dense": "The right robotic gripper repeatedly grasps segments of the white cable on the table, lifts each segment, moves it over the open blue box, and releases it into the box until the full cable is placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 191, "tasks": ["place cable"], "length": 1083, "global_instruction": "Place the white cable on the table into the open blue and red cardboard box.", "scene_description": "A wooden worktable sits in front of a white marker board marked with 'Slow motion' and 'Full speed'. On the table, an open blue and red cardboard box is near the left edge, a loose white cable lies on the table center, and a white robotic arm is positioned on the right side of the table alongside a spray bottle, paper cups, and a black circular object.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the center of the wooden table, grasps the cable with its end effector, lifts it, carries it over to the open blue and red cardboard box on the left side of the table, adjusts the cable's position repeatedly to lower it into the box, then releases the cable and moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 192, "tasks": ["place cable"], "length": 579, "global_instruction": "Pick up the coiled white cable on the desk and place it into the blue cardboard box.", "scene_description": "A wooden work desk holds a coiled white cable, a blue printed cardboard box, a spray bottle, white cups, and a black pan. A Franka Emika robotic arm is positioned at the right side of the desk, with a whiteboard with handwritten text mounted on the wall behind the desk.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cable on the wooden desk, grasps the cable with its gripper, lifts the cable, moves it over the blue cardboard box, lowers the cable into the box, releases the cable, then retracts back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 193, "tasks": ["place cable"], "length": 498, "global_instruction": "Place all scattered white cables on the wooden table into the blue open box.", "scene_description": "A blue open box is on the left of a wooden table, multiple white cables are scattered on the central area of the table, a Franka Emika robotic arm is positioned above the right side of the table, with a whiteboard behind the table and miscellaneous items like a spray bottle, cups and a black pan placed around the table.", "global_instruction_dense": "The right robotic arm moves toward the scattered white cables on the wooden table, grasps each cable sequentially, lifts each cable, moves to the blue open box on the left of the table, drops each cable into the box, and returns to its initial position after all cables are placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 194, "tasks": ["place cable"], "length": 381, "global_instruction": "Place the white flexible cables on the table into the open blue box.", "scene_description": "A wooden table against a whiteboard holds an open blue box on the left, white flexible cables at the center, a robotic arm on the right, and small items like a black pan nearby.", "global_instruction_dense": "The right robotic arm moves toward the white cables at the table center, grasps them, lifts and moves them over the blue box, releases the cables into the box, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 195, "tasks": ["place cable"], "length": 561, "global_instruction": "Place the white cord on the table into the open blue box.", "scene_description": "A white cord rests on a wooden table, an open blue box is positioned to the left of the cord, and a robotic arm is above the right side of the table. A whiteboard with handwritten text is behind the table, with items like spray bottles and cups at the table's left edge.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white cord on the table, lifts the cord, moves it over the open blue box, releases the cord into the box, then retracts back to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 196, "tasks": ["place cable"], "length": 424, "global_instruction": "Place the two white cables on the table into the blue open box on the left side of the table", "scene_description": "A wooden table is placed in front of a whiteboard with handwritten text. A blue open box sits on the left side of the table, and two white cables lie on the middle of the table surface.", "global_instruction_dense": "The right robotic arm grasps a white cable on the table, lifts it, moves it over the blue box and releases it into the box, then moves back to grasp a white cable on the table, lifts it, moves it over the blue box and releases it into the box, before returning to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 197, "tasks": ["place cable"], "length": 439, "global_instruction": "Place the white cable on the worktable into the open blue-red cardboard box.", "scene_description": "A wooden worktable holds a coiled white cable, an open blue-red cardboard box left of the cable, and a whiteboard with writing in the background, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white cable on the worktable, lifts the cable, moves it over the open blue-red cardboard box, lowers it into the box, releases the cable, then retracts away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 198, "tasks": ["place cable"], "length": 628, "global_instruction": "Place the white cord on the workbench into the blue cardboard box", "scene_description": "A white cord, an open blue cardboard box, and a robotic arm rest on a wooden workbench. The blue box is left of the cord, and the arm is right of the cord.", "global_instruction_dense": "The right robotic gripper moves toward the white cord on the workbench, grasps segments of the cord, lifts each segment and lowers it into the blue cardboard box, then moves away from the box once all cord segments are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 199, "tasks": ["place cable"], "length": 413, "global_instruction": "Place segments of the white cable into the blue and red open box on the left of the worktable.", "scene_description": "A wooden worktable has a coiled white cable at its center, a blue and red open box positioned to the left of the cable, and a FRANKA EMIKA robotic arm above the cable. A whiteboard with handwritten text is mounted on the wall behind the table.", "global_instruction_dense": "The right robotic gripper first moves down to grasp a segment of the coiled white cable on the worktable, lifts the cable segment, moves it over the left blue and red open box and releases it into the box, then repeats the process to grasp, lift, move and release another cable segment into the box, before moving to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 200, "tasks": ["place cable"], "length": 397, "global_instruction": "Place all white cables on the table into the open blue box", "scene_description": "A brown wooden table is in front of a whiteboard with handwritten text. An open blue box is on the left of the table, a bundle of thin white cables and a thick white cable are scattered in the table center, and a robotic manipulator is on the right side of the table.", "global_instruction_dense": "The right robotic gripper first grasps the bundle of thin white cables, lifts and moves them over the blue box to release them inside, then grasps the remaining thick white cable, lifts and moves it over the box to release it inside, before returning to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 201, "tasks": ["place cable"], "length": 604, "global_instruction": "Place all segments of the white rope on the table into the open blue box.", "scene_description": "A white rope is spread on a wooden table, an open blue box is positioned to the left of the rope, and a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the white rope on the table, lifts each segment, moves it over the open blue box, and releases the segment into the box until all rope segments are stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 202, "tasks": ["place cable"], "length": 275, "global_instruction": "Place the white flexible cable into the blue box, then move the blue box to the right side of the table.", "scene_description": "A wooden table is positioned against a whiteboard with handwritten text. A blue open box, a white flexible cable, a spray bottle, white paper cups, and other small office items are placed on the table, with a robotic arm at the upper right of the table in the initial frame.", "global_instruction_dense": "The right robotic arm moves toward the white flexible cable on the left section of the table, grasps the cable, lifts it, moves it over the blue open box, drops the cable into the box, then grasps the edge of the blue box, lifts and shifts the box to the right section of the table, releases the box, and moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 203, "tasks": ["place cable"], "length": 387, "global_instruction": "Place all white wires on the table into the blue and red cardboard box", "scene_description": "A wooden table holds multiple white flexible wires at its center, a blue and red cardboard box to the right of the wires, a spray bottle, white cups and a glass container on its left, with a white robotic arm above the right table area and a whiteboard on the wall behind.", "global_instruction_dense": "The right robotic arm sequentially grasps groups of white wires from the table, lifts each group, moves them over the blue-red box, and drops them into the box until all wires are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 204, "tasks": ["place cable"], "length": 455, "global_instruction": "Place the white coiled cable on the table into the open blue box", "scene_description": "A white coiled cable rests on a wooden table, with an open blue box placed to the right of the cable. A whiteboard with text is on the wall behind the table, small items like cups and a spray bottle sit on the left of the table, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the white coiled cable on the table, grasps it, lifts and places part of it into the blue box, then grasps the remaining cable on the table, lifts and places the remaining part into the blue box, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 205, "tasks": ["place cable"], "length": 642, "global_instruction": "Place segments of the white rope into the open blue and red printed box.", "scene_description": "A wooden tabletop sits in front of a whiteboard with handwritten text. An open blue and red printed box is placed near the wall next to the whiteboard, a loose white rope is laid on the table in front of the box, a white rectangular box, black frying pan, and office supplies are also on the table, with a robotic arm positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm repeatedly moves to the white rope laid on the wooden table, grasps a segment of the rope, lifts the segment, moves it over the open blue and red printed box, and releases the segment into the box across multiple attempts.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 206, "tasks": ["place cable"], "length": 366, "global_instruction": "Place all segments of the white rope on the table into the blue basket", "scene_description": "A wooden table holds tangled white rope at its center, a white paper box near the wall, and a blue basket on its left side. A FRANKA EMIKA robotic arm is positioned above the table, with a handwritten text whiteboard behind the table.", "global_instruction_dense": "The right robotic arm moves toward the white rope on the table, grasps rope segments one by one, lifts each segment, moves it to the left blue basket, releases the segment into the basket, and returns to rest after all segments are placed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 207, "tasks": ["place cable"], "length": 414, "global_instruction": "Pick up the white ropes from the wooden table and place them onto the blue and red packaged box.", "scene_description": "A wooden table is positioned adjacent to a whiteboard. On the table, there are several white ropes, a blue and red packaged box, a white cup, a gray electronic instrument, a black pan, and various small tools. A white Franka Emika robotic arm is positioned above the table surface.", "global_instruction_dense": "The right robotic arm lowers toward the white ropes on the wooden table, grasps a white rope, lifts and moves it over the blue and red packaged box, releases the rope onto the box, then moves back to the table to grasp a second white rope to place onto the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 208, "tasks": ["place cable"], "length": 370, "global_instruction": "Place the white rope from the desk into the blue open box", "scene_description": "A blue open box is on the left of a wooden office desk, a coiled white rope rests on the desk center, a robotic arm is positioned to the right of the desk, with a handwritten whiteboard on the left wall and office equipment in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the white rope from the wooden desk, lifts each segment, moves it over the blue open box, releases the rope into the box, and returns to grasp more rope before resetting to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 209, "tasks": ["place cable"], "length": 583, "global_instruction": "Place the white rope on the table into the open blue box", "scene_description": "A white rope lies on a wooden table, an open blue box is on the left of the table, and a robotic arm is on the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white rope on the table, grasps segments of the rope one by one, lifts each segment, moves it over the blue box, and releases it into the box until all the rope is inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 210, "tasks": ["place cable"], "length": 410, "global_instruction": "Pick up the white cable on the wooden table and place it into the blue basket at the table's left edge.", "scene_description": "A wooden table holds a coiled white cable, a blue open basket sits at the table's left edge, a robotic arm is positioned above the table, and a whiteboard with handwritten text is on the left wall.", "global_instruction_dense": "The right robotic arm moves down to grasp a section of the white cable on the table, lifts it, moves it over the blue basket, releases the cable into the basket, returns to grasp another section of the remaining cable on the table, lifts it, moves it over the basket, releases it into the basket, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 211, "tasks": ["place cable"], "length": 723, "global_instruction": "Place the white power cord on the workbench into the open blue box.", "scene_description": "A wooden workbench is positioned below a whiteboard with handwritten text. An open blue box is placed at the left of the workbench, a white power cord lies on the center of the workbench surface, a Franka Emika robotic arm is at the right of the workbench, and small items including cups, a spray bottle, and equipment boxes are arranged around the workbench.", "global_instruction_dense": "The right robotic arm reaches toward the white power cord on the workbench, grasps the cord, lifts and moves it over the open blue box to release part of the cord into the box, then grasps the remaining section of the cord, moves it over the box, releases it into the box, and moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 212, "tasks": ["place cable"], "length": 514, "global_instruction": "Place the white charging cable on the worktable into the open blue box.", "scene_description": "A wooden worktable against a whiteboard holds an open blue box, pink gloves, a spray bottle, a glass bowl, a white charging cable, a white-and-black robotic arm, and small tools and containers.", "global_instruction_dense": "The right robotic arm moves toward the white charging cable on the worktable, grasps the cable, lifts it, moves it above the open blue box, releases the cable into the box, then retracts to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 213, "tasks": ["place cable"], "length": 473, "global_instruction": "Manipulate the white cables on the table by moving them over the open blue box repeatedly.", "scene_description": "A wooden table is positioned against a whiteboard with handwritten text. On the left of the table are folded pink cloth, an open blue box, and scattered white cables. A robotic arm is on the right of the table, with a white cup, orange tool, and electronic boxes in the background.", "global_instruction_dense": "The right robotic arm grasps the white cables on the table, lifts them, moves them over the open blue box, lowers and releases the cables, repeats this lift-and-move motion multiple times, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 214, "tasks": ["place cable"], "length": 313, "global_instruction": "Place the white flexible cable on the table into the blue open box.", "scene_description": "A wooden table against a whiteboard holds a blue open box, a white flexible cable, a pink cloth, a grey spray bottle, and a Franka Emika robotic arm, with small tools and containers on the far right of the table.", "global_instruction_dense": "The right Franka Emika robotic arm moves toward the white flexible cable on the wooden table, grasps it, lifts it and moves it over the blue open box, lowers the cable into the box and releases it, then moves back up to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 215, "tasks": ["place cable"], "length": 541, "global_instruction": "Place the white cable on the table into the open blue box.", "scene_description": "A wooden table against a white writing board holds a coiled white cable, an open blue box, a pink cloth, and small hardware items, with a robotic arm at the table's right edge.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cable on the wooden table, grasps and lifts it, positions it over the open blue box, lowers the cable into the box, releases it, and returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 216, "tasks": ["place cable"], "length": 365, "global_instruction": "Place the white curved cable on the worktable into the open blue box", "scene_description": "A wooden worktable is positioned against a whiteboard with handwritten text. On the table, an open blue box sits near the whiteboard, a white curved cable lies in front of the box, a pink cloth rests on the left edge of the table, and a Franka Emika robotic arm is on the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white curved cable on the worktable, grasps the cable, lifts it, moves it over the open blue box, lowers and releases the cable into the box, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 217, "tasks": ["place cable"], "length": 511, "global_instruction": "Place the two white cords on the wooden table into the open blue box.", "scene_description": "A wooden table is placed against a whiteboard. On the table, there is an open blue box, a white knotted thin cord, a white curved thick cord, a pink cloth, several grey square boxes, a white paper cup, and a white robotic arm positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the white knotted thin cord on the table, grasps and lifts it, drops it into the open blue box, then moves toward the white curved thick cord, grasps and lifts it, drops it into the blue box, then returns to its initial position at the right of the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 218, "tasks": ["place cable"], "length": 555, "global_instruction": "Place the coiled white rope on the wooden table into the open blue box.", "scene_description": "A wooden table against a white writing board holds a coiled white rope, an open blue box, a pink cloth, a plastic spray bottle, a clear water bottle, and small electronic devices, with a robotic arm positioned at the upper right of the table.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the coiled white rope on the table, lifts each segment, moves it over the open blue box, releases the segment into the box, and returns to the remaining rope until all rope is placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 219, "tasks": ["place cable"], "length": 448, "global_instruction": "Place the white cable on the table into the blue open box.", "scene_description": "A brown wooden table against a handwritten whiteboard holds a blue open box, a white cable, a pink cloth, assorted small boxes and tools, with a white robotic arm at the upper right above the table.", "global_instruction_dense": "The right robotic gripper moves toward the white cable on the table, grasps it, lifts and moves it over the blue open box to release it, re-grasps the cable after it falls out, lifts and releases it into the box again, then moves back to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 220, "tasks": ["place cable"], "length": 545, "global_instruction": "Place the white cables on the workbench into the open blue box.", "scene_description": "A wooden workbench is positioned against a light gray tiled wall, with an open blue box on the left side of the bench, loose white cables, small electronic components, an orange tool, and a collaborative robotic arm mounted above the bench, with office furniture visible in the background.", "global_instruction_dense": "The right collaborative robotic gripper repeatedly grasps white cables from the workbench, lifts them, moves them over the open blue box, releases the cables into the box, and returns to the workbench to collect more cables.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 221, "tasks": ["place cable"], "length": 272, "global_instruction": "Place the white rope on the table into the blue open box", "scene_description": "A wooden table against a marked white wall holds a blue open box on the left, a white rope near the box, a Franka robotic arm on the right, and small miscellaneous items at the back of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the white rope on the table, grasps the rope, lifts it, moves it over the blue open box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 222, "tasks": ["place cable"], "length": 307, "global_instruction": "Pick up the white coiled cable from the table and place it into the blue open box.", "scene_description": "A white coiled cable rests on a wooden table, a blue open box sits to the left of the cable, a robotic arm is positioned above the cable, and office workstations are in the background next to a white wall.", "global_instruction_dense": "The right robotic gripper moves down toward the white coiled cable on the wooden table, grasps the cable, lifts it, moves it over the blue open box, releases the cable into the box, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 223, "tasks": ["place cable"], "length": 404, "global_instruction": "Place the white rope on the table into the blue open box", "scene_description": "A wooden table is positioned against a marked white wall. A blue open box sits on the left of the table, a white rope lies in front of the box, assorted tools, electronic devices, and a white cup are placed further back on the table, and a robotic arm is above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white rope on the table, grasps the rope with its gripper, lifts the rope, moves it over the blue open box, lowers and releases the rope into the box, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 224, "tasks": ["place cable"], "length": 383, "global_instruction": "Place the white rope on the wooden desk into the blue tissue box.", "scene_description": "A wooden desk against a white wall holds a coiled white rope, a blue tissue box in the lower left, silver equipment boxes, an orange block, and a white cup, with a robotic arm positioned above the desk.", "global_instruction_dense": "The right robotic arm moves down to grasp the white rope on the desk, lifts and drops a section of it into the blue tissue box, then grasps the remaining section of the rope, lifts and drops it into the tissue box before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 225, "tasks": ["place cable"], "length": 361, "global_instruction": "Pick up the white cable on the table and move it to a new position on the table.", "scene_description": "A wooden table against a marked white wall holds a loose white cable, gray boxes, an orange block, and a white cup, with a robotic arm at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the table, grasps it, lifts it, moves it through the air, releases it onto the table, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 226, "tasks": ["place cable"], "length": 420, "global_instruction": "Reposition the white coiled cable on the wooden table to a new position.", "scene_description": "A wooden table is positioned against a stained white wall. A coiled white cable, equipment boxes, an orange tool, and a blue open box rest on the table, with a FRANKA EMIKA robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cable on the wooden table, grasps it, lifts and moves it across the table, releases it at a new spot, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 227, "tasks": ["place cable"], "length": 240, "global_instruction": "Pick up the white cable on the table and place it into the open blue box.", "scene_description": "A wooden table against a white wall holds an open blue box on the left, a white cable, an orange tool, gray electrical boxes, and a white cup further along the table, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper descends to grasp the white cable on the wooden table, lifts it, moves it over the open blue box, releases the cable into the box, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 228, "tasks": ["place cable"], "length": 576, "global_instruction": "Place segments of the white data cable on the table into the blue cardboard box.", "scene_description": "A wooden table stands against a scuffed white wall. A blue cardboard box is on the left side of the table, a loose white data cable lies on the table near the box, small tools and electronic parts are scattered on the table, and a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the white data cable on the table, grasps segments of the cable, lifts each segment, moves it over the blue cardboard box, and releases the segment into the box, repeating this process to place multiple cable segments into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 229, "tasks": ["place cable"], "length": 597, "global_instruction": "Place the white cables on the desk into the blue box.", "scene_description": "A brown wooden desk sits next to a stained white wall. An open blue box is on the left of the desk, with white cables, an orange level tool, a gray power device, and a small white box placed on the desk surface, and a robotic arm is positioned above the right side of the desk.", "global_instruction_dense": "The right robotic arm sequentially grasps white cables on the desk, moves each cable over the open blue box, releases the cables into the box, and retracts after placing the last cable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 230, "tasks": ["place cable"], "length": 397, "global_instruction": "Place the white cable on the table into the blue cardboard box, then adjust the position of the blue box.", "scene_description": "A blue open cardboard box, a white electrical cable, and assorted small tools are placed on a wooden table against a stained white wall, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white cable on the wooden table, lifts the cable, moves it over the blue cardboard box and releases it into the box, then grasps the box's handle to lift and adjust its position on the table before returning to its initial resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 231, "tasks": ["place cable"], "length": 498, "global_instruction": "Place the loose white cable on the wooden table into the open blue box.", "scene_description": "A wooden table is positioned against a marked white wall. On the table, there is an open blue box, a loose white cable, an orange level tool, two gray metal cases, a white paper cup, and a Franka robotic arm on the right side of the table.", "global_instruction_dense": "The right robotic arm reaches toward the loose white cable on the wooden table, grasps it, lifts and moves it over the open blue box, releases the cable into the box, adjusts the cable's position by grasping it again and placing it back into the box, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 232, "tasks": ["place cable"], "length": 470, "global_instruction": "Place the white cable and small white device into the blue box, then move the blue box off the table.", "scene_description": "A wooden table against a white wall holds a blue open box, a coiled white charging cable, a small white rectangular device, an orange block, gray electronic equipment, and small tools on its right edge, with a right robotic arm positioned at the table's right and a pink cloth at the wall base on the left.", "global_instruction_dense": "The right robotic arm first grasps the coiled white charging cable on the table, moves it over the blue box and releases it into the box, then grasps the small white rectangular device and places it into the blue box, next grasps the blue box's handle, lifts it and moves the box out of the visible table area.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 233, "tasks": ["place cable"], "length": 463, "global_instruction": "Move the white cable on the yellow table toward the black spool", "scene_description": "A yellow table holds a white cable, a black spool, a roll of silver tape, a white paper with metal tools, and a dark blue cloth. A robotic arm is positioned to the right of the table, with glass office partitions and gray chairs in the background.", "global_instruction_dense": "The right robotic arm extends toward the white cable on the yellow table, grasps one end of the cable, lifts it, moves it leftward toward the black spool, places and adjusts the cable's position, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 234, "tasks": ["place cable"], "length": 247, "global_instruction": "Reposition the white cable on the yellow table.", "scene_description": "A yellow conference table surrounded by grey chairs holds a black filament reel, a white cable, a dark cloth, a metal tape roll, and a white sheet with tools. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the yellow table, grasps it, lifts it, moves it to a new position, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 235, "tasks": ["place cable"], "length": 772, "global_instruction": "Place the coiled white rope on the yellow table into the blue open box.", "scene_description": "A yellow conference table holds a blue open box, a coiled white rope, a roll of brown tape, a white clipboard with a metal clip, a black spool, and a white polar bear plush on its far end. A dual-arm robot is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper repeatedly grasps segments of the white rope on the yellow table, lifts each segment, moves it over the blue open box, drops the segment into the box until the entire rope is inside, then retracts to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 236, "tasks": ["place cable"], "length": 538, "global_instruction": "Place the coiled white rope into the blue box on the yellow table.", "scene_description": "A yellow conference table holds a white plush polar bear on the far left, followed by a clipboard, brown tape roll, black spool, blue box, and coiled white rope to the right of the box, with gray office chairs around the table and glass office walls in the background, and robotic arms positioned to the right of the table.", "global_instruction_dense": "The left robotic arm repeatedly grasps segments of the coiled white rope on the table, lifts each segment, moves it over the blue box, and drops it into the box until all rope is inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 237, "tasks": ["place cable"], "length": 535, "global_instruction": "Place the white cable on the table into the open blue box", "scene_description": "A yellow conference table holds an open blue box, a coiled white cable to the right of the box, a brown tape roll and white clipboard to the left of the box, and a white plush polar bear at the far left end of the table. A left robotic gripper is positioned above the right side of the table near the cable.", "global_instruction_dense": "The left robotic gripper repeatedly moves to the white cable on the table, grasps segments of the cable, lifts each segment, drops it into the open blue box until all cable is placed inside, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 238, "tasks": ["place cable"], "length": 439, "global_instruction": "Place the white rope on the yellow office table into the blue and purple open box", "scene_description": "A yellow office table holds a coiled white rope, a blue and purple open box, a roll of brown tape, a white clipboard with a metal clip, and a white polar bear plush at its left end. A white robotic arm is positioned to the right of the table, with grey office chairs and glass-walled office spaces in the background.", "global_instruction_dense": "The right robotic arm moves toward the coiled white rope on the yellow table, grasps and lifts it, moves it over the blue and purple box, releases part of the rope into the box, grasps the white rope resting on the table and box edge, lifts and releases it into the box, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 239, "tasks": ["place cable"], "length": 439, "global_instruction": "Place the white rope on the yellow table into the purple open box", "scene_description": "A white rope, a purple open box, a roll of brown tape, and a clipboard are placed on a yellow table, with a white polar bear plush at the far end of the table and a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves toward the white rope on the table, grasps and lifts it, moves it over the purple open box to drop part of the rope inside, then grasps the remaining part of the rope left on the table, lifts and drops it into the box, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 240, "tasks": ["place cable"], "length": 560, "global_instruction": "Place all white ropes on the yellow table into the open blue box.", "scene_description": "A yellow table holds an open blue box, multiple white ropes, a clipboard, brown tape, and a white plush polar bear at its far end, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm grasps a bundle of white ropes from the table, lifts and drops them into the blue box, then grasps the remaining white ropes, lifts and drops them into the box before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 241, "tasks": ["place cable"], "length": 488, "global_instruction": "Place the white cable on the table into the open purple snack box", "scene_description": "A yellow office table holds an open purple snack box, a coiled white cable, a brown tape roll, a white clipboard with a metal clip, and a white polar bear plush at the far left end. A white robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the white cable on the yellow table, lifts it, moves it over the open purple snack box, lowers and adjusts the cable into the box, releases it, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 242, "tasks": ["place cable"], "length": 562, "global_instruction": "Place the white cable on the yellow table into the paper box.", "scene_description": "A white cable, a multicolored printed paper box, a white clipboard, and a white polar bear plush are placed on a yellow conference table. The paper box is left of the cable, the plush is on the far left end of the table, and a robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the yellow table, grasps it, lifts it, moves left above the paper box to release part of the cable into the box, then grasps the segment of the cable left on the table, lifts it, places that segment into the paper box, and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 243, "tasks": ["place cable"], "length": 383, "global_instruction": "Place the white cable on the yellow table into the open blue and brown box.", "scene_description": "A yellow conference table holds an open blue and brown box, a white charging cable, a small brown tape roll, a large black tape roll, a white clipboard with a metal clip, and a white polar bear plush on the far left end, with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white cable on the yellow table, grasps the cable, lifts it, moves it over the open box and releases it into the box, then grasps the remaining section of the cable still on the table, lifts and places that section into the box, before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 244, "tasks": ["place cable"], "length": 350, "global_instruction": "Place the white ropes on the table into the open multicolored box.", "scene_description": "A yellow conference table holds a white polar bear plush, a white clipboard with a metal clip, a small brown tape roll, a large black spool, an open multicolored box, and two bundles of white rope, with a right robotic arm positioned at the table's right side.", "global_instruction_dense": "The right robotic arm grasps a bundle of white rope from the table, lifts it, moves it over the open multicolored box and drops it inside, then grasps another bundle of white rope, lifts it, moves it over the box and drops it inside, before returning to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 245, "tasks": ["place cable"], "length": 426, "global_instruction": "Place the white rope on the yellow table into the multicolored printed paper box.", "scene_description": "A yellow conference table holds a coiled white rope, a multicolored printed paper box, a black spool, a brown tape roll, a white clipboard with a metal clip, and a white polar bear plush at its far left end. A white robotic arm is positioned at the right side of the table, with gray office chairs and glass partition walls in the background.", "global_instruction_dense": "The right robotic arm moves toward the coiled white rope on the yellow table, grasps a section of the rope, lifts it and places it into the printed paper box, then moves back to grasp the leftover section of the rope, lifts it and places it into the box before moving away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 246, "tasks": ["place cable"], "length": 555, "global_instruction": "Place the coiled white cable on the table into the blue printed paper box.", "scene_description": "A yellow office table holds a blue printed paper box, a coiled white cable, a silver laptop, white papers, brown tape, and a black spool, with a white polar bear plush at the table's far end, grey wheeled chairs around the table, and a glass partition wall behind the table.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cable on the yellow table, grasps it, lifts it, moves it over the blue paper box, releases it into the box, adjusts to tuck the hanging loose ends of the cable fully into the box, then retracts to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 247, "tasks": ["place cable"], "length": 603, "global_instruction": "Place the white rope on the yellow table into the adjacent blue and red open carton.", "scene_description": "A yellow table holds a coiled white rope, a blue and red printed open carton to the right of the rope, a silver laptop, a roll of brown tape, a black filament spool, and a white polar bear plush at the far left end, with two robotic arms at the right side of the table.", "global_instruction_dense": "The left robotic gripper sequentially grasps segments of the white rope on the yellow table, lifts each segment, moves over the open blue and red carton, releases the segment into the carton, and finally retracts to its initial rest position after all rope is placed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 248, "tasks": ["place cable"], "length": 632, "global_instruction": "Place the coiled white rope on the yellow table into the open blue box.", "scene_description": "A yellow conference table holds an open blue box, a coiled white rope, a silver laptop, a small roll of brown tape, a large roll of black tape, and a white polar bear plush at the far end, with robotic arms on the table's right side.", "global_instruction_dense": "The right robotic arm repeatedly grasps segments of the coiled white rope on the yellow table, lifts each segment, moves it over the open blue box, releases it into the box, and returns to its initial upper position after the rope is fully placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 249, "tasks": ["place cable"], "length": 326, "global_instruction": "Place the coiled white cable on the yellow table into the open snack box.", "scene_description": "A long yellow office table holds a white polar bear plush at its far end, a silver laptop, paper with a pen, a tan tape roll, a black spool, an open multicolored snack box, and a coiled white cable, with a robotic arm positioned near the table's right side and office chairs around the table.", "global_instruction_dense": "The left robotic gripper moves down toward the coiled white cable on the yellow table, grasps the cable, lifts it upward, moves it over the open snack box, releases the cable to drop into the box, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 250, "tasks": ["place cable"], "length": 562, "global_instruction": "Place the white cord on the yellow table into the open blue and red printed snack box", "scene_description": "A long yellow table holds a white cord near an open blue and red printed snack box at its right side; arranged leftward along the table are a silver laptop, a white clipboard with paper, a roll of tan tape, a black filament spool, and a white polar bear plush at the far left end. A white robotic arm is positioned at the table's right edge.", "global_instruction_dense": "The right robotic arm moves down to the white cord on the yellow table, grasps the cord, lifts segments of it repeatedly to move them over the open blue and red snack box, and releases each segment into the box until all of the cord is placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 251, "tasks": ["place cable"], "length": 240, "global_instruction": "Place the coiled white rope on the table into the open purple-blue box.", "scene_description": "A yellow conference table holds a coiled white rope, a purple-blue open box, a roll of brown tape, a black spool, an open laptop, papers with a pen, and a white polar bear plush at the far end. Office chairs line the table, and robotic arms are positioned on the right side of the table with glass office walls in the background.", "global_instruction_dense": "The left robotic arm moves toward the coiled white rope on the yellow table, grasps the rope, lifts it, moves it over the open purple-blue box, releases the rope into the box, then retracts to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 252, "tasks": ["place cable"], "length": 516, "global_instruction": "Place the loose white rope on the table into the blue-and-red printed rectangular box.", "scene_description": "A light yellow conference table holds a loose white rope, a blue-and-red printed rectangular box, an open silver laptop, white papers with a pen, a brown tape roll, a black spool, and a white polar bear plush at the table's far end; a right robotic arm is above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the loose white rope on the yellow table, grasps the rope, lifts it, positions it over the blue-and-red box, releases a portion of the rope into the box, re-grasps the remaining section of the rope on the table, lifts it, releases it into the box, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 253, "tasks": ["place cable"], "length": 476, "global_instruction": "Place the tangled white rope on the yellow office table into the blue-red snack box.", "scene_description": "A long yellow office table holds a white polar bear plush at its far end, followed by a silver laptop, white papers with a pen, a black spool, a roll of brown tape, a tangled white rope, and a blue-red printed snack box near the table's right edge. Gray wheeled office chairs line the table, with glass partition walls and open office cubicles in the background, and a right robotic arm positioned at the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the tangled white rope on the yellow table, grasps it, lifts and positions it over the blue-red snack box, releases part of the rope into the box, grasps the remaining rope segment on the table, lifts and drops that segment into the box, then retracts away from the table to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 254, "tasks": ["place cable"], "length": 243, "global_instruction": "Place the coiled white rope on the table into the blue printed box.", "scene_description": "A light yellow office table holds a white sheep plush at the left end, a clipboard, a brown tape roll, a black filament spool, a silver laptop, a blue printed box, and a coiled white rope, with office chairs around the table and a left robotic arm positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves down toward the coiled white rope on the table, grasps it, lifts it up, moves it over the adjacent blue printed box, releases the rope into the box, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 255, "tasks": ["place cable"], "length": 739, "global_instruction": "Place all segments of the white rope into the blue and red cardboard box on the table.", "scene_description": "A light yellow office table holds a coiled white rope on its right side, a blue and red cardboard box left of the rope, a white sheep plush further left, plus a roll of brown tape, a clipboard, and a black roll of material on the far left. Robotic arms are positioned on the right side of the table, with glass walls and office chairs in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves to the coiled white rope on the yellow table, grasps sections of the rope, lifts each section over the blue and red cardboard box, releases the rope into the box, and returns to retrieve more rope until all manipulated segments are placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 256, "tasks": ["place cable"], "length": 1193, "global_instruction": "Place all scattered white ropes on the table into the blue-and-red open box.", "scene_description": "A light yellow table holds a white fluffy sheep figurine on the left, a silver laptop, a black circular spool, a roll of brown tape, a clipboard with a white sheet and metal clip, a blue-and-red printed open box, multiple scattered white ropes, and a white robotic arm at the table's right edge.", "global_instruction_dense": "The right robotic arm repeatedly grasps scattered white ropes on the light yellow table, lifts each rope, moves it over the blue-and-red open box, releases the rope into the box, adjusts the box's position as needed, places all ropes into the box, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 257, "tasks": ["place cable"], "length": 444, "global_instruction": "Place the white coiled cord on the table into the blue printed box", "scene_description": "A light brown wooden office table holds a white sheep plush (far left), a black spool, a black tablet, a blue printed box (middle right), and a coiled white cord (right side of the table). A white robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the coiled white cord on the table, grasps part of the cord, lifts it, moves it over the blue printed box and releases it into the box, then grasps the remaining piece of cord on the table, lifts it, moves it over the box, releases it into the box, and retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 258, "tasks": ["place cable"], "length": 651, "global_instruction": "Place all white cables from the table into the open blue cardboard box.", "scene_description": "A light brown wooden office table holds a white sheep plush at its left end, a black spool, a closed black laptop, an open blue printed cardboard box, and coiled white cables on its right half, in a glass-partitioned office space.", "global_instruction_dense": "The left robotic arm moves toward the white coiled cables on the table, sequentially grasps each cable, lifts and moves each to the open blue box, releases them into the box, then returns toward its resting position after all cables are placed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 259, "tasks": ["place cable"], "length": 503, "global_instruction": "Place the white cables on the table into the blue and red cardboard box.", "scene_description": "A light wooden office table holds a white sheep plush toy, black tape roll, clipboard with metal tools, gray tape roll, black laptop, blue and red printed cardboard box, and multiple white cables, with a robotic arm positioned to the right of the table in an open office with glass partition walls.", "global_instruction_dense": "The right robotic arm moves toward white cables on the table, grasps and lifts them, moves over the blue and red cardboard box, drops the cables inside, then moves toward white cables on the table, grasps and lifts them, drops the cables into the box, before returning to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 260, "tasks": ["place cable"], "length": 629, "global_instruction": "Place the white cables on the table into the open blue-and-red cardboard box.", "scene_description": "A yellow wooden table holds a white sheep plush, black closed laptop, black cable spool, metal clipboard, gray tape roll, open blue-and-red cardboard box, and multiple white cables, with a dual-arm robotic system positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper grasps white cables from the table (first in a group, then individually), lifts each set of cables, moves them over the open blue-and-red cardboard box, releases them into the box, then returns to its initial position after all targeted cables are placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 261, "tasks": ["place cable"], "length": 378, "global_instruction": "Place the two white flexible cables on the table into the open blue cardboard box.", "scene_description": "A yellow office table holds a white sheep plush toy, an open blue cardboard box, a black tablet, a roll of black tape, a paper clipboard, a roll of gray tape, a black cloth, and two white flexible cables, with glass office partitions in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cables on the table, grasps one cable, lifts and places it inside the blue box, then grasps another white cable, lifts and places it into the blue box, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 262, "tasks": ["place cable"], "length": 992, "global_instruction": "Transfer the white rope between the left brown chair and the white basket on the right brown chair.", "scene_description": "Two brown chairs are positioned side by side. A tangled white rope rests on the left chair, and a white plastic handle basket sits on the right chair. A robotic arm is positioned to the left of the chairs near a concrete wall with an occupancy limit sign.", "global_instruction_dense": "The robotic arm repeatedly grasps sections of white rope from the left brown chair, lifts them, moves them over the white basket on the right chair, releases the rope into the basket, then later grasps rope from inside the basket and drops it back onto the left brown chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 263, "tasks": ["place cable"], "length": 1179, "global_instruction": "Transfer the white cables from the left brown chair into the white plastic basket on the right chair, then move all cables back to the left chair.", "scene_description": "Two adjacent brown chairs are positioned next to a concrete wall. The left chair holds a coiled white cable, the right chair holds an empty white rectangular plastic basket with handle cutouts, a green flat object leans between the chairs, and a white robotic arm is positioned above the left chair.", "global_instruction_dense": "The left robotic gripper repeatedly grasps sections of the white cable from the left brown chair, lifts each section, moves it over the white plastic basket on the right brown chair, drops it into the basket, then grasps cables from the basket, lifts them, moves them over the left chair, and drops them back onto the chair until all cables are returned to the left chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 264, "tasks": ["place cable"], "length": 677, "global_instruction": "Transfer white cables between the left brown chair and the white basket on the right brown chair.", "scene_description": "Two adjacent brown chairs are next to a concrete wall. A white handled basket sits on the right chair, tangled white cables rest on the left chair, a white robotic arm is positioned to the left of the chairs, and an occupancy limit sign is mounted on the wall.", "global_instruction_dense": "The left robotic arm repeatedly grasps white cables from the left brown chair, places them into the white basket on the right chair, then grasps cables from the basket and places them back onto the left chair before returning to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 265, "tasks": ["place cable"], "length": 969, "global_instruction": "Transfer white cables from the left brown chair into the white basket and then back onto the left brown chair.", "scene_description": "Two adjacent brown chairs are positioned against a concrete wall; a pile of white cables sits on the left chair, an empty white plastic basket rests on the right chair, and a single robotic arm is positioned to the left of the chairs.", "global_instruction_dense": "The left robotic arm first grasps white cables from the left brown chair and places them into the white plastic basket on the right brown chair, then grasps the cables from the basket and places them back onto the left brown chair before stopping above the left chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 266, "tasks": ["place cable"], "length": 1503, "global_instruction": "Manipulate the white cables by transferring them between the left brown chair and the white basket on the right brown chair.", "scene_description": "Two adjacent brown chairs hold a pile of white cables on the left chair, and an empty white plastic storage basket on the right chair, with a white robotic arm positioned above the left side of the scene, and a concrete wall with an occupancy sign in the background.", "global_instruction_dense": "The left robotic arm first repeatedly grasps white cables from the left brown chair, lifts them, moves them over the empty white basket on the right brown chair, and releases them into the basket, then later grasps several cables from the basket and moves them back onto the left brown chair, ending with most cables on the left chair and some remaining in the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 267, "tasks": ["place cable"], "length": 874, "global_instruction": "Transfer the coiled white cable from the left tan chair into the white plastic storage bin on the right tan chair.", "scene_description": "Two tan chairs are positioned side by side; the left chair holds a coiled white cable, the right chair holds an empty white plastic storage bin, a white robotic arm is to the left of the chairs, and a grey concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The robotic arm repeatedly grasps sections of the coiled white cable on the left tan chair, lifts each segment, moves it over the white plastic storage bin on the right tan chair, releases the cable into the bin, and briefly moves two cable segments from the bin back to the left chair during the sequence.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 268, "tasks": ["place cable"], "length": 375, "global_instruction": "Move the white rope from the left brown chair into the white basket on the right brown chair", "scene_description": "Two adjacent brown chairs are next to a concrete wall. A tangled white rope is on the left chair, a white rectangular basket is on the right chair, and a robotic arm is at the upper left, with an occupancy limit sign on the wall.", "global_instruction_dense": "The right robotic arm moves toward the white rope on the left brown chair, grasps it, lifts it, moves it over the white basket, releases most of the rope into the basket, then grasps the remaining stretched segments of the rope and places them back onto the left brown chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 269, "tasks": ["place cable"], "length": 382, "global_instruction": "Move white cables from the brown chair into the white basket, then move the cables back from the basket onto the brown chair.", "scene_description": "Two brown upholstered chairs are against a concrete wall, a pile of white cables rests on the left chair, a white rectangular plastic basket sits in front of the chairs, and a white robotic arm is positioned to the left of the chairs.", "global_instruction_dense": "The left robotic arm moves toward white cables on the brown chair, grasps sections of the cables to lift and place them into the adjacent white basket, then grasps the full bundle of cables from the basket, lifts and moves them to place them back onto the brown chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 270, "tasks": ["place cable"], "length": 755, "global_instruction": "Transfer the white rope between the left brown chair and the white plastic basket on the right chair.", "scene_description": "Two adjacent brown chairs are positioned side by side; a tangled white rope rests on the left chair, a white rectangular plastic basket sits on the right chair, a white robotic arm is located to the left of the chairs, and a gray concrete wall with a maximum occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm first grasps the white rope from the left brown chair and places it into the white basket on the right chair, then grasps the rope from the basket and places it back onto the left chair, then grasps the remaining rope from the basket and places it onto the left chair to complete the transfers.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 271, "tasks": ["place cable"], "length": 1479, "global_instruction": "Place the white cables from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two brown leather chairs are positioned side-by-side; a pile of white cables rests on the left chair, an empty white rectangular plastic basket sits on the right chair, a white robotic arm is to the left of the chairs, and a concrete wall with an occupancy limit sign is behind the chairs.", "global_instruction_dense": "The left robotic arm repeatedly grasps sections of white cables from the left brown chair, moves each grasped section over the white plastic basket on the right chair to release the cables into the basket, and occasionally moves cables from the basket back onto the left chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 272, "tasks": ["place cable"], "length": 947, "global_instruction": "Transfer the coiled white rope from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two brown chairs are positioned side by side. The left chair holds a coiled white rope, the right chair holds a white rectangular plastic basket with handle cutouts. A white robotic arm is at the upper left of the scene, and a concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves toward the coiled white rope on the left brown chair, grasps segments of the rope, moves the segments over the white plastic basket on the right brown chair to release them into the basket, and finally drops a segment of rope back onto the left chair before moving upward away from the rope.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 273, "tasks": ["place cable"], "length": 1611, "global_instruction": "Transfer white cables from the left brown chair to the white plastic basket on the right chair, then move all cables back to the left brown chair.", "scene_description": "Two adjacent brown chairs are positioned side by side, with a pile of white cables resting on the left chair and an empty white plastic basket on the right chair. A robotic arm is visible above the left chair, with a concrete wall displaying an occupancy limit sign in the background.", "global_instruction_dense": "The right robotic gripper first grasps bundles of white cables from the left brown chair and places them into the empty white plastic basket on the right brown chair, then sequentially grasps each cable from the basket and places them back onto the left brown chair, leaving the basket empty at the end of the sequence.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 274, "tasks": ["place cable"], "length": 933, "global_instruction": "Move all white cables from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two brown leather chairs are placed side by side. A white plastic basket rests on the right chair, and a bundle of white cables lies on the left chair. A white robotic arm is positioned above the left chair.", "global_instruction_dense": "The left robotic arm repeatedly grasps sections of the white cable bundle on the left brown chair, lifts each grasped section, moves it over the white basket on the right chair, releases it into the basket, and readjusts misplaced cables during the transfer process.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 275, "tasks": ["place cable"], "length": 817, "global_instruction": "Move the coiled white cable from the left tan chair into the white plastic bin, then move all of the cable back to the left tan chair.", "scene_description": "Two tan leather chairs are positioned next to a grey concrete wall. A coiled white cable rests on the left chair, an empty white plastic storage bin with cutout handles rests on the right chair, and a white robotic arm is positioned to the left of the chairs.", "global_instruction_dense": "The left robotic arm grasps the coiled white cable on the left tan chair, transfers it into the white plastic bin on the right tan chair, then retrieves each segment of the cable from the bin and places all segments back onto the left tan chair until the bin is empty.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 276, "tasks": ["place cable"], "length": 893, "global_instruction": "Transfer the white cable from the left brown chair to the white plastic basket on the right chair, then move all the cable back onto the left brown chair.", "scene_description": "Two adjacent brown upholstered chairs are positioned side-by-side. The left chair holds a tangled white cable, the right chair holds a rectangular white plastic storage basket with handle cutouts. A single white robotic arm is positioned to the left of the chairs, and a concrete wall with a maximum occupancy sign is visible in the background.", "global_instruction_dense": "The single robotic arm grasps sections of the white tangled cable from the left brown chair, lifts each section and places it into the white plastic basket on the right adjacent chair, then reaches into the basket to grasp the cable, lifts each section out and places it back onto the left brown chair until the basket is empty.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 277, "tasks": ["place cable"], "length": 1253, "global_instruction": "Place the white cable from the left brown chair into the white basket on the right brown chair.", "scene_description": "Two adjacent brown chairs are in an indoor room. A coiled white cable rests on the left chair, a white rectangular plastic basket sits on the right chair, and a gray occupancy limit sign is mounted on the concrete wall behind the chairs. A white robotic arm is at the upper left of the scene.", "global_instruction_dense": "The left robotic arm repeatedly grasps sections of the white coiled cable on the left brown chair, lifts each section, moves it over the white basket on the right chair, releases the cable into the basket, occasionally drops cable from the basket back onto the left chair, and finally positions its gripper above the remaining cable on the left chair at the end of the video.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 278, "tasks": ["place cable"], "length": 368, "global_instruction": "Move the white cables from the left brown chair into the white storage bin, then move them back onto the left brown chair.", "scene_description": "Two adjacent brown chairs are present. A thick white cable and a thin white cable rest on the left brown chair, a white rectangular storage bin sits on the right brown chair, and a robotic arm is positioned in the upper left area of the scene.", "global_instruction_dense": "The left robotic arm first grasps the thick white cable from the left brown chair, lifts it and places it into the white storage bin on the right brown chair, then grasps the thin white cable from the left chair, lifts and places it into the bin, next grasps both cables from the bin, lifts and places them back onto the left brown chair, before moving to a stationary position above the chairs.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 279, "tasks": ["place cable"], "length": 1113, "global_instruction": "Move the white rope from the left brown chair into the white storage basket on the right chair, then transfer the rope back onto the left brown chair.", "scene_description": "Two brown chairs are positioned side by side. A coiled white rope rests on the left chair, an empty white rectangular storage basket sits on the right chair, a right robotic arm is positioned above the scene, and a concrete occupancy limit sign is on the background wall.", "global_instruction_dense": "The right robotic arm first grasps segments of the white rope from the left brown chair, lifts and drops each segment into the white basket on the right chair, then repeatedly grasps rope segments from the basket and drops them back onto the left brown chair until nearly all rope is returned to the chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 280, "tasks": ["place cable"], "length": 523, "global_instruction": "Move the white rope from the left tan chair into the white storage bin, then move all the rope back onto the left tan chair.", "scene_description": "Two adjacent tan chairs are positioned next to a concrete wall. A coiled white rope rests on the left chair, and an empty white plastic storage bin with handle cutouts sits on the right chair. A white robotic arm is positioned above the left side of the scene.", "global_instruction_dense": "The left robotic arm moves down to grasp most of the white rope from the left chair, lifts it and places it into the white bin on the right chair, then grasps the remaining small rope piece from the left chair and places it into the bin, next grasps the full pile of rope from the bin, lifts it and places it back onto the left chair, finally grasps the last small rope piece from the bin and places it onto the rope pile on the left chair before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 281, "tasks": ["place cable"], "length": 727, "global_instruction": "Move the white wires from the left brown chair into the white basket on the right brown chair, then move them back onto the left brown chair.", "scene_description": "Two brown chairs are positioned side by side. The left chair holds a bundle of white wires, while the right chair holds an empty white rectangular basket. A white robotic arm is positioned above the scene, with a concrete wall and occupancy limit sign in the background.", "global_instruction_dense": "The left white robotic arm first grasps white wires from the left brown chair and places them into the white basket on the right brown chair, then grasps all the wires from the basket and places them back onto the left brown chair until the basket is empty.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 282, "tasks": ["place cable"], "length": 719, "global_instruction": "Move the white cables from the left brown chair to the white basket, then move the cables back to the left brown chair.", "scene_description": "Two tan brown chairs are positioned side by side. A coiled white cable rests on the left chair, and an empty white plastic basket with handle cutouts sits on the right chair. A concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm repeatedly picks white cables from the left brown chair, places them into the white plastic basket on the right brown chair, then picks cables from the basket and places them back onto the left brown chair until the basket is empty.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 283, "tasks": ["place cable"], "length": 306, "global_instruction": "Move the white tangled rope from the left brown chair into the storage bin then back onto the left brown chair.", "scene_description": "A tangled white rope sits on a left brown chair, a white and light blue plastic storage bin rests on an adjacent right brown chair, and a white robotic arm is positioned to the left of the chairs in front of a concrete wall with an occupancy limit sign.", "global_instruction_dense": "The left robotic arm moves toward the tangled white rope on the left brown chair, grasps it, lifts it, places it into the storage bin on the right brown chair, then grasps the rope from inside the bin, lifts it, places it back onto the left brown chair, then moves away from the rope.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 284, "tasks": ["place cable"], "length": 490, "global_instruction": "Move the coiled white cable from the left brown chair into the white storage box, then return the cable to the left brown chair.", "scene_description": "Two adjacent brown chairs are in an indoor space with a concrete background wall. A coiled white cable rests on the left brown chair, an open white plastic storage box sits on the right brown chair, and a white robotic arm is positioned to the left of the chairs.", "global_instruction_dense": "The left robotic arm moves toward the coiled white cable on the left brown chair, grasps it, lifts it, carries it to the white storage box on the right brown chair and releases it into the box, then grasps the cable from inside the box, lifts it, carries it back to the left brown chair, releases it onto the chair, and moves away to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 285, "tasks": ["place cable"], "length": 507, "global_instruction": "Place white cables from the left brown chair into the white box, then move the cables back onto the left chair.", "scene_description": "Two adjacent brown chairs are next to a concrete wall, with a bundle of white cables on the left chair, an open white rectangular box on the right chair, and a white robotic arm to the left of the chairs.", "global_instruction_dense": "The left robotic arm moves to the left brown chair, grasps the large bundle of white cables and places it into the white box on the right chair, then grasps the remaining small white cable on the left chair and places it into the box, then grasps all cables from inside the box, moves them back to the left brown chair, releases them onto the chair, and adjusts its position above the chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 286, "tasks": ["place cable"], "length": 274, "global_instruction": "Move the white cable from the left brown chair into the white plastic box then back onto the left brown chair", "scene_description": "Two brown chairs are placed side by side, a coiled white cable rests on the left chair, an open white plastic box sits on the right chair, and a robotic arm is positioned above the cable.", "global_instruction_dense": "The robotic gripper moves down to grasp the white cable on the left brown chair, lifts it, moves it over the white plastic box, releases it into the box, then grasps the cable from inside the box, lifts it, moves it back over the left brown chair, and releases it onto the chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 287, "tasks": ["place cable"], "length": 886, "global_instruction": "Transfer the white cable between the left brown chair and the white plastic box on the right brown chair.", "scene_description": "Two adjacent brown chairs are positioned side by side, a coiled white cable rests on the left brown chair seat, an open white rectangular plastic box sits on the right brown chair seat, a white robotic arm is at the upper left, and a concrete wall with an occupancy limit sign is on the right.", "global_instruction_dense": "The left robotic arm repeatedly grasps the white cable, moves it between the left brown chair and the white plastic box on the right brown chair, and releases it at the target location each transfer.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 288, "tasks": ["place cable"], "length": 713, "global_instruction": "Transfer white cables between the left brown chair and the white storage box on the right chair.", "scene_description": "Two brown chairs are placed side by side. A white cable rests on the left brown chair, an open white storage box sits on the right brown chair, and a robotic arm is positioned above the chairs, with a concrete wall featuring an occupancy limit sign in the background.", "global_instruction_dense": "The robotic arm first grasps the white cable on the left brown chair, moves it into the white storage box on the right chair, then grasps the cables from inside the box and moves them back onto the left brown chair.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 289, "tasks": ["place cable"], "length": 779, "global_instruction": "Move the white rope from the left yellow chair into the white storage box, then move all the rope back onto the left yellow chair.", "scene_description": "Two yellow chairs are positioned side by side, a coiled white rope rests on the left chair, an empty white open storage box sits on the right chair, a white robotic arm is located to the left of the chairs, and a concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm moves toward the coiled white rope on the left yellow chair, grasps it, lifts and places it into the white storage box on the right chair, then grasps segments of the rope from the box, moves each segment to the left yellow chair and releases it until all rope is back on the left chair, before moving away from the chairs.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 290, "tasks": ["place cable"], "length": 802, "global_instruction": "Place the white coiled cable from the left tan chair into the white storage bin on the right tan chair.", "scene_description": "Two tan chairs are positioned side by side, with a coiled white cable resting on the left chair and an empty white rectangular storage bin on the right chair; a white robotic arm is positioned to the left of the chairs against a concrete wall with an occupancy limit sign.", "global_instruction_dense": "The left robotic arm repeatedly grasps sections of the coiled white cable from the left tan chair, lifts each section, moves it over the white storage bin on the right tan chair, releases the cable into the bin, and occasionally moves cables from the bin back onto the left chair during the process.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 291, "tasks": ["place cable"], "length": 824, "global_instruction": "Pick up white cables from the left brown chair and place them into the white basket on the right brown chair.", "scene_description": "Two brown chairs are positioned adjacent to each other, with tangled white cables resting on the left chair, a white open rectangular basket with a handle cutout placed on the right chair, and a left robotic arm is positioned above the left chair, with a concrete wall in the background displaying an occupancy limit sign.", "global_instruction_dense": "The left robotic arm moves toward the tangled white cables on the left brown chair, grasps bunches of cables with its gripper, moves the grasped cables over the white basket on the right chair, releases them into the basket, and repeats this process, occasionally dropping cables back onto the left chair, to transfer cables between the chair and the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 292, "tasks": ["place cable"], "length": 336, "global_instruction": "Pick up the white rope from the brown chair and place it into the white plastic bin", "scene_description": "Two brown upholstered chairs are positioned side by side. A coiled white rope rests on the left chair, a white open plastic bin with a handle cutout sits on the right chair, a white robotic arm is on the left of the chairs, and a gray concrete wall with an occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm moves toward the coiled white rope on the left brown chair, grasps the rope, lifts and moves it over the white plastic bin on the right brown chair to release most of the rope into the bin, then moves back to grasp the remaining segment of rope left on the chair, lifts that segment, moves it over the bin, and releases it into the bin to fully transfer the rope.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 293, "tasks": ["place cable"], "length": 174, "global_instruction": "Pick the white tangled rope from the brown chair and place it into the white plastic basket.", "scene_description": "Two adjacent brown chairs are present, a white tangled rope rests on the left chair, a white open plastic basket rests on the right chair, a white robotic arm is on the left, and a concrete wall with an occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm moves toward the white tangled rope on the left brown chair, grasps the rope, lifts it, moves it over the white plastic basket on the right brown chair, then releases the rope into the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 294, "tasks": ["place cable"], "length": 672, "global_instruction": "Place all white cables from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two brown chairs are positioned side by side. White cables are piled on the left brown chair, a white plastic storage basket rests on the right brown chair, and a left robotic arm is positioned to the left of the chairs, with a concrete wall bearing an occupancy limit sign in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves down to the left brown chair, grasps a bundle of white cables, lifts the bundle, moves it over the white plastic basket on the right brown chair, and releases the bundle into the basket until all cables from the left chair are stored in the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 295, "tasks": ["place cable"], "length": 559, "global_instruction": "Move the white rope from the left tan chair into the white plastic basket on the right tan chair.", "scene_description": "Two tan chairs are positioned side by side, a coiled white rope sits on the left chair, a white plastic basket rests on the right chair, and a white robotic arm is located to the left of the chairs next to a concrete wall with an occupancy limit sign.", "global_instruction_dense": "The left robotic arm repeatedly reaches toward the white rope on the left tan chair, grasps segments of the rope, lifts each segment, moves it over the white plastic basket on the right tan chair, and releases the rope into the basket to transfer most of the rope into the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 296, "tasks": ["place cable"], "length": 394, "global_instruction": "Place all white cables from the left tan chair into the white plastic basket on the right tan chair.", "scene_description": "Two tan chairs are placed side by side. A tangled white cable rests on the left chair, a white rectangular plastic basket sits on the right chair, and a white robotic arm is positioned above the chairs with a concrete occupancy sign wall in the background.", "global_instruction_dense": "The left robotic arm moves toward the tangled white cables on the left tan chair, grasps a bundle of cables, lifts and moves them over the white basket on the right chair, releases the cables into the basket, then moves back to grasp, move, and release the remaining cable into the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 297, "tasks": ["place cable"], "length": 300, "global_instruction": "Place all white cables from the left tan chair into the white basket on the right tan chair", "scene_description": "Two tan chairs are placed side by side. A pile of white cables rests on the left chair, a white rectangular basket sits on the right chair, a white and black robotic arm is positioned above the left chair, and a concrete wall with a maximum 5 persons occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm moves toward the white cables on the left tan chair, grasps bundles of cables sequentially, lifts each bundle, moves it over the white basket on the right chair, releases the bundle into the basket, and retracts after all cables are placed in the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 298, "tasks": ["place cable"], "length": 308, "global_instruction": "Place all white cables from the left brown chair into the white basket on the right brown chair.", "scene_description": "Two adjacent brown chairs are in an indoor space: tangled white cables rest on the left chair, a white rectangular basket sits on the right chair, a white robotic arm is on the left side of the frame, and a concrete wall with an occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp a bundle of white cables on the left brown chair, lifts the cables, moves over the white basket on the right brown chair and releases the cables into the basket, then repeats the process to grasp and place the remaining cables on the left chair into the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 299, "tasks": ["place cable"], "length": 422, "global_instruction": "Place the coiled white rope from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two brown chairs are placed side by side, a coiled white rope rests on the left brown chair, a white rectangular plastic basket sits on the right brown chair, and a white robotic arm is positioned on the left side near the chairs.", "global_instruction_dense": "The left robotic arm moves toward the coiled white rope on the left brown chair, grasps and lifts the rope, moves it over the white plastic basket on the right brown chair, releases the rope into the basket, adjusts the rope's position inside the basket, then moves back away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 300, "tasks": ["place cable"], "length": 287, "global_instruction": "Place the white ropes on the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two brown chairs are placed side by side. A pile of white ropes rests on the left chair, a white plastic basket sits on the right chair, and a white robotic arm is at the upper left of the view, with a concrete wall with a maximum occupancy sign in the background.", "global_instruction_dense": "The right robotic arm moves toward the white ropes on the left brown chair, first grasps a thick white rope, lifts it, moves it over the white basket on the right chair, drops it into the basket, then returns to the left chair, grasps the remaining thinner white ropes, lifts them, moves them over the basket, drops them into the basket, and finally moves away from the chairs.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 301, "tasks": ["place cable"], "length": 290, "global_instruction": "Place the white rope from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two adjacent brown chairs are in an indoor lab space. A tangled white rope rests on the left chair, a white plastic basket sits on the right chair, and a white robotic arm is positioned above the left chair, with a concrete wall behind the chairs.", "global_instruction_dense": "Left robotic arm moves downward to grasp the white rope on the left brown chair, lifts the rope, moves it over the white plastic basket on the right chair and releases the rope into the basket, then returns to the left chair to grasp the remaining piece of white rope, lifts it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 302, "tasks": ["place cable"], "length": 243, "global_instruction": "Place the coiled white rope from the left brown chair into the white storage bin on the right brown chair.", "scene_description": "Two brown chairs are positioned next to a concrete wall. A coiled white rope rests on the left brown chair, a white open storage bin sits on the right brown chair, a white robotic arm is in the upper left area, and a gray occupancy limit sign is mounted on the concrete wall.", "global_instruction_dense": "The left robotic arm moves down toward the coiled white rope on the left brown chair, grasps the rope, lifts it, moves it over the white storage bin on the right brown chair, releases the rope into the bin, and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 303, "tasks": ["place cable"], "length": 440, "global_instruction": "Place all pieces of white rope from the left brown chair into the white storage box on the right brown chair.", "scene_description": "Two brown chairs are placed side by side, a tangled white rope sits on the left chair, a white open storage box sits on the right chair, a robotic arm is positioned to the left of the chairs, and a concrete occupancy sign is on the wall behind.", "global_instruction_dense": "The left robotic arm sequentially grasps tangled white rope pieces from the left brown chair, lifts each piece, moves it over the white storage box on the right brown chair, and drops the rope into the box until all rope is stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 304, "tasks": ["place cable"], "length": 528, "global_instruction": "Move all white cables from the left brown chair into the white basket on the right brown chair.", "scene_description": "Two adjacent brown chairs are present, with a pile of white cables on the left chair, a white open basket on the right chair, a white robotic arm is positioned to the left of the chairs, and a concrete wall with an occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves to the white cables on the left brown chair, grasps bundles of cables, moves each bundle over the white basket on the right brown chair, and releases the cables into the basket until all cables are placed in the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 305, "tasks": ["place cable"], "length": 348, "global_instruction": "Pick up all white rope from the left tan chair and place it into the white plastic bin on the right tan chair.", "scene_description": "Two tan chairs are positioned side by side. The left chair holds a coiled white rope, the right chair holds a white plastic bin and a small green book. A white robotic arm is positioned above the left chair, with a concrete occupancy sign on the background wall.", "global_instruction_dense": "The left robotic arm repeatedly grasps segments of the white rope from the left tan chair, lifts each segment, moves it over the white plastic bin on the right tan chair, and releases the rope into the bin until all rope is placed in the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 306, "tasks": ["place cable"], "length": 276, "global_instruction": "Place the white cables on the left yellow chair into the white storage box on the right yellow chair", "scene_description": "Two adjacent yellow chairs are in an indoor room. A coiled white cable is on the left yellow chair, a white storage box and a book are on the right yellow chair, a white robotic arm is at the left of the frame, and a concrete wall with an occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm moves toward the coiled white cable on the left yellow chair, grasps it, lifts and places it into the white storage box on the right yellow chair, then grasps a white cable on the left yellow chair, lifts and places it into the white storage box, then retracts away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 307, "tasks": ["place cable"], "length": 670, "global_instruction": "Place all white cables from the left tan chair into the white plastic bin on the right tan chair.", "scene_description": "Two tan side-by-side chairs are present, with a pile of white cables on the left chair, a white plastic storage bin on the right chair, a white robotic arm to the left of the chairs, and a concrete wall with an occupancy sign behind the chairs.", "global_instruction_dense": "The left robotic arm repeatedly grasps sections of white cable from the left tan chair, moves each grasped section over the white plastic bin on the right tan chair, drops the cable into the bin, and returns to the remaining cables until all cables are transferred, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 308, "tasks": ["place cable"], "length": 323, "global_instruction": "Move the white cable from the left brown chair into the white basket on the right brown chair.", "scene_description": "Two brown chairs are placed side by side. A white cable rests on the left chair, a white basket and a small green book rest on the right chair. A robotic arm is positioned to the left of the chairs, and a concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp the white cable on the left brown chair, lifts the cable and places it into the adjacent white basket, then grasps the leftover section of the cable on the chair, lifts and places that section into the basket, before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 309, "tasks": ["place cable"], "length": 303, "global_instruction": "Place the white rope from the left tan chair into the white plastic basket on the right tan chair.", "scene_description": "Two tan leather chairs are positioned side by side. A bundle of white rope rests on the left chair, a white plastic basket sits on the right chair, and a white robotic arm is located to the left of the chairs next to a concrete wall with an occupancy sign.", "global_instruction_dense": "The left robotic arm moves toward the white rope on the left tan chair, grasps the rope, lifts it, moves it over the white plastic basket on the right tan chair, lowers the rope into the basket, releases it, adjusts the rope's position inside the basket, then lifts away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 310, "tasks": ["place cable"], "length": 702, "global_instruction": "Place the coiled white rope from the left yellow chair into the white plastic box on the right yellow chair.", "scene_description": "Two adjacent yellow chairs are positioned against a gray concrete wall with a maximum occupancy sign, a coiled thick white rope rests on the left yellow chair seat, a white plastic storage box sits on the right yellow chair seat, and a white robotic arm is positioned to the left of the chairs.", "global_instruction_dense": "The left robotic arm repeatedly moves toward the coiled white rope on the left yellow chair, grasps sections of the rope, lifts each section, moves it over the white box on the adjacent yellow chair, and releases the rope into the box until all of the rope is placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 311, "tasks": ["place cable"], "length": 765, "global_instruction": "Transfer all white rope from the left mustard yellow chair into the white storage bin on the right chair.", "scene_description": "Two mustard yellow chairs are placed side by side. A pile of white rope rests on the left chair, while a white open storage bin and a small green book sit on the right chair. A white robotic arm is positioned above the left chair, with a concrete occupancy limit sign on the background wall.", "global_instruction_dense": "The left robotic arm repeatedly grasps segments of white rope from the left chair, lifts each segment, moves it over the white storage bin on the right chair, releases the rope into the bin, and returns to the left chair until all rope is placed inside the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 312, "tasks": ["place cable"], "length": 1072, "global_instruction": "Transfer the white ropes from the left brown chair into the white basket in front of the chairs.", "scene_description": "Two brown upholstered chairs are positioned side by side, with a pile of thick white ropes resting on the left chair, a green and brown book on the right chair, and a white rectangular basket with a handle placed in front of the chairs. A white robotic arm is positioned above the left side of the scene, before a grey concrete wall with a maximum occupancy sign.", "global_instruction_dense": "The left robotic arm repeatedly moves toward the white ropes on the left brown chair, grasps segments of the rope, lifts each segment, moves it over the white basket in front of the chairs, releases the rope into the basket, and returns to the chair, until the majority of the rope is transferred to the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 313, "tasks": ["place cable"], "length": 1102, "global_instruction": "Pick up the white rope from the left chair and place all its segments into the white basket on the right chair.", "scene_description": "Two golden-brown upholstered chairs are placed side by side. A coiled white rope rests on the left chair, a white rectangular plastic basket sits on the right chair, and a white robotic arm is positioned to the left of the chairs.", "global_instruction_dense": "The left robotic arm repeatedly grasps individual segments of the coiled white rope on the left chair, lifts each segment, moves it rightward over the white plastic basket on the adjacent right chair, and drops the segment into the basket until nearly the entire rope is transferred to the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 314, "tasks": ["place cable"], "length": 849, "global_instruction": "Place all white cables from the left tan chair into the white storage basket.", "scene_description": "Two tan leather chairs are side by side, coiled white cables rest on the left chair, a white open rectangular storage basket sits on the lower right chair, a white robotic arm is positioned above the left chair, and a gray occupancy sign is on the right wall.", "global_instruction_dense": "The left robotic arm repeatedly reaches toward the coiled white cables on the left tan chair, grasps sections of the cables, lifts each section, moves it over the white storage basket, and releases the cable into the basket until most cables are transferred to the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 315, "tasks": ["place cable"], "length": 917, "global_instruction": "Place the coiled white rope from the left brown chair into the white plastic basket on the right brown chair.", "scene_description": "Two adjacent brown upholstered chairs are in an indoor room, with a coiled white rope on the left chair, a white plastic basket on the right chair, and a concrete wall with an occupancy sign in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves toward the coiled white rope on the left brown chair, grasps segments of the rope, lifts each segment, moves it over the white plastic basket on the adjacent right brown chair, and drops the segment into the basket until most of the rope is placed inside the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 316, "tasks": ["place cable"], "length": 797, "global_instruction": "Place all white cables from the left brown chair into the white plastic storage basket.", "scene_description": "Two brown upholstered chairs are placed side by side. On the left chair, a black gripper mounting assembly rests on a pile of thick and thin white cables. The right chair holds a small light green book. A white rectangular plastic storage basket with side handles sits on a third brown chair in the foreground. A concrete wall in the background has a maximum occupancy sign.", "global_instruction_dense": "The left robotic arm first moves the mounting clamp away from the white cables on the left brown chair, then repeatedly grasps individual white cables, lifts each, moves it over the white storage basket, and releases it into the basket until most cables are deposited.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 317, "tasks": ["place cable"], "length": 1046, "global_instruction": "Place all white ropes from the right brown seat into the white plastic storage box.", "scene_description": "Two adjacent brown leather seats are visible, with a white rectangular plastic storage box on the left seat, multiple loose white ropes on the right seat, and a gray wall with an occupancy limit sign in the background.", "global_instruction_dense": "The right robotic arm repeatedly moves down to grasp a white rope from the right brown seat, lifts the rope, moves it over the white storage box on the left seat, releases the rope into the box, and returns to the right seat to grasp another rope until all ropes are placed in the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 318, "tasks": ["place cable"], "length": 1143, "global_instruction": "Place the white cables on the tan leather chairs into the white plastic basket.", "scene_description": "A white rectangular plastic basket sits on the left of two adjacent tan leather chairs, a coiled white cable rests on the right portion of the chairs, a gray concrete wall with an occupancy limit sign is to the right, and a black-and-white calibration board is visible at the left frame edge.", "global_instruction_dense": "The right robotic gripper repeatedly descends to grasp segments of the coiled white cable on the tan leather chairs, lifts each grasped cable segment, moves it over the white plastic basket to the left, releases the cable into the basket, and returns to grasp more cable until all cable segments are placed inside the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 319, "tasks": ["place cable"], "length": 976, "global_instruction": "Place all white ropes from the lower tan chair seat into the white open storage box on the upper chair seat.", "scene_description": "A white open storage box with handle cutouts sits on the upper seat of a tan leather two-seat chair, multiple white ropes are laid on the lower seat of the chair, a black-and-white checkered calibration board is on a stand to the left of the chair, and a grey wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The right robotic gripper repeatedly grasps individual white ropes from the lower seat of the tan chair, lifts each rope, moves it over the white open storage box on the upper chair seat, and releases the rope into the box until all ropes are stored.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 320, "tasks": ["place cable"], "length": 1348, "global_instruction": "Pick up the white ropes from the tan leather sofa and place them into the white plastic basket.", "scene_description": "A white rectangular plastic basket with handle cutouts rests on a tan leather sofa, multiple white ropes lie on the sofa to the right of the basket, a white robotic arm is positioned above the basket, a black and white calibration board is on a stand to the left of the sofa, and a grey wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The right robotic arm grasps each white rope from the tan leather sofa individually, lifts each rope, moves it over the white plastic basket, releases it into the basket, then adjusts the gathered ropes inside the basket before lifting to rest above the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 321, "tasks": ["place cable"], "length": 833, "global_instruction": "Place the white charging cables on the brown bench seat into the white plastic storage box.", "scene_description": "A white square plastic storage box with handle cutouts rests on a brown leather bench seat. Several white charging cables lie on the seat next to the box, a black-and-white checkerboard calibration board sits on a dark table to the left of the bench, and a robotic arm is positioned above the bench.", "global_instruction_dense": "The right robotic gripper repeatedly grasps individual white charging cables from the brown bench seat, lifts each cable, moves it over the white plastic storage box, and releases it into the box until all visible cables are placed inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 322, "tasks": ["place cable"], "length": 934, "global_instruction": "Place all white data cables on the brown chairs into the white plastic storage box.", "scene_description": "A white open plastic storage box, multiple white data cables, and a white robotic arm are on brown upholstered chairs. A gray concrete wall with an occupancy limit sign is in the background, and a calibration board sits at the left of the view.", "global_instruction_dense": "The right robotic arm repeatedly moves to a white data cable on the brown chairs, grasps the cable, lifts it, moves it over the open white plastic storage box, releases the cable into the box, and repeats until all targeted cables are placed inside the box before returning to a resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 323, "tasks": ["place cable"], "length": 888, "global_instruction": "Place all white cables from the chair into the white plastic box.", "scene_description": "A white open plastic box rests on brown leather chairs, multiple white cables lie on the chair to the right of the box, and a checkerboard calibration board is visible on the left edge of the frame.", "global_instruction_dense": "The right robotic arm sequentially grasps each white cable from the chair surface next to the box, lifts each cable, moves it over the box, and releases it into the box until all cables are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 324, "tasks": ["place cable"], "length": 957, "global_instruction": "Place the white cables from the brown chair into the white plastic basket.", "scene_description": "A white plastic basket sits on a brown upholstered chair, white cables are scattered on the chair surface next to the basket, and a checkerboard calibration board is at the left edge of the view.", "global_instruction_dense": "The left robotic arm repeatedly reaches toward white cables scattered on the brown chair, grasps each cable, lifts it, moves over the white plastic basket, and releases the cable into the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 325, "tasks": ["place cable"], "length": 679, "global_instruction": "Place all loose white cables from the brown chairs into the white storage box.", "scene_description": "A white rectangular storage box with side handles sits on two adjacent brown leather chairs. Loose white cables rest on the chairs next to the box, a white robotic arm is in the upper left background, and a gray wall with an occupancy limit sign is on the right.", "global_instruction_dense": "The right robotic arm repeatedly grasps individual white cables resting on the brown chairs beside the white storage box, lifts each cable, moves it over the open box, releases the cable to drop it inside, and moves back to pick the next cable until multiple cables are stored in the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 326, "tasks": ["place cable"], "length": 882, "global_instruction": "Place all white data cables from the brown chair into the adjacent white storage box.", "scene_description": "A white rectangular storage box sits on the seat of a brown chair, multiple loose white data cables rest on the seat of an adjacent brown chair, and a grey concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm moves toward the white data cables on the brown chair, successively grasps individual white cables, lifts each cable, moves it over the white storage box on the adjacent brown chair, releases the cable into the box, and repeats this process to deposit multiple cables into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 327, "tasks": ["place cable"], "length": 642, "global_instruction": "Place the white ropes on the tan chair into the white open box on the chair.", "scene_description": "A white open storage box sits on a tan upholstered chair, multiple white ropes lie on the chair seat next to the box, a gray wall with an occupancy limit sign is in the background, and a black-and-white checkered mat is on a table to the left of the chair.", "global_instruction_dense": "The right robotic arm sequentially grasps individual white ropes from the tan chair seat, lifts each rope, moves it over the white open box on the chair, and releases each rope into the box to deposit multiple ropes inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 328, "tasks": ["place cable"], "length": 796, "global_instruction": "Place all white cables on the brown chairs into the white plastic storage box.", "scene_description": "A lidded white plastic storage box sits on two brown leather chairs, a coiled white cable rests on the right chair, a checkered calibration board is on a table to the left, a white robotic arm is in the upper left view, and a grey wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm first removes the lid from the white storage box to open it, then repeatedly grasps individual white cables on the brown chairs, lifts each cable, moves it over the open box, and releases the cable into the box until all loose cables are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 329, "tasks": ["place cable"], "length": 716, "global_instruction": "Place all segments of the white rope from the brown leather seat into the white storage box.", "scene_description": "A white rectangular storage box with cutout handles rests on the left of two adjacent brown leather seats. A length of white rope lies on the right brown seat, and a white robotic arm is positioned above the storage box, with a gray concrete wall featuring an occupancy sign in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves toward the white rope on the right brown seat, grasps a segment of the rope, lifts it, moves over the white storage box on the left brown seat, releases the rope into the box, and repeats until all rope is stored in the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 330, "tasks": ["place cable"], "length": 2167, "global_instruction": "Place all the white cables on the brown leather couch into the white plastic basket.", "scene_description": "A white plastic basket with a white lid, multiple white cables, and a robotic arm are positioned on a brown leather couch. A gray concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The robotic arm first removes the lid from the white plastic basket on the brown leather couch, then repeatedly grasps the white cables lying on the couch, lifts each cable, moves it over the basket, releases it into the basket, and adjusts the cables inside the basket to fit all of them.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 331, "tasks": ["place cable"], "length": 944, "global_instruction": "Place all white ropes from the right mustard chair into the white storage basket on the left chair.", "scene_description": "Two mustard yellow leather chairs are positioned side by side, a white square storage basket sits on the left chair, multiple white ropes lie on the right chair, a concrete wall with an occupancy limit sign is in the background, and a calibration board is at the left edge of the frame.", "global_instruction_dense": "The left robotic arm repeatedly approaches the white ropes on the right mustard chair, grasps each rope, moves it over the white storage basket on the left chair, and releases the rope into the basket until all ropes are inside the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 332, "tasks": ["place cable"], "length": 1028, "global_instruction": "Place the white ropes from the right brown seat into the white plastic box on the left brown seat.", "scene_description": "A white square plastic storage box rests on the left of two adjacent brown leather seats, a pile of white ropes lies on the right seat, a white robotic arm is positioned above the seats, and a gray concrete wall with an occupancy limit sign is in the background.", "global_instruction_dense": "The left robotic arm repeatedly grasps segments of the white rope pile on the right brown seat, lifts each grasped rope segment, moves it over the white plastic box on the left seat, releases the rope into the box, and returns to the rope pile to grasp another rope until multiple ropes are deposited in the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 333, "tasks": ["place cable"], "length": 1209, "global_instruction": "Place all white cables on the tan leather sofa into the white rectangular basket.", "scene_description": "A white open rectangular basket with cutout handles sits on a tan leather sofa. Multiple white cables are scattered on the sofa seat next to the basket, a black-and-white checkerboard calibration mat is on a surface to the left of the sofa, and a grey concrete wall with an occupancy limit sign is on the right.", "global_instruction_dense": "The right robotic arm repeatedly grasps individual white cables scattered on the tan leather sofa, lifts each cable, moves it over the white rectangular basket on the sofa, and releases the cable into the basket to store the cables.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 334, "tasks": ["place cable"], "length": 763, "global_instruction": "Place all loose white cables from the tan chairs into the white storage box.", "scene_description": "A black table with a black-and-white checkerboard mat is on the left. To the right, two tan leather chairs hold a closed white rectangular storage box on the left chair, and loose white cables on the right chair. A wall sign indicating maximum 5 person occupancy is visible in the background.", "global_instruction_dense": "The left robotic arm first removes the lid from the closed white storage box on the tan chair, then repeatedly grasps loose white cables from the adjacent chair, lifts each cable over the open storage box, and releases it into the box until all cables are stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 335, "tasks": ["place cable"], "length": 955, "global_instruction": "Open the white storage box and place all white cables from the chairs into the box.", "scene_description": "A closed white lidded square storage box rests on two adjacent tan leather chairs, loose white cables sit on the chairs next to the box, a white robotic arm is positioned in the upper left, and a black-and-white checkerboard calibration board sits on a black table to the far left.", "global_instruction_dense": "The left robotic arm first grasps and removes the lid from the closed white storage box on the tan chairs, then repeatedly grasps white cables from the chairs, lifts each cable, and drops it into the open storage box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 336, "tasks": ["place cable"], "length": 725, "global_instruction": "Place the white cables from the brown chair into the white storage box.", "scene_description": "A white open storage box rests on the left of two adjacent brown chairs, with loose white cables laid on the right brown chair. A concrete wall with a maximum occupancy sign is to the right, a tripod camera rig is in the back left, and a black-and-white checkerboard calibration board is at the left edge of the view.", "global_instruction_dense": "The right robotic arm moves toward the white cables on the brown chair, repeatedly grasps individual white cables, lifts each cable, moves it over the white storage box, and releases it into the box until all cables are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 337, "tasks": ["place cable"], "length": 723, "global_instruction": "Place all white data cables on the tan leather chair into the white basket.", "scene_description": "A white open rectangular basket sits on a tan leather chair, a white data cable rests partially inside the basket and partially on the chair seat, a robotic arm is positioned above the basket, a gray wall with a maximum occupancy sign is in the background, and a black-and-white calibration board is on the left edge of the frame.", "global_instruction_dense": "The right robotic arm repeatedly moves down to grasp a white data cable from the tan chair seat, lifts the cable, moves it over the white basket, and releases it into the basket until all cables are stored in the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 338, "tasks": ["place cable"], "length": 867, "global_instruction": "Place all white cables from the seats into the white storage box.", "scene_description": "A closed white rectangular storage box with handle slots and a bundle of white cables are placed on tan leather seats, with a gray wall featuring a maximum occupancy sign to the right of the seats.", "global_instruction_dense": "The right robotic arm first removes the lid from the closed white storage box on the tan seats, then repeatedly grasps segments of the white cables on the seats, lifts them, moves them over the open box, and releases them into the box until all cables are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 339, "tasks": ["place cable"], "length": 882, "global_instruction": "Pick the white ropes on the tan leather seats and place them into the white basket.", "scene_description": "A white open rectangular basket is placed on a row of tan leather seats, multiple white ropes are laid on the seats beside the basket, a single robotic arm is positioned above the basket, and a grey wall with a maximum occupancy sign is in the background.", "global_instruction_dense": "The single robotic arm repeatedly moves down to grasp a white rope on the tan leather seats, lifts the grasped rope, moves it over the white open basket, releases the rope into the basket, and repeats this process for each rope on the seats until all ropes are placed in the basket.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 340, "tasks": ["place cable"], "length": 830, "global_instruction": "Place the white cables from the leather chair into the white storage box.", "scene_description": "A white open storage box rests on the left cushion of a two-seat light brown leather chair, multiple white cables lie on the right cushion of the chair, and a grey concrete wall with a black occupancy limit sign is in the background.", "global_instruction_dense": "The right robotic arm moves toward the white cables on the right cushion of the light brown leather chair, sequentially grasps each cable, lifts it, moves it over the white storage box on the left cushion, releases it into the box, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 341, "tasks": ["place cable"], "length": 1228, "global_instruction": "Place the white cables from the chair seat into the white storage box.", "scene_description": "A white rectangular storage box with handle cutouts rests on tan leather chairs, several white cables lie on the chair seat in front of the box, and a concrete wall with a 'MAXIMUM OCCUPANCY NOT TO EXCEED 5 PERSONS' sign is in the background.", "global_instruction_dense": "The left robotic gripper moves into the frame above the tan chairs, then repeatedly grasps individual white cables from the chair seat, lifts each cable, moves it over the white storage box, and releases the cable into the box to store multiple cables inside the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 342, "tasks": ["place cable"], "length": 919, "global_instruction": "Pick up white ropes from the brown chair and place them into the white storage bin.", "scene_description": "Brown leather chairs hold a white rectangular storage bin with handle cutouts and several coiled white ropes, with a white robotic arm positioned above the ropes, a gray concrete wall with an occupancy sign on the right, and a black-and-white checkerboard calibration mat on the left.", "global_instruction_dense": "The left robotic arm repeatedly grasps individual white ropes from the brown leather chair, lifts each rope, moves it over the adjacent white rectangular storage bin, releases the rope into the bin, and returns to grasp the next rope until all ropes are placed in the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 343, "tasks": ["place cable"], "length": 810, "global_instruction": "Place all segments of the white rope from the right brown bench seat into the white storage bin on the left brown bench seat.", "scene_description": "Two connected brown leather bench seats are present. A white open rectangular storage bin sits on the left bench seat, a folded white rope rests on the right bench seat, and a gray concrete wall with a maximum occupancy sign is in the background.", "global_instruction_dense": "The left robotic arm moves into the frame, repeatedly grasps individual segments of the white rope from the right bench seat, lifts each segment, moves it over the white storage bin on the left bench seat, releases the segment into the bin, and finally retracts out of the frame once multiple segments are placed in the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 344, "tasks": ["place cable"], "length": 1322, "global_instruction": "Place the white braided rope onto the curved black rail of the wooden ramp structure.", "scene_description": "A white braided rope is laid straight on a wooden curved ramp structure on a tabletop, with an orange and various office supplies on surrounding desks in an office workspace.", "global_instruction_dense": "The right robotic gripper approaches the white braided rope on the wooden ramp, grasps its left end to place it on the left edge of the curved black rail, then grasps the right end to place it on the right section of the rail, adjusts the rope to fit along the full length of the rail, and finally moves away from the ramp.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 345, "tasks": ["place cable"], "length": 276, "global_instruction": "Remove the white braided rope from the curved black rail, place it flat on the worktable, then return the rail to its original position.", "scene_description": "A light brown wooden worktable is at the center, with a curved black rail holding a white braided rope on its left edge. A left background table holds a snack bag, black bowl, gray tape, and small items, while a right background table has an orange tomato.", "global_instruction_dense": "The right robotic arm moves toward the white braided rope attached to the curved black rail, grasps the rope, pulls it off the rail and places it flat on the wooden table, then lifts the rail away temporarily before returning it to its original position on the table edge.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 346, "tasks": ["place cable"], "length": 511, "global_instruction": "Place the white rope onto the curved black fixture on the work surface.", "scene_description": "A white rope lies on a light wooden work surface, with a curved black and cardboard fixture to its left. Background includes office tables holding a snack bag, black bowl, orange, and office equipment.", "global_instruction_dense": "The robotic arm moves down to grasp one end of the white rope, places that end on the left side of the curved fixture, then grasps the opposite end of the rope, places it on the right side of the curved fixture, and adjusts the rope to fit fully along the fixture.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 347, "tasks": ["place cable"], "length": 381, "global_instruction": "Lift the white braided rope from the black rail and place it flat on the wooden ramp surface.", "scene_description": "A light wooden sloped ramp with a curved cutout sits on a metal cart, with a white braided rope attached to its black upper curved rail. Office tables with snacks, an orange, and camera equipment are in the background.", "global_instruction_dense": "The right robotic arm moves toward the white braided rope attached to the black curved rail on the wooden ramp, grasps the rope, lifts it away from the rail, lays it flat on the ramp surface, then releases the rope and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 348, "tasks": ["place cable"], "length": 759, "global_instruction": "Place the gray rope along the curved black fixture at the edge of the workbench.", "scene_description": "A light wooden workbench with a curved cutout has a gray rope laid flat on its surface. Two office desks are in the background: the left desk holds a snack bag, black bowl with a small plant, and tape roll, while the right desk has an orange tomato, with filing cabinets visible further back.", "global_instruction_dense": "The right robotic gripper first moves to the left end of the gray rope on the workbench, grasps and places that end onto the curved black fixture at the workbench edge, then moves to the rope's middle section, grasps and positions that part onto the fixture, and finally moves to the rope's right end, grasps and adjusts the remaining length to fully seat the entire rope along the curved fixture.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 349, "tasks": ["place cable"], "length": 280, "global_instruction": "Remove the white braided rope from the curved black holder and place it on the wooden worktable.", "scene_description": "A curved black holder with an attached white braided rope rests on a light wooden worktable, with adjacent office tables holding an orange, a snack bag, and small office supplies.", "global_instruction_dense": "The right robotic gripper moves toward the white braided rope attached to the curved black holder, grasps the rope, pulls it free from the holder, moves it across the worktable, and lays it flat on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 350, "tasks": ["place cable"], "length": 538, "global_instruction": "Place the gray flexible rope into the black curved slot on the table.", "scene_description": "A light wood table holds a gray flexible rope with a silver metallic end and a black curved slot fixture to the left of the rope. A secondary desk with snacks and office items is in the background.", "global_instruction_dense": "The right robotic gripper first moves to the upper end of the gray rope, grasps and places that end into the right side of the black curved slot, then moves to the rope's silver lower end, lifts and places it into the left side of the slot, and adjusts the rope to fit fully into the curved slot.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 351, "tasks": ["place cable"], "length": 806, "global_instruction": "Place the gray rope onto the curved black fixture on the tabletop.", "scene_description": "A light wood tabletop has a bent gray rope laid on its surface, a curved black fixture with cardboard edging sits on the left of the table, and office tables with miscellaneous items are in the background.", "global_instruction_dense": "The right robotic gripper approaches the gray rope on the tabletop, grasps its middle, lifts and places one end of the rope on the left section of the curved black fixture, then moves to grasp the opposite end of the rope, lifts and adjusts it to fully rest on the curved fixture.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 352, "tasks": ["place cable"], "length": 1130, "global_instruction": "Place the white braided rope into the curved guide structure on the worktable.", "scene_description": "A light wooden worktable has a white braided rope with a metallic tip lying flat, next to a curved black and light wood guide structure on its left. Background has office furniture: another table with snacks and tools, an orange on a right-side table, gray storage cabinets, and chairs.", "global_instruction_dense": "The right robotic gripper enters the frame, moves to grasp the metallic left end of the white braided rope, places the end into the curved guide, then moves to grasp the rope's right end, lifts and arranges the full rope length to fit inside the curved guide, releases the rope, and makes a final adjustment to the rope's placement before finishing.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 353, "tasks": ["place cable"], "length": 247, "global_instruction": "Remove the white braided cable from the curved black base and place it flat on the wooden table.", "scene_description": "A white braided cable attached to a curved black base rests on a light wooden worktable. Background desks hold a snack bag, black bowl, orange, and dark filing cabinets are at the rear.", "global_instruction_dense": "The right robotic gripper moves toward the white braided cable attached to the curved black base, grasps it, pulls it free from the base, then places it flat on the light wooden worktable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 354, "tasks": ["place cable"], "length": 287, "global_instruction": "Remove the white braided rope from the curved black rubber strip and lay it flat on the wooden cart tabletop.", "scene_description": "A light brown wooden cart holds a curved black rubber strip with a white braided rope resting on it, with office desks holding an orange, snack bag, and supplies in the background.", "global_instruction_dense": "The right robotic gripper moves to grasp the silver-tipped end of the white braided rope attached to the curved black rubber strip, pulls the end free from the strip, sets it on the cart surface, moves to grasp the opposite end of the rope, and lays that end flat on the cart to fully extend the rope on the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 355, "tasks": ["place cable"], "length": 913, "global_instruction": "Place the curved gray rope into the curved black fixture on the worktable.", "scene_description": "A light wood worktable holds a curved gray rope with silver metal ends laid flat, and a curved black cardboard fixture on the left of the rope; background desks have office items including a snack bag, a black bowl with red fruit, and an orange.", "global_instruction_dense": "The robotic gripper descends to grasp the lower end of the curved gray rope on the worktable, lifts and aligns the end with the left slot of the curved fixture, inserts the lower end into the slot, moves to grasp the upper end of the rope, aligns it with the right slot, inserts the upper end, adjusts the rope to fit fully into the fixture, then releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 356, "tasks": ["place cable"], "length": 288, "global_instruction": "Lay the full length of the white braided rope flat on the wooden table.", "scene_description": "A light brown wooden table holds a curved black object with a white braided silver-tipped rope attached to its left end. Additional tables with an orange, chip bag, black bowl, and tools are in the background, with a black robotic gripper above the rope.", "global_instruction_dense": "The right robotic gripper grasps the upper silver-tipped end of the white braided rope, pulls it across the table to lay one end down, adjusts the other end of the rope to position the entire rope flat on the table surface, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 357, "tasks": ["place cable"], "length": 876, "global_instruction": "Place the white flexible rope fully into the arched cutout slot on the wooden worktable.", "scene_description": "A white flexible rope rests on a wooden worktable with an arched cutout slot, with surrounding office desks holding a snack bag, small bowl, red tomato, and assorted tools, plus a trash bin under the left desk.", "global_instruction_dense": "The right robotic gripper enters the workspace, grasps different segments of the white rope, positions each section sequentially into the curved arched slot on the wooden table, adjusts the rope to fully fit the slot's shape, and exits the workspace once the rope is properly seated.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 358, "tasks": ["place cable"], "length": 282, "global_instruction": "Place the gray rope from the curved rail onto the sloped worktable surface.", "scene_description": "A gray rope rests along a curved cardboard and black plastic rail attached to the left edge of a light wooden sloped worktable. In the background, two wooden desks hold miscellaneous items including a snack bag, small potted plant, gray tape, and an orange fruit.", "global_instruction_dense": "The right robotic arm moves toward the gray rope on the curved rail, grasps the rope, pulls it off the rail, adjusts its position on the worktable surface, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 359, "tasks": ["place cable"], "length": 240, "global_instruction": "Lay the gray braided rope flat on the sloped wooden work surface.", "scene_description": "A sloped light wooden work surface with a gray braided rope resting on its curved upper edge is in the foreground. A left desk holds a snack bag, small black bowl, tape and papers, while a right desk has an orange fruit, with office cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves toward the lower end of the gray braided rope on the curved upper edge of the sloped work surface, grasps it, pulls it down and places it on the sloped surface, then moves to the upper end of the rope, grasps it, lays it flat on the top part of the surface, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 360, "tasks": ["place cable"], "length": 673, "global_instruction": "Drape the grey rope over the curved edge of the sloped wooden work surface.", "scene_description": "A light grey rope lies on a sloped light brown wooden work surface with a curved cutout, mounted on a metal cart. Two office desks holding items including a snack bag, small black bowl, tape roll, and orange are visible in the background, with office cabinets beyond them.", "global_instruction_dense": "The right robotic gripper moves above the grey rope on the sloped wooden work surface, grasps one end, places it over the left side of the curved cutout edge, moves to grasp the opposite end of the rope, places that end on the far side of the curved edge, adjusts the rope to sit properly, then moves away, leaving the rope fully draped over the curve.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 361, "tasks": ["place cable"], "length": 1218, "global_instruction": "Place the white braided rope along the length of the curved black rail on the wooden cart.", "scene_description": "A white braided rope lies flat on the light brown wooden surface of a rolling cart, positioned next to a curved black rail mounted above an arched cutout in the wood; background office tables hold miscellaneous items including an orange, a chip bag, and small containers.", "global_instruction_dense": "The robotic gripper repeatedly grasps segments of the white braided rope, lifts and positions each segment onto the curved black rail, briefly flips the rail to adjust alignment, and adjusts the rope until it rests evenly along the entire length of the rail.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 362, "tasks": ["place cable"], "length": 691, "global_instruction": "Place the silver braided rope into the curved black track on the worktable.", "scene_description": "A light wood worktable holds a curved black track structure and a silver braided rope; adjacent background tables hold office supplies and an orange tomato.", "global_instruction_dense": "The robotic arm moves toward the silver braided rope on the worktable, grasps different segments of the rope to reposition it, lifts one end of the rope, and fits the full length of the rope into the curved black track.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 363, "tasks": ["place cable"], "length": 442, "global_instruction": "Place the light gray rope into the curved slot on the tabletop.", "scene_description": "A light gray rope lies flat on a light brown wooden tabletop with a curved black-and-wood slot structure, with other tables holding items like an orange and a snack bag visible in the background.", "global_instruction_dense": "The right robotic arm moves into position above the light gray rope, grasps one end of the rope, lifts and adjusts the rope to align with the curved slot, places the full length of the rope into the slot, then releases the rope and retracts.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 364, "tasks": ["place cable"], "length": 250, "global_instruction": "Place the white braided rope from the curved holder onto the wooden worktable surface.", "scene_description": "A light wooden worktable with a curved cutout is in the foreground, with a white braided rope with metallic ends resting on a black curved holder at its upper edge. Background desks hold miscellaneous items including a snack bag, tape, and an orange fruit.", "global_instruction_dense": "The left robotic arm moves toward the white braided rope on the curved holder, grasps one end, pulls it down onto the wooden worktable, then grasps the opposite end of the rope and pulls it to lay the entire rope on the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 365, "tasks": ["place cable"], "length": 488, "global_instruction": "Hang the white flexible cord onto the black curved fixture on the tabletop.", "scene_description": "A white flexible cord lies on a light wooden tabletop, next to a black curved fixture at the table's left edge. Background office tables hold snacks, an orange, and equipment, with storage cabinets behind.", "global_instruction_dense": "The right robotic gripper grasps one end of the white cord on the tabletop, lifts and places it on the black curved fixture, then grasps the other end of the cord, lifts it, and places it on the opposite side of the black curved fixture to hang the cord fully.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 366, "tasks": ["place cable"], "length": 227, "global_instruction": "Place the white rope from the left rail onto the worktable surface.", "scene_description": "A white flexible rope rests on a black rail fixed to the left edge of a light wooden worktable. Other tables with colorful blocks, a VR rig, and office furniture are in the surrounding background.", "global_instruction_dense": "The left robotic gripper moves toward the white rope on the worktable's left rail, grasps the rope, pulls it onto the worktable surface, adjusts its position, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 367, "tasks": ["place cable"], "length": 670, "global_instruction": "Place the white flexible rope along the black long bar at the edge of the worktable.", "scene_description": "A white flexible rope rests on a light wooden worktable, with a black long straight bar mounted on a wooden block at the left edge of the worktable. Small colorful blocks sit on a table to the upper left, and VR equipment is positioned on hardware to the right of the worktable.", "global_instruction_dense": "The right robotic gripper moves down to grasp one end of the white rope on the worktable, lifts the end, places it onto the left end of the black bar, releases the end, moves to grasp the opposite end of the rope, lifts it, arranges the full length of the rope along the black bar, then releases the end and moves away to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 368, "tasks": ["place cable"], "length": 203, "global_instruction": "Pick the white braided rope from the curved black support and place it on the flat wooden tabletop.", "scene_description": "A white braided rope rests on a curved black support piece on a light wooden tabletop, with adjacent tables holding small colorful blocks and VR equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the end of the white braided rope on the curved black support, grasps the rope, pulls it across the support, moves it onto the flat wooden tabletop, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 369, "tasks": ["place cable"], "length": 145, "global_instruction": "Move the loose end of the black cable to the area near the attached white charging plug on the table.", "scene_description": "A black table holds a black charging cable attached to a white plug on its right side, and a white circular object at the far left edge of the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm descends toward the loose left end of the black cable on the table, grasps the cable end, lifts and moves it rightward toward the white charging plug connected to the other end of the cable, then releases it next to the plug.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 370, "tasks": ["place cable"], "length": 120, "global_instruction": "Move the free end of the black USB cable to the left side of the black table.", "scene_description": "A black table holds a white USB adapter with a coiled black cable on its right half, and a white circular object on its left half. The background is an office workspace with desks, monitors, chairs and storage boxes.", "global_instruction_dense": "The right robotic arm moves down toward the free end of the black USB cable on the table, grasps the cable end, lifts it, moves it leftward across the table, places it down, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 371, "tasks": ["place cable"], "length": 148, "global_instruction": "Move one end of the coiled blue cable to a new position on the black table.", "scene_description": "A coiled blue cable rests on the right portion of a black table, a white round object sits on the left side of the table, and an office workspace with desks, monitors, and equipment is in the background with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm descends from above the table, grasps the left end of the coiled blue cable, lifts it, moves it to the right side of the coiled cable, places it on the table, then lifts and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 372, "tasks": ["place cable"], "length": 283, "global_instruction": "Reposition the two ends of the blue Ethernet cable on the black tabletop.", "scene_description": "A blue Ethernet cable is coiled on the center of a black table, a white circular object sits on the left of the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves into view, grasps one end of the blue Ethernet cable, lifts and moves it to the left side of the black table and releases it, then moves back to grasp the other end of the cable, lifts and moves it to the upper right area of the table and releases it before retracting away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 373, "tasks": ["place cable"], "length": 662, "global_instruction": "Move the white charging adapter to the right table side and place the loose black cable end near the left purple tissue box.", "scene_description": "A white table surrounded by wooden chairs sits in a room with white closed doors in the background, a purple tissue box is on the left section of the table, and a white charging adapter connected to a black cable rests at the table center.", "global_instruction_dense": "The right robotic arm enters the frame from above, grasps the white charging adapter at the table center, moves and releases the adapter on the right table side, then grasps the loose end of the black charging cable, pulls the cable end left toward the purple tissue box, and releases the cable end on the left table section next to the tissue box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 374, "tasks": ["place cable"], "length": 582, "global_instruction": "Move the white cable adapter from the right side of the table to the area near the purple tissue box on the left.", "scene_description": "A purple tissue box and a black cable with a white adapter are placed on a light-colored table. The tissue box is on the left of the table, the cable and adapter are on the right, with wooden chairs around the table and white doors in the background.", "global_instruction_dense": "The right robotic arm enters the frame, first moves to the left end of the black cable near the tissue box, grasps the cable end to adjust the cable's position, then moves to the white adapter on the right, grasps the adapter, lifts and moves it leftward, and places it near the purple tissue box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 375, "tasks": ["place cable"], "length": 613, "global_instruction": "Move the white connector end of the black cable to the table edge next to the purple tissue box.", "scene_description": "A purple tissue box rests on the left of a white table, a black cable with a white connector sits at the table center, and three wooden chairs surround the table with white doors in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the white cable connector at the table center, grasps the connector, pulls the cable left across the table to the edge adjacent to the purple tissue box, then releases the connector and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 376, "tasks": ["place cable"], "length": 621, "global_instruction": "Move the black charging cable and its white adapter to the center of the white table.", "scene_description": "A white table has a purple tissue box on its left, a black charging cable with a white adapter on its right, and wooden chairs around it.", "global_instruction_dense": "The right robotic arm first moves to, grasps, and moves the loose end of the black cable near the tissue box to the table center and releases it, then moves to the white charging adapter on the right table side, grasps it, moves it to the table center, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 377, "tasks": ["place cable"], "length": 605, "global_instruction": "Place the free end of the black USB cable next to the purple tissue box on the table.", "scene_description": "A purple tissue box, a white USB adapter attached to a coiled black cable are positioned on a white tabletop. Three wooden chairs surround the table, with white closed doors in the background.", "global_instruction_dense": "The right robotic arm enters the scene from above, first grasps and slightly adjusts the position of the white USB adapter, then grasps the free end of the black cable, moves it leftward to the area beside the purple tissue box, lowers and releases it, then exits upward out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 378, "tasks": ["place cable"], "length": 574, "global_instruction": "Reposition the white charging brick and place the attached black cable's loose end next to the brick.", "scene_description": "A gray table with a white work mat is in a room with white doors in the background. On the table, a purple patterned tissue box is on the left of the mat, a black rectangular tablet is at the back middle of the mat, a white charging brick with an attached black cable (loose end on the left of the mat) is on the right side of the mat, and three wooden chairs are positioned around the table.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves to the white charging brick on the right of the mat, grasps the brick and moves it left across the mat before releasing it, then moves to the loose end of the attached black cable on the left of the mat, grasps the cable end, moves it right to place it next to the repositioned charging brick, releases the cable, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 379, "tasks": ["place cable"], "length": 409, "global_instruction": "Place the black cable with white connector to the left side of the gray tissue box", "scene_description": "A light gray table holds a gray tissue box at its front, a black cable with a white connector behind the tissue box, and two wooden chairs behind the table with doors in the background.", "global_instruction_dense": "The right robotic arm descends toward the black cable's white connector on the table, grasps the connector, drags the cable left to the side of the gray tissue box, then releases the cable and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 380, "tasks": ["place cable"], "length": 463, "global_instruction": "Place the two ends of the black cable on opposite sides of the white table.", "scene_description": "A white table has a gray tissue box with exposed white tissues in the foreground, a black cable with a white adapter in the center, a green cloth and black rectangular object at the back, with two wooden chairs and closed doors in the background.", "global_instruction_dense": "The right robotic arm enters the scene, grasps the white adapter end of the black cable, moves and releases it on the right side of the table, then moves left to grasp the other end of the cable, moves and releases it on the left edge of the table, stretching the cable across the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 381, "tasks": ["place cable"], "length": 423, "global_instruction": "Reposition the small white plug and black cable to new positions on the tabletop.", "scene_description": "A white table holds a grey tissue box with exposed white tissues in the foreground, a small white plug, a black looped cable near the plug, a black laptop, and a folded light green cloth on the far side. Two wooden chairs are behind the table, with a white door and grey cabinets in the background.", "global_instruction_dense": "The right robotic gripper descends from above the frame, grasps the small white plug at the table center, moves it to the right table side and releases it, then grasps the black cable, drags it to the left table side, releases the cable, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 382, "tasks": ["place cable"], "length": 499, "global_instruction": "Move the black cable on the white table to the left side of the tissue box.", "scene_description": "A white table holds a gray marble-patterned tissue box in the foreground, a looped black cable behind the tissue box, a black flat rectangular object and a folded light green cloth at the far end of the table. Two wooden chairs are positioned behind the table, with closed doors in the dim background.", "global_instruction_dense": "The left robotic arm enters the frame above the white table, descends to grasp the black cable, moves the cable to the left side of the tissue box, releases the cable, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 383, "tasks": ["place cable"], "length": 554, "global_instruction": "Move the white connector end of the black cable to the right side of the table.", "scene_description": "A marble-patterned tissue box, black cable with a white connector, dark tablet, and folded yellow towel are placed on a white table. Two wooden chairs are positioned behind the table, with a white door in the background.", "global_instruction_dense": "The right robotic arm enters the frame from above, grasps the white connector end of the black cable at the center of the table, drags the connector to the right side of the table near the yellow towel, releases the connector, then moves left and exits the frame.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 384, "tasks": ["place cable"], "length": 439, "global_instruction": "Move the white charging adapter to the right side of the sheet and pull the free end of its attached black cable to the left edge of the table.", "scene_description": "A light gray table with a large white flat sheet is surrounded by wooden chairs. On the sheet, a black coiled cable with a white charging adapter inside the coil, a black rectangular tablet, and a folded yellow cloth are placed, with closed white doors in the background.", "global_instruction_dense": "The right robotic arm descends to grasp the white charging adapter inside the coiled black cable, lifts and moves it to the right side of the white sheet, releases the adapter, moves to grasp the free end of the black cable, pulls the cable end to the left edge of the table, then releases the cable and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 385, "tasks": ["place cable"], "length": 216, "global_instruction": "Place the black cable onto the wooden office desk next to the toaster.", "scene_description": "A light wooden office desk holds a black and gray toaster, green plastic bottle, small green cup, clear wine glass with pale liquid, tall white bottle, clear plastic lid, crumpled white packet, and small stationery items. Blue stacked bins sit to the left of the desk, whiteboards with handwritten drawings are behind the desk, and office chairs plus computer monitors are in the background.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves downward toward the wooden office desk, releases the black cable it holds onto the desk surface next to the toaster, then lifts its gripper upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 386, "tasks": ["place cable"], "length": 368, "global_instruction": "Pick up the thin white cable on the table and place it on the folded white cloth", "scene_description": "A light wooden table holds a brown-liquid bottle with white and red labeling, a yellow cloth, a folded white cloth, a small dark bottle, a light-blue packaged tissue box, and a white rice cooker at the table's far left. A white robotic arm is positioned to the right of the table, with wooden chairs behind the table and a door in the background.", "global_instruction_dense": "The right robotic arm lowers towards the thin white cable on the table, grasps the cable with its gripper, lifts the cable and moves it over the folded white cloth on the table, then lowers and releases the cable onto the folded white cloth.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 387, "tasks": ["place cable"], "length": 578, "global_instruction": "Place the white charging cable onto the white folded cloth on the wooden table.", "scene_description": "A light wooden table holds a white rice cooker, light blue tissue box, yellow cloth, bottled beverage with a white label and red lower portion, two small dark containers, and a white folded cloth with a white charging cable resting on it. A white robotic arm is positioned on a workbench to the right of the table, with a brown sofa and open door in the background.", "global_instruction_dense": "The right robotic arm moves down from its initial raised position towards the wooden table, adjusts the position of the white folded cloth, grasps the white charging cable, moves the cable, and places it onto the white folded cloth.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 388, "tasks": ["place cable"], "length": 354, "global_instruction": "Place the white charging cable on the table into the black open box", "scene_description": "A light brown wooden table holds a white rice cooker at its left rear, a blue and white patterned tissue box beside the rice cooker, a black open box with a small dark green object inside, an empty light purple open box, a white charging cable, two beige cloths, and a yellow cloth. A white robotic arm is positioned above the right of the table, two wooden chairs are behind the table, and a brown sofa is in the background.", "global_instruction_dense": "The left robotic arm moves down toward the white charging cable on the wooden table, grasps the cable, lifts and moves it over the black open box, releases the cable into the box, then moves upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 389, "tasks": ["place cable"], "length": 224, "global_instruction": "Take the white cable out of the black box and place it on the wooden table.", "scene_description": "A light wooden table holds an open black box, an open light purple box, a patterned tissue box, and a white rice cooker on the far left. A white cable sits inside the black box, a left robotic arm is positioned above the table, and a right robotic arm rests on its base to the table's right.", "global_instruction_dense": "The left robotic arm moves toward the white cable inside the black box on the table, grasps the cable, lifts it out of the box, moves it over the open table surface, lowers and releases it onto the table, then lifts away from the placed cable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 390, "tasks": ["place cable"], "length": 432, "global_instruction": "Place the white charging cable on the table into the brown paper bag", "scene_description": "A light wood table holds a roll of white paper towels, an orange bottle with a green cap, a white charging cable, and a brown paper bag at its front edge. A white robotic arm is positioned to the right of the table, with wooden chairs around the table, a shoe rack with shoes, a closed door, and a coat rack in the background.", "global_instruction_dense": "The right robotic arm moves toward the white charging cable on the light wood table, grasps the cable, lifts it, moves it over the brown paper bag at the table's edge, then releases the cable to drop it into the bag.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 391, "tasks": ["place cable"], "length": 509, "global_instruction": "Place the white cable from the wooden table into the brown paper bag on the adjacent chair", "scene_description": "A light wooden table holds a white paper towel roll, an orange bottle with a green cap, a small green circular object, and miscellaneous packages at its far end. A brown paper bag rests on a wooden chair with a blue patterned seat to the left of the table, and a white robotic arm is positioned at the right side of the table. The background features a white entry door, a wooden shoe rack with shoes, and a kitchen area with light brown cabinets.", "global_instruction_dense": "The right robotic arm moves toward the white cable on the light wooden table, grasps the cable, lifts it, moves it leftward over the brown paper bag on the nearby chair, lowers the cable, releases it into the bag, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 392, "tasks": ["place cable"], "length": 492, "global_instruction": "Place the white charging cable on the light wooden table into the brown paper bag at the table edge.", "scene_description": "A light wooden table holds a white paper towel roll, an orange bottle with a green base, and a white charging cable; a brown paper bag sits at the table's front left edge, with wooden chairs, a shoe rack, and a closed door in the background, and a robotic arm is at the top right of the view.", "global_instruction_dense": "The left robotic arm moves from the top right of the view toward the white charging cable on the light wooden table, grasps the cable, lifts it, moves it left over the brown paper bag at the table's front edge, lowers the cable into the bag, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 393, "tasks": ["place cable"], "length": 221, "global_instruction": "Place the coiled white cable from the table into the canvas tote bag", "scene_description": "A light wooden dining table holds a coiled white cable, a small brown bottle, a folded yellow cloth, and a white cylindrical roll. A white canvas tote bag with green accents rests on a wooden chair at the left side of the table, and a robotic arm is positioned at the right of the table. The background has a shoe rack with shoes next to a closed door on wooden flooring.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right of the table to grasp the coiled white cable on the table, lifts it, moves it left over the canvas tote bag, releases the cable into the bag, then retracts away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 394, "tasks": ["place cable"], "length": 229, "global_instruction": "Place the white charging cable on the wooden table into the adjacent canvas tote bag.", "scene_description": "A light wooden table holds a white charging cable, a small dark bottle with a red cap, folded yellow cloth, and a white paper towel roll. A white canvas tote bag with green detailing rests on a chair at the table's left side, with a robotic arm positioned to the table's right.", "global_instruction_dense": "The right robotic arm moves toward the white charging cable on the table, grasps it, lifts it, moves it left over the white canvas tote bag on the nearby chair, lowers it, releases it into the bag, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 395, "tasks": ["place cable"], "length": 388, "global_instruction": "Pick up the silver wire rack on the table and place it into the tote bag on the adjacent chair.", "scene_description": "A light wooden table holds a silver wire rack, small brown bottle, orange snack packet, white cap, yellow cloth, and paper towel roll. A wooden chair left of the table has a white tote with a green panel on its seat, and a white robotic arm is positioned to the right of the table, with a kitchen area in the background.", "global_instruction_dense": "The right robotic arm moves toward the silver wire rack on the light wooden table, grasps it, lifts it, moves it leftward over the white and green tote bag on the adjacent wooden chair, lowers it, and releases it into the tote bag.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 396, "tasks": ["place cable"], "length": 254, "global_instruction": "Place the silver wired device on the black desk onto the striped color card.", "scene_description": "A black desk holds a white desk lamp, white-lidded plastic container, printed papers, black keyboard, black monitor, thin metal probe, silver wired device, and striped color card, with a sofa in the background and a robotic arm on the right side of the desk.", "global_instruction_dense": "The right robotic arm first adjusts the position of the thin metal probe on the desk, then grasps the silver wired device, lifts it, moves it over the striped color card, and releases it onto the card.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 397, "tasks": ["place cable"], "length": 413, "global_instruction": "Place the black cable from the background couch area onto the white papers on the left side of the desk.", "scene_description": "A dark office desk holds a white adjustable desk lamp at the left, stacks of white papers, several pens, a black computer monitor and keyboard at center, a light green patterned tissue box, and a white-lidded plastic jar next to the tissue box. A grey couch with folded blankets sits in the background near a window with a light roller blind, and a robotic arm is positioned above the tissue box.", "global_instruction_dense": "The right robotic arm moves from above the tissue box toward the background couch, grasps the black cable, lifts it, moves it back over the desk to the left paper stack, lowers and places the cable onto the papers, then releases the cable and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 398, "tasks": ["place cable"], "length": 384, "global_instruction": "Adjust the position of the black power cord of the electric pressure cooker on the table.", "scene_description": "A light wooden table holds a stainless steel pressure cooker with a black lid on the right, a black and white calibration board on the left, a clear water bottle, a green printed gift bag, a white paper towel roll, snack packages, a blue box, and a white robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward from its starting position above the table, grasps the black power cord attached to the stainless steel pressure cooker, lifts and moves the cord across the table surface, and adjusts its placement on the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 399, "tasks": ["place cable"], "length": 240, "global_instruction": "Place the pressure cooker's power cord on the left side of the table near the keyboard.", "scene_description": "A light wooden table has a silver-and-black pressure cooker on its right, a white keyboard with black keys, a blue packaged item, a clear water bottle, a green shopping bag with donut prints, snack packages, and two rolls of white paper towels behind the cooker, with a wooden chair behind the cooker and a right robotic gripper above the cooker.", "global_instruction_dense": "The right robotic gripper moves down to grasp the black power cord on top of the silver pressure cooker, lifts the cord, moves it leftward across the table, and lowers it near the white keyboard on the table's left side.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 400, "tasks": ["place cable"], "length": 203, "global_instruction": "Place the electric pressure cooker's power cord onto the black grid-patterned tray on the left side of the table.", "scene_description": "A light brown wooden table holds a silver and black electric pressure cooker on its right, a black grid-patterned tray on its left, snack packages, a clear water bottle, and a white paper towel roll. A wooden chair sits behind the table's right side, and a robotic arm is positioned above the table's top right.", "global_instruction_dense": "The right robotic arm moves down toward the pressure cooker's power cord, grasps it, lifts and moves it left across the table, then lowers and places the cord onto the black grid-patterned tray on the table's left.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 401, "tasks": ["place cable"], "length": 267, "global_instruction": "Place the electric pressure cooker's black power cord on the right side of the table.", "scene_description": "A light wooden table holds a silver-black electric pressure cooker at the front, a black-white keyboard, blue packet, clear plastic water bottle, green shopping bag, and white paper towel roll behind the cooker, with a small metal spoon on the table right of the cooker. A light brown wooden chair is against the light grey wall right of the table, and a robotic arm is at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves down toward the electric pressure cooker on the table, grasps its black power cord, lifts the cord, moves rightward across the table, and releases the cord onto the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 402, "tasks": ["place cable"], "length": 218, "global_instruction": "Place the USB cable at a new position on the left side of the desk.", "scene_description": "A USB cable with a silver connector, black hanging cords, a purple illuminated small container, and a blue status light rest on a dark textured desk surface.", "global_instruction_dense": "The right robotic gripper grasps the USB cable by its silver connector, lifts it slightly upward, moves it leftward across the dark desk, and places it in its new position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 403, "tasks": ["place cable"], "length": 117, "global_instruction": "Place the loose black cable on the desk into the white mug", "scene_description": "A light wooden office desk holds a black monitor, black keyboard, white mug with a pen inside, black mouse, white power adapter, and a loose black cable; a white robotic arm is positioned to the left of the desk, with office seating in the background.", "global_instruction_dense": "The right robotic gripper moves toward the loose black cable on the desk, grasps it, lifts it, moves it over the white mug, and lowers it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 404, "tasks": ["place cable"], "length": 385, "global_instruction": "Place the white power adapter on the black mat and reposition the power cord plug.", "scene_description": "A white round table holds a green book, multiple colored blocks (red, yellow, green, black), a white power cord with an adapter and plug, and two black mats. A right robotic arm is positioned at the upper right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white power adapter on the table, grasps it, moves it to the black mat on the table and releases it, then moves to grasp the power cord plug, moves the plug to a new position on the table, releases it, and returns to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 405, "tasks": ["place cable"], "length": 221, "global_instruction": "Reposition the teal bundled cable to a new spot on the metal wire shelf.", "scene_description": "A metal wire shelf holds a teal bundled cable, colorful marker set, white power adapter, and assorted small supplies. A brown 'ONE WORK PLACE' cardboard box sits at the upper left of the shelf, and another open brown cardboard box is at the right edge.", "global_instruction_dense": "The right robotic arm moves down toward the teal bundled cable on the shelf, grasps it, lifts it slightly, shifts it to a new position on the shelf, lowers it, releases it, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 406, "tasks": ["place cable"], "length": 218, "global_instruction": "Place the coiled teal cable from the left side of the wire shelf onto the right side of the shelf.", "scene_description": "A wire metal shelf holds a coiled teal cable, blue gear-shaped object, white packaged items, assorted small parts, with printed cardboard boxes at the left and right edges of the shelf.", "global_instruction_dense": "The left robotic gripper moves into position above the coiled teal cable on the left of the wire shelf, lowers to grasp the cable, lifts it, moves rightward across the shelf, then lowers and releases the cable onto the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 407, "tasks": ["place cable"], "length": 1273, "global_instruction": "Pick a black cable from inside the open white cabinet and place it on the cabinet's top surface.", "scene_description": "A white open-front cabinet with a glass door swung open to the right holds boxes, small toys, and a yellow duck figurine on its shelves; a yellow-green table lamp sits on top of the cabinet, with windows with white blinds behind it, and a right robotic arm is positioned above the cabinet's right side.", "global_instruction_dense": "The right robotic arm moves toward the open white cabinet, reaches inside, adjusts its grip multiple times to grasp a black cable, lifts the cable out of the cabinet, and places it on the cabinet's top surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 408, "tasks": ["place cable"], "length": 226, "global_instruction": "Place the black coiled cable on the left side of the table near the brown paper bag.", "scene_description": "A dining table with a lemon-patterned tablecloth holds two yellow bananas, a green cloth, a dark-handled knife, a black coiled cable, small purple items, a brown paper bag, a roll of white paper towels, and a patterned bowl. Wooden chairs sit behind the table, windows have floral curtains, a gold-framed picture hangs on the wall, and a workbench with cutting tools is to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the black coiled cable at the center of the table, grasps the cable with its gripper, lifts the cable, moves it left toward the brown paper bag, lowers the cable, and releases it onto the left side of the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 409, "tasks": ["place cable"], "length": 318, "global_instruction": "Pick up the black cable on the table and place it next to the white printed mug.", "scene_description": "A table covered with a lemon and leaf patterned tablecloth holds a white mug with orange flower prints, a metal spoon, green packets, a bowl of utensils, a black cable, and a paper towel roll. Wooden chairs sit behind the table, floral curtains cover the windows, and a white robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the black cable on the table, grasps the cable, lifts it, moves it to the space next to the white mug with orange flower prints, lowers the cable onto the table, and releases it before lifting upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 410, "tasks": ["place cable"], "length": 202, "global_instruction": "Move the thin black wire on the white bedside table to a new position on the table.", "scene_description": "A white bedside table next to a light wood headboard bed holds a black digital alarm clock, a white electronic device, a white conch shell, and a thin black wire. A gold-framed painting hangs on the wall above the table, a dark wood dresser is to the table's right, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the thin black wire on the white bedside table, grasps the wire, drags it across the table to a new position, releases the wire, then lifts upward and exits the scene.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 411, "tasks": ["place cable"], "length": 267, "global_instruction": "Place the black cable near the keyboard next to the gray aluminum frame structure on the wooden table.", "scene_description": "A wooden table holds a red plastic bowl, black keyboard, yellow tennis ball, black cup, silver computer mouse, white open toaster oven, and gray aluminum frame structure on its left side. A robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves downward toward the black cable located near the black keyboard on the wooden table, grasps the cable, lifts it, moves leftward over the gray aluminum frame structure, releases the cable next to the frame, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 412, "tasks": ["place cable"], "length": 266, "global_instruction": "Adjust the position of the black cable resting on the beige table cloth.", "scene_description": "A wooden table holds a white toaster oven on the left, a red bowl, white headphones, a black mug, a green triangular object in a white dish, a tennis ball, small tools, and a beige cloth on its right half. White cabinets with drawers and glass doors are behind the table under windows, and a robotic arm is at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves down from the right side of the scene toward the beige cloth on the table, grasps the black cable on the cloth, adjusts the cable's position on the cloth, then releases the cable and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 413, "tasks": ["place cable"], "length": 234, "global_instruction": "Pick up the black cable and adjust its position on the wooden table.", "scene_description": "A wooden tabletop is cluttered with a black keyboard, black mouse, pink-and-white striped cloth, green tube, red bowl, white over-ear headphones, black mug, blue tape, and small miscellaneous items; a white robotic arm is positioned at the upper right of the table, with a white toaster oven and white cabinetry under windows in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the cluttered wooden table, moves left to grasp a black cable, lifts it, moves it over the keyboard, releases the cable, and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 414, "tasks": ["place cable"], "length": 174, "global_instruction": "Place the black cable from the lower desk surface onto the upper surface of the wooden desk organizer.", "scene_description": "A light wooden desk holds an orange tape roll, white plastic hanger, red-and-white striped cloth, small orange toy car, black cable, and black remote. A wooden desk organizer with a black keyboard on top sits at the back of the desk, and a bed with blue-and-white striped bedding is to the right of the desk.", "global_instruction_dense": "The right robotic arm moves into the frame, grasps the black cable on the lower desk surface, lifts it upward, places its connector end onto the upper surface of the wooden desk organizer next to the keyboard, releases the cable, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 415, "tasks": ["place cable"], "length": 371, "global_instruction": "Move the black charging cable on the upper wooden desk to the area near the black mouse.", "scene_description": "A wooden desk holds a black mouse, a purple book, a gray sneaker, a green tennis ball, a white sheet of paper, an orange toy car, and a black charging cable in its upper section; a bed with blue striped bedding is in the background.", "global_instruction_dense": "The right robotic arm descends toward the black charging cable on the upper part of the wooden desk, grasps the cable, drags it down the desk surface to the area near the black mouse, releases the cable, then retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 416, "tasks": ["place cable"], "length": 336, "global_instruction": "Place the black cable into the white colander on the wooden table", "scene_description": "A light brown wooden table is next to a window with white horizontal blinds. On the table, a white plastic colander with lettered tiles sits on the left, alongside a metal spoon, stapler, tea infuser, and white papers. A white robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the black cable, grasps it, lifts and moves it over the white colander, releases the cable into the colander, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 417, "tasks": ["place cable"], "length": 571, "global_instruction": "Place the black cable on the table into the white utensil basin.", "scene_description": "A light brown wooden table sits near a window with horizontal blinds. On the table: a white cloth, a small illustrated book, a white plastic basin holding utensils including a black spatula, a round brown object, and a black cable. A robotic arm is positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black cable on the wooden table, grasps it, and makes multiple attempts to place the cable into the white plastic utensil basin on the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 418, "tasks": ["place cable"], "length": 289, "global_instruction": "Pick up the black USB cable on the table and place it into the gray colander", "scene_description": "A wooden table next to a window with horizontal blinds holds a gray plastic colander, a black USB cable, white wavy pads, orange safety goggles, a yellow cloth, and small white parts, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic arm moves toward the black USB cable on the wooden table, grasps it, lifts and moves it over the gray colander, releases it into the colander, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 419, "tasks": ["place cable"], "length": 327, "global_instruction": "Pick up the black coiled cable on the table and place it next to the clear glass.", "scene_description": "A white table holds a red bowl, a clear glass, and a black coiled cable; a robotic arm is positioned in the upper right, with a frosted whiteboard, office chair, and wall monitor in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the black coiled cable on the white table, grasps the cable, lifts it, moves it next to the clear glass, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 420, "tasks": ["place cable"], "length": 289, "global_instruction": "Take the black cables from the red bowl and place them on the white table surface.", "scene_description": "A white table holds a red bowl filled with black cables (front left), a light beige plate (middle), and a clear glass (right). A wooden plank is on the left edge of the table, a robotic arm is positioned above the table, with a whiteboard, office chair, monitor, and white laundry basket in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red bowl on the table, grasps the black cables inside the bowl, lifts the cables, moves them over the beige plate, then lowers and places the cables on the table surface to the right of the beige plate before releasing the grip and moving upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 421, "tasks": ["place cable"], "length": 288, "global_instruction": "Place the black coiled cable into the clear glass cup on the table.", "scene_description": "A white table holds a stack of two bowls (gray upper, beige lower), a black coiled cable, and a clear glass cup to the cable's right. A wooden panel is at the table's left edge, a light blue glass whiteboard is on the wall behind the table, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the black coiled cable on the white table, grasps the cable, lifts it, moves it over the clear glass cup, lowers it, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 422, "tasks": ["place cable"], "length": 218, "global_instruction": "Remove the black cable from the clear glass and place it on the white table", "scene_description": "A white table has a light wooden panel on its left edge, two stacked bowls (light grey top, beige bottom) on its left surface, and a clear glass with a black cable inside to the right of the bowls. A robotic arm is positioned in the upper right, with a frosted whiteboard, red chair, storage units, office chair, monitor, and white laundry basket in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear glass holding a black cable, grasps the cable, lifts it out of the glass, moves it over the white table near the stacked bowls, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 423, "tasks": ["place cable"], "length": 504, "global_instruction": "Hang the cable attached to the robotic arm onto the wall hooks.", "scene_description": "A light yellow wall fitted with multiple white hooks, a black bag on the wooden floor below the hooks, a white refrigerator sits to the right of the wall, and a white robotic arm is positioned near the refrigerator.", "global_instruction_dense": "The right robotic arm moves toward the wall with hooks, hangs one loop of its attached cable on the lower wall hook, then hangs another cable loop on the upper wall hook before moving away from the wall.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 424, "tasks": ["place cable"], "length": 192, "global_instruction": "Place the black cable from under the desk onto the upper desk surface near the white cup.", "scene_description": "A dark wooden desk against pale yellow walls holds a purple book, a white patterned cup with a pen and loose papers; a black remote lies on the wooden floor in front of the desk, a white robotic arm is positioned to the right of the desk, and a black cable rests on papers under the desk surface.", "global_instruction_dense": "The right robotic arm moves downward toward the black cable under the desk, grasps the cable, lifts it upward, moves it over the upper desk surface next to the white cup, lowers it, and releases it onto the desk.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 425, "tasks": ["place cable"], "length": 182, "global_instruction": "Move the black electrical wire from the upper desk shelf to the lower flat desk surface.", "scene_description": "A dark brown wooden desk sits against a light yellow paneled wall. Two stacked books (purple cover top, orange cover bottom), loose papers, and black electrical wires rest on the desk's upper raised shelf, a white sheet of paper lies on the lower flat desk surface, and a white Franka robotic arm is positioned at the upper right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the black wires on the upper desk shelf, grasps a black wire with its gripper, pulls the wire down to the lower flat desk surface, and releases the wire onto the desk.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 426, "tasks": ["place cable"], "length": 244, "global_instruction": "Move the black cables from the upper desk ledge onto the lower desk surface.", "scene_description": "A dark brown wooden desk is against pale yellow paneled walls. A book, a small red object, and a pile of black cables rest on the upper desk ledge, with a robotic arm to the right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the black cables on the upper desk ledge, grasps and lifts the cables, moves them over the lower desk surface, lowers and releases the cables onto the lower desk, then moves away from the placed cables.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 427, "tasks": ["place cable"], "length": 186, "global_instruction": "Pick up the black cable in the lower desk compartment and place it on the upper desk top near the white cup.", "scene_description": "A dark brown wooden desk is against a pale yellow paneled wall. The desk's upper top has a white disposable cup, small red object, and white paper. Its lower open compartment holds a white pen, colorful dark book, black cable, light paper slip, and small round brown object, with a robotic arm to the desk's right.", "global_instruction_dense": "The right robotic arm moves left toward the black cable on the lower desk surface, grasps the cable with its gripper, lifts and moves the cable over the upper desk top near the white cup, then lowers and releases the cable onto the upper desk surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 428, "tasks": ["place cable"], "length": 241, "global_instruction": "Pick up the black USB cable from the lower desk surface and place it on the upper section of the desk beside the paper cup.", "scene_description": "A dark wooden desk sits against a light yellow paneled wall. A spotted paper cup with a black spoon inside rests on the upper left section of the desk, while a book, a small rectangular paper, and a black USB cable lie on the lower desk surface. A white robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the black USB cable on the lower wooden desk, grasps the cable with its gripper, lifts the cable, moves it leftward to the upper section of the desk next to the spotted paper cup, releases the cable onto the desk, then moves its gripper away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 429, "tasks": ["place cable"], "length": 220, "global_instruction": "Move the black cable on the upper desk surface to the area beside the white patterned paper cup.", "scene_description": "A dark wooden desk has a white patterned paper cup with a black spoon inside on its upper left, a dark-covered book and light brown paper slip on its lower surface, a black cable on its upper surface, and a white robotic arm on the right side.", "global_instruction_dense": "The right robotic arm first moves down to push a small black object onto the lower desk, then grasps the black cable on the upper desk, lifts it, moves left, and places it beside the white patterned paper cup.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 430, "tasks": ["place cable"], "length": 226, "global_instruction": "Move the black cord on the lower bunk bed to hang partially over the bed's right edge.", "scene_description": "A wooden bunk bed is in a room with blind-covered windows. The lower bunk has pale yellow bedding, two white pillows, a black cord resting on the bed surface, and a white clothes hanger hanging from the upper bunk frame. A robotic arm is positioned at the right side of the bed.", "global_instruction_dense": "The right robotic arm moves toward the black cord resting on the lower bunk bed, grasps the cord, lifts it, moves it toward the right edge of the bed, releases the cord so part of it hangs over the edge, then moves back to its starting position at the right side of the bed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 431, "tasks": ["place cable"], "length": 150, "global_instruction": "Pick up the black cable on the lower bunk bed and place it on the white pillow", "scene_description": "A wooden bunk bed is in a bedroom with windows on both sides. The lower bunk has light yellow bedding, two white pillows, a black cable on the bed, and a white hanger hanging from the upper bunk frame. A right robotic arm is positioned to the right of the bed.", "global_instruction_dense": "The right robotic arm moves downward toward the black cable on the lower bunk bed, grasps the cable, lifts it, moves it over the white pillow on the lower bunk, then releases the cable to place it on the pillow.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 432, "tasks": ["place cable"], "length": 178, "global_instruction": "Pick up the thin white wire from the front white pillow and place it on the left side of the lower bunk bed sheet.", "scene_description": "A wooden bunk bed sits in the room, the lower bunk has yellow bed sheets, two white pillows (one near the bed head, one closer to the foot with a thin white wire resting on it), a white robotic arm is at the right side of the bed, and windows with horizontal blinds are on the left and back walls.", "global_instruction_dense": "The right robotic arm moves toward the thin white wire on the front white pillow of the lower bunk, grasps the wire, lifts it, moves it leftward over the yellow bed sheet, releases it onto the sheet left of the pillow, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 433, "tasks": ["place cable"], "length": 148, "global_instruction": "Move the black cord from the white pillow to the lower area of the yellow bed sheet.", "scene_description": "A wooden bunk bed with a yellow sheet on its lower level, a white long pillow on the sheet, a black cord resting on the pillow and sheet, a white cord left of the pillow, and a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the black cord on the white pillow, grasps the cord, lifts it, moves it downward to a lower spot on the yellow sheet, and releases the cord onto the sheet.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 434, "tasks": ["place cable"], "length": 211, "global_instruction": "Pick up the black cable from the lower bunk bed and reposition it on the bed.", "scene_description": "A wooden bunk bed is in a bedroom, with the lower bunk covered in yellow sheets, two white pillows, and a black cable on the bed. A white hanger hangs from the upper bunk frame, a small wooden nightstand with a white lamp is to the left of the bed next to a window with white blinds, and a robotic arm is positioned on the right side of the bed.", "global_instruction_dense": "The right robotic arm moves downward toward the black cable on the lower bunk bed, grasps the cable, lifts it and moves it over the bed, then lowers and releases it back onto the lower bunk bed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 435, "tasks": ["place cable"], "length": 191, "global_instruction": "Pick up the black electrical cord from the pillow and place it onto the lower bunk bed sheet.", "scene_description": "A wooden bunk bed has a lower bunk with pale yellow sheets. One white pillow rests against the left headboard, another white pillow at the bunk foot holds a small white package and black electrical cord. A robotic arm is at the right of the bed, with a window with blinds on the left and a nightstand on the right.", "global_instruction_dense": "The right robotic arm first moves toward the white package on the right pillow, shifts to grasp the black electrical cord on the same pillow, lifts the cord, moves it over the yellow bed sheet, releases it onto the sheet, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 436, "tasks": ["place cable"], "length": 374, "global_instruction": "Place black cables from the lower desk area onto the upper surface of the wooden desk.", "scene_description": "A dark wooden desk is against a light vertically paneled wall. On the desk's upper surface: a grey-white patterned tissue box, white papers, and a red pen. A white disposable cup is on the desk's lower shelf, and a robotic arm is on the right of the frame.", "global_instruction_dense": "The right robotic arm moves down to the desk's lower area, grasps a black cable, lifts and places it on the upper desk surface, then moves back down to grasp another black cable, lifts and places it on the upper desk surface next to the first cable.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 437, "tasks": ["place cable"], "length": 259, "global_instruction": "Take the black cable from the clear plastic bin and place it on the bed next to the bin.", "scene_description": "A bed with white pink-floral bedspread holds a clear plastic storage bin (with small items including a black cable inside), black backpack, black-and-white checkerboard keyboard, white pillows, and light grey plastic bag. A left robotic arm is positioned next to the bed facing the bin.", "global_instruction_dense": "The left robotic arm moves downward toward the clear plastic bin on the bed, grasps the black cable inside the bin, lifts the cable out of the bin, moves it horizontally, and places it on the bed surface adjacent to the bin.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 438, "tasks": ["place cable"], "length": 424, "global_instruction": "Place black cables from the bed into the transparent storage box", "scene_description": "A transparent plastic storage box, black backpack, white checkered keyboard, gray plastic bags, and white pillows are placed on a bed with a pink floral bedspread. A white robotic arm is positioned at the right edge of the bed near a window.", "global_instruction_dense": "The left robotic arm sequentially grasps black cables from the bed surface next to the transparent storage box, lifts each cable, moves it over the storage box, releases it into the box, then returns to a position above the bed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 439, "tasks": ["place cable"], "length": 174, "global_instruction": "Place the black cable on the wooden table onto the dark flat rectangular object on the table.", "scene_description": "A dark wooden table is against a light-colored wall, with a white ceramic table lamp on its upper section, a dark flat rectangular object, a small white rectangular object, and a black cable on the table surface, while a robotic arm sits on a green-lit base to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the black cable on the dark wooden table, grasps the cable, lifts it, moves it over the dark flat rectangular object on the table, and releases the cable onto that object.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 440, "tasks": ["place cable"], "length": 208, "global_instruction": "Pick up the black power cord on the dark wooden table and place it on the dark rectangular box on the table.", "scene_description": "A dark wooden side table stands against a light-colored wall. On the table: a beige ceramic table lamp at the back, a crumpled white cloth near the center, a black power cord, and a closed dark rectangular box on the left side of the table. A white robotic arm is positioned above the right side of the table, with its base on a green-lit platform adjacent to the table.", "global_instruction_dense": "The right robotic arm moves downward toward the black power cord on the dark wooden table, grasps the cord with its gripper, lifts the cord, moves left over the dark rectangular box on the left side of the table, lowers the cord onto the box, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 441, "tasks": ["place cable"], "length": 319, "global_instruction": "Place the white cloth and black electrical cables onto the dark wooden table near the white plate.", "scene_description": "A dark wooden table against a light beige wall holds a white round plate, dark brown rectangular box, and black remote control. A small raised side table holds a beige ceramic lamp, with a white cloth and black cables near the lamp, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the white cloth near the lamp, grasps it, places it next to the white plate on the main table, then grasps the black electrical cables near the lamp, moves them over the white plate, adjusts their position, and releases them on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 442, "tasks": ["place cable"], "length": 423, "global_instruction": "Remove black tongs from the red-handled mug onto the counter, then place the black wire rack next to the wooden paper cup holder.", "scene_description": "A white kitchen counter holds an overturned patterned paper cup on the far left, a white mug with a red handle holding utensils to its right, a wooden rack of stacked paper cups, a clear disposable plastic cup, and a black metal wire rack behind the clear cup. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The left robotic gripper first grasps black tongs from inside the white mug with a red handle, lifts and drops the tongs onto the counter, then moves right to grasp the black metal wire rack, lifts it, moves it left to position it next to the wooden paper cup holder, then releases the rack.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 443, "tasks": ["place cable"], "length": 162, "global_instruction": "Reposition the metal wire rack to a new location on the white kitchen counter.", "scene_description": "A white kitchen counter holds a black-handled metal wire rack, a wooden dispenser of stacked white paper cups, a white mug with red interior holding utensils, a small purple star-shaped item, and coffee preparation equipment. A robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The left robotic gripper moves toward the metal wire rack on the left side of the counter, grasps it, lifts it, moves it closer to the purple star-shaped item, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 444, "tasks": ["place cable"], "length": 316, "global_instruction": "Place the small clear green-capped bottle on the white napkin, then set the black cable on the back of the black chair.", "scene_description": "A black dining table adjacent to large windows overlooking a grassy yard holds an orange cereal box with cartoon eyes, multiple small clear bottles with green caps, a small clear green-capped bottle, a white napkin, a yellow can, a blue-lidded yellow container, a clear plastic container, and a stack of white napkins; a black wooden chair is positioned in front of the table, and a robotic arm is above the table near the small green-capped bottle.", "global_instruction_dense": "The right robotic arm first places a small clear green-capped bottle onto a white napkin on the black table, then grasps the black cable, lifts it, places it on the back of the black wooden chair, then moves back to the table to adjust small objects on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 445, "tasks": ["place cable"], "length": 187, "global_instruction": "Place the black cable onto the light-colored lattice side table.", "scene_description": "A dark carpeted room with a light-colored lattice side table on the right, several remote controls rest on the carpet in the midground.", "global_instruction_dense": "The right robotic arm moves into view from the upper right holding a black cable, lowers the cable toward the light-colored lattice side table, places the cable onto the table surface, then lifts upward and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 446, "tasks": ["place cable"], "length": 145, "global_instruction": "Retrieve the cable under the cloth and place it on the white table surface.", "scene_description": "A white table holds a black flat rectangular object and a crumpled light gray cloth. A robotic arm is positioned above the table, a white-framed louvered window is to the table's left, and a tissue box and green glowing device are to the table's right.", "global_instruction_dense": "The right robotic arm moves downward toward the cloth on the table, grasps the cable hidden under the cloth, pulls the cable out, places it on the table next to the black keyboard, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 447, "tasks": ["place cable"], "length": 151, "global_instruction": "Adjust the position of the black cable on the white table.", "scene_description": "A white table holds a thin black cable, crumpled light gray cloth, small dark cube, and green glowing container. A black office chair is in front of the table, a window with white blinds is on the left, and a robotic arm is partially visible at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the black cable on the white table, grasps the cable to shift its position, then lifts upward and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 448, "tasks": ["place cable"], "length": 266, "global_instruction": "Place the power cord from the rear shelf area onto the kitchen counter near the pot.", "scene_description": "A light-colored kitchen counter holds a round black lid and a black-handled small pot. A metal shelf with assorted containers sits behind the counter, a glass exit door with a tiled outdoor floor is on the left, and two robotic arms are positioned on the right of the counter.", "global_instruction_dense": "The left robotic arm reaches toward the power cord behind the counter, grasps it, lifts it, moves it over the counter surface, and places it on the counter between the black lid and the black pot.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 449, "tasks": ["place cable"], "length": 176, "global_instruction": "Reposition the white electrical cord located next to the black iron on the bed.", "scene_description": "A bed covered in gray and beige plaid bedding holds a blue ironing mat, a white cloth, a black iron, and a white plastic laundry basket near the pillow, with a right robotic arm positioned to the right of the bed.", "global_instruction_dense": "The right robotic arm moves downward toward the white electrical cord next to the black iron on the bed, grasps the cord, lifts and moves it to a new position, then releases the cord onto the bed surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 450, "tasks": ["place cable"], "length": 170, "global_instruction": "Place the white power cord of the black iron into the white laundry basket on the bed.", "scene_description": "A bed with a gray-and-beige plaid bedspread holds a blue mat, white cloth, black iron with a white power cord, and white plastic laundry basket, with a right robotic arm at the right of the bed.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white power cord next to the black iron, lifts and moves the cord over the white laundry basket, releases the cord into the basket, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 451, "tasks": ["place cable"], "length": 178, "global_instruction": "Place the end of the black power cable on the counter onto the round black coffee maker lid.", "scene_description": "A white tiled kitchen counter holds a black drip coffee maker, a round black coffee maker lid, a roll of white paper towels, a wooden knife block with black-handled knives, a black laptop, and loose black power cables. A white robotic arm is positioned to the right of the counter, and a white microwave sits on a small background table.", "global_instruction_dense": "The right robotic arm moves toward the end of the black power cable on the kitchen counter, grasps the cable end, lifts it, moves it over the round black coffee maker lid, lowers and releases the cable end onto the lid, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 452, "tasks": ["place cable"], "length": 201, "global_instruction": "Move the black cable on the side table's white paper to a new position.", "scene_description": "A brown fabric sofa holds a white-and-blue textured pillow, a light green book atop the pillow, and a black remote on its right armrest. A dark brown side table with a white paper and black cable on its surface sits to the sofa's right, with a white robotic arm base positioned at the far right.", "global_instruction_dense": "The right robotic arm descends from above the frame toward the side table, grasps the black cable on the white paper, moves the cable to a different position on the paper, then releases the cable and retracts upward out of view.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 453, "tasks": ["place cable"], "length": 165, "global_instruction": "Place the black electrical cord on the table near the black remote control.", "scene_description": "A light brown wooden table is next to a window with white horizontal blinds. On the table, a black remote, a white curved remote, a black wired mouse, and a black electrical cord are placed, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves down toward the black electrical cord on the upper part of the wooden table, grasps the cord with its gripper, drags it left to the table edge next to the black remote, then releases the cord and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 454, "tasks": ["place cable"], "length": 191, "global_instruction": "Pick up the tangled cable on the wooden table and place it at a new position on the table.", "scene_description": "A small wooden table sits in a corner next to a window with white horizontal blinds. On the table, there is a pink ring-shaped object, a small green item, and a tangled light-colored cable, with a robotic gripper positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the tangled cable on the wooden table, grasps the cable, lifts it, moves it horizontally to a new spot above the table, then releases the cable onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 455, "tasks": ["place cable"], "length": 1380, "global_instruction": "Repeatedly pick up and drop the white cable on the wooden table to rearrange its position.", "scene_description": "A small light brown wooden table sits next to a window with white horizontal blinds. On the table, there is a pink curved object, a small green item, and a tangled white cable. A white robotic arm with a black gripper is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm repeatedly moves toward the tangled white cable on the wooden table, grasps it with its gripper, lifts it upward, releases it to drop back onto the table, and moves away from the table after the final drop.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 456, "tasks": ["place cable"], "length": 149, "global_instruction": "Move the black cable from the left of the cabinet to the area near the pink cup on the cabinet right.", "scene_description": "A wooden cabinet is next to a window with white horizontal blinds. A black cable is on the left of the cabinet top, a pink cup and a small green object are on the right, and a right robotic arm is above the right side of the cabinet.", "global_instruction_dense": "The right robotic arm moves left from above the right side of the cabinet to the black cable on the cabinet left, grasps the cable, lifts it, moves it rightward over the cabinet, and lowers it near the pink cup.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 457, "tasks": ["place cable"], "length": 208, "global_instruction": "Pick up the black cord on the cream pillow and place it on the sofa seat near the small red object.", "scene_description": "A brown sofa has a light gray fluffy blanket on its left side, a brown-and-yellow wavy patterned square pillow, a frayed-edge cream pillow, a purple booklet, a small red object on the seat, and a small white plush on the backrest. A white robotic arm with orange accents is positioned above the upper right of the sofa, with its base at the lower right of the view.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position down toward the black cord on the cream pillow, grasps the cord, lifts it, moves it rightward over the sofa seat near the small red object, and lowers the cord onto the seat surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 458, "tasks": ["place cable"], "length": 321, "global_instruction": "Place the black cable from the sofa seat onto the brown back cushion next to the small white cloth.", "scene_description": "A brown sofa has a fluffy light grey throw blanket on its left side, a plain cream square cushion, a grey cushion with grey and white horizontal stripes, brown back cushions with a small white cloth on the middle back cushion, a grey woven basket, a blue book under the basket, and a robotic arm positioned above the sofa on the right.", "global_instruction_dense": "The right robotic arm lowers to grasp the black cable on the sofa seat, lifts and moves the cable toward the upper brown back cushion near the small white cloth, adjusts its position, releases the cable onto the cushion, then moves upward away from the placement site.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 459, "tasks": ["place cable"], "length": 164, "global_instruction": "Place the white two-tier wire shelf on the right side of the lower bunk bed.", "scene_description": "A lower bunk bed with dark grey patterned bedding and dark pillows is visible, a white two-tier wire shelf sits on the bed near the pillows, a white robotic arm is positioned above the shelf, a grey trash bin is at the left of the bed, and a window with blinds is at the back of the bunk.", "global_instruction_dense": "The right robotic arm grasps the top of the white two-tier wire shelf, lifts it, moves it horizontally rightward across the lower bunk bed, then lowers and releases it onto the right side of the bed.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 460, "tasks": ["place cable"], "length": 155, "global_instruction": "Place the white metal wire rack into the gray woven basket, then lift the gray basket.", "scene_description": "A gray woven basket and a white two-tier metal wire rack rest on a lower bunk bed with a black and gray polka dot bedspread. A robotic arm is positioned on the right, a wooden bunk frame is on the left, a sliding door is in the background, and a brown chair sits at the far right.", "global_instruction_dense": "The right robotic arm moves toward the white two-tier metal wire rack on the lower bunk bed, grasps the rack, lifts it, places it onto the edge of the gray woven basket, then grasps the basket and lifts it upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 461, "tasks": ["place cable"], "length": 190, "global_instruction": "Pick up the black wire from the wire shelf and place it on the upper bunk bed rail.", "scene_description": "A wooden bunk bed is in the scene, a gray woven basket sits on the lower bunk, a two-tier white wire shelf is behind the basket, a black wire rests on the top tier of the shelf, and a right robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the black wire on the top of the white wire shelf, grasps the wire, lifts it upward to the upper wooden bunk rail, places the wire over the rail, then releases the wire and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 462, "tasks": ["place cable"], "length": 248, "global_instruction": "Pick up the white rope from the brown sofa and place it on the silver metal clothing rack.", "scene_description": "A brown sofa with a grey striped cushion and a beige wavy-patterned cushion sits against a wall with yellow curtains. A silver metal clothing rack is in the midground, a white right robotic arm is on the right, and a table in front of the sofa holds a red can, clear plastic bottle, and snacks. A white rope lies on the sofa.", "global_instruction_dense": "The right robotic arm moves downward toward the white rope on the brown sofa, grasps the rope with its gripper, lifts it, moves it to the silver metal clothing rack, places the rope over the rack, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 463, "tasks": ["place cable"], "length": 352, "global_instruction": "Hang the white rope from the lower metal rack bar onto the upper metal rack bar.", "scene_description": "A silver metal rack with a white rope on its lower horizontal bar is in the foreground. A right robotic gripper is positioned above the rack. The background has a brown sofa with two cushions, a yellow curtain, black fabric on the left, and a red soda can near the sofa.", "global_instruction_dense": "The right robotic arm lowers toward the white rope on the lower metal rack bar, grasps the rope, lifts it upward to the upper rack bar, and releases the rope so it drapes and hangs over the upper bar.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 464, "tasks": ["place cable"], "length": 194, "global_instruction": "Place the white hanging rope over the lower horizontal bar of the silver metal rack.", "scene_description": "A white robotic arm is positioned near a silver metal rack with a white rope hanging from its top bar. A brown couch with patterned cushions is in the background, a dark curtain is on the left, and a small table with a red can sits below the rack.", "global_instruction_dense": "The right robotic arm moves toward the white rope hanging from the top of the silver metal rack, grasps the rope, lifts and moves it over the lower horizontal bar of the rack, adjusts the rope's position, then releases it and moves away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 465, "tasks": ["place cable"], "length": 431, "global_instruction": "Hang the white rope from the lower bar of the metal rack onto the rack's top horizontal bar.", "scene_description": "A white robotic arm is on the right, a silver metal rack with a white rope attached to its lower bar is in the center, a brown sofa with two cushions is in the background, a yellow curtain is on the left, and a dark cloth hangs at the left edge of the frame with a red can below the rack.", "global_instruction_dense": "The right robotic arm moves downward toward the white rope on the lower bar of the metal rack, grasps the rope, lifts it upward, moves it over the rack's top horizontal bar, releases the rope so it hangs from the top bar, then moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 466, "tasks": ["place cable"], "length": 218, "global_instruction": "Move the metal wire rack from next to the toaster to the tabletop near the paper towel roll.", "scene_description": "A white kitchen table holds a clear water bottle, orange snack packet, black countertop oven with a plate on its top, silver toaster, metal wire rack, white paper towel roll, second clear water bottle, and black coffee maker, with a right robotic arm at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves downward toward the metal wire rack next to the silver toaster, grasps and lifts it, moves it rightward to the area near the white paper towel roll, lowers and releases it onto the table, then moves upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 467, "tasks": ["place cable"], "length": 228, "global_instruction": "Hang the looped white rope from the upper hanger onto the lower bar of the clothing rack.", "scene_description": "A silver clothing rack holds a white plastic hanger with a looped white rope attached to its hook and patterned clothing on its lower bar, a brown couch with patterned cushions sits behind the rack, a window with closed blinds and a brown curtain is to the left, and a robotic arm is positioned to the right of the rack.", "global_instruction_dense": "The right robotic arm moves toward the looped white rope attached to the white hanger on top of the clothing rack, grasps the rope, pulls it off the hanger, moves the rope down to the lower horizontal bar of the clothing rack, loops it over the bar, and releases it to hang the rope on the lower bar.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 468, "tasks": ["place cable"], "length": 236, "global_instruction": "Hang the white rope from the lower bar of the clothing rack onto the white hanger on the rack's upper bar.", "scene_description": "A white robotic arm is positioned near a metal clothing rack, a white rope is looped on the rack's lower horizontal bar, a white hanger hangs on the rack's upper bar, a brown couch with patterned cushions is behind the rack, and a window with tan curtains is to the left of the rack.", "global_instruction_dense": "The right robotic gripper grasps the white rope looped on the clothing rack's lower bar, lifts the rope upward, moves it to the white hanger on the rack's upper bar, and hangs the rope over the hanger.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 469, "tasks": ["place cable"], "length": 248, "global_instruction": "Hang the white rope from the stand's top bar onto the stand's lower horizontal bar.", "scene_description": "A silver metal clothing stand with a white plastic hanger and white rope on its top bar is positioned in front of a brown couch with patterned throw pillows. A dark grey curtain is to the left of the stand, and the right robotic arm is to the right of the stand.", "global_instruction_dense": "The right robotic arm moves upward from its initial position, reaches toward the white rope tied to the stand's top bar, grasps the rope, moves it to the stand's lower horizontal bar, loops the rope over the bar, and releases the rope to hang on the lower bar.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 470, "tasks": ["place cable"], "length": 221, "global_instruction": "Hang the white cord onto the empty white hanger on the clothes rack.", "scene_description": "A silver clothes rack with a white empty hanger on its top bar and light-colored clothing on its lower bar stands in front of a brown sofa with patterned cushions next to a window with white blinds, and a right robotic arm is positioned near the rack.", "global_instruction_dense": "The right robotic arm grasps the white cord from the lower part of the clothes rack, lifts it upward toward the empty white hanger on the top of the rack, and places the cord onto the hanger.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 471, "tasks": ["place cable"], "length": 262, "global_instruction": "Hang the light beige rope on the horizontal bar of the clothing rack.", "scene_description": "A dark shirt hangs on a white hanger on a metal clothing rack next to a bright blind-covered window, a light beige rope rests below the shirt, a robotic arm is positioned near the shirt, and a brown sofa with a wavy patterned cushion is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the light beige rope below the hanging dark shirt, grasps the rope, lifts it upward to the clothing rack's horizontal bar, hangs the rope over the bar, then releases the rope and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 472, "tasks": ["place cable"], "length": 287, "global_instruction": "Place the beige braided rope onto the white plastic clothes hanger.", "scene_description": "A black coat hangs on a garment rack near a window with light closed blinds. A beige braided rope rests to the left of the coat, a white plastic clothes hanger is positioned nearby, a robotic arm is on the right side of the scene, and a brown sofa with a beige wavy-patterned cushion is in the background.", "global_instruction_dense": "The right robotic arm moves left toward the beige braided rope next to the window, grasps the rope, lifts it, places it onto the white plastic clothes hanger, then adjusts the position of the hanger holding the rope.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 473, "tasks": ["place cable"], "length": 383, "global_instruction": "Place the grey rope onto the plastic hanger on the metal clothing rack", "scene_description": "A white and black robotic arm is on the right of the frame, a grey rope rests on the lower bar of a metal clothing rack to the arm's left, a bright studio light is on the far left, a plastic hanger is attached to the clothing rack's top bar, and a grey couch with a patterned pillow is in the background.", "global_instruction_dense": "The right robotic arm moves left and down toward the grey rope on the lower clothing rack bar, grasps the rope, lifts it upward to the plastic hanger on the rack's top bar, places the rope over the hanger, adjusts its position, then releases the rope and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 474, "tasks": ["place cable"], "length": 133, "global_instruction": "Place the black cable from the right stand onto the top left edge of the black piano.", "scene_description": "A black upright piano stands against a dark red wall with a light switch. A white door with white horizontal blinds is to the left, the floor is light wood, a white door is in the background, a black cable rests on a stand at the top right, and a robotic gripper is at the right edge of the frame.", "global_instruction_dense": "The right robotic gripper grasps the black cable on the right stand, moves it left across the top edge of the black piano, and releases it near the light switch on the dark red wall.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 475, "tasks": ["place cable"], "length": 266, "global_instruction": "Take the white USB cable from the wooden dish and place it on the table beside the calculator.", "scene_description": "A light gray table stands against a purple wall. On the table, a blue tape roll sits at the front left, a brown rustic wooden dish holding a black item, pen and white USB cable is centered, a gray calculator is to the right of the dish, and a metal bowl with a utensil is at the back right near a window.", "global_instruction_dense": "The right robotic gripper moves toward the brown wooden dish on the table, grasps the white USB cable inside the dish, lifts it, moves it right to the area beside the gray calculator, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 476, "tasks": ["place cable"], "length": 196, "global_instruction": "Take the wired electronic device out of the cardboard box and place it on the table.", "scene_description": "A white robotic arm is positioned left of a white table. On the table, an open cardboard box with a wired electronic device inside sits near the center, alongside a blue-capped spray bottle, a white bowl with blue and green blocks, a plate with brown pastry, black utensils, tissues, a transparent container of colored blocks, a beige water bottle, and office supplies, with a screen displaying 'TOYOTA RESEARCH INSTITUTE' in the background.", "global_instruction_dense": "The right robotic gripper moves toward the open cardboard box on the white table, grasps the wired electronic device inside the box, lifts it out of the box, moves it rightward, and places it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 477, "tasks": ["place cable"], "length": 367, "global_instruction": "Place the black cables on the table into the open brown cardboard box", "scene_description": "A white tabletop holds an open brown cardboard box, a red Doritos snack bag, black electrical cables, a white plate with a metal spoon, a beige water bottle, a wooden shape sorter cube, a bowl of multicolored blocks, a grey tissue box, stacked books, a blue spray bottle, a laptop, a tablet, and a Franka Emika robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the black cables on the table, grasps a bundle of cables, lifts and transfers them into the open brown cardboard box, releases them, then grasps the remaining loose cable, lifts it, and moves it toward the box to place it inside.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 478, "tasks": ["place cable"], "length": 204, "global_instruction": "Place the black cable next to the aluminum pie tin into the open brown cardboard box", "scene_description": "A white table holds various objects including a container of colorful shape toys, a small display, a beige water bottle, a spray bottle, a laptop, a wooden shape sorting cube, a white plate, a paper roll, a blue snack packet, a small wooden box with colorful items, a blue book, an aluminum pie tin with a knife inside, a white bowl of cookies, a black remote control, a black cloth, two stacked mugs, and an open brown cardboard box on the right. A right robotic arm is positioned in the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the black cable positioned next to the aluminum pie tin on the table, grasps the cable with its gripper, lifts the cable, moves it rightward over the open brown cardboard box, lowers the cable, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 479, "tasks": ["place cable"], "length": 1285, "global_instruction": "Place the black ring-shaped cable from the top shelf into the transparent plastic storage bin on the middle shelf.", "scene_description": "A dark grey multi-tiered storage shelf in a workshop holds items: the top shelf has books, a yellow woven basket, blue-and-red striped boxes, and a black ring-shaped cable; the middle shelf has transparent slotted plastic storage bins; lower shelves hold open cardboard boxes and tools. A white robotic arm is positioned in front of the shelf, with its gripper near the middle shelf bins.", "global_instruction_dense": "The right robotic arm moves upward to grasp the black ring-shaped cable on the top shelf, lowers it toward the middle shelf's clear plastic storage bin, repeatedly adjusts the cable's position to align it with the bin opening, releases the cable into the bin, then moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 480, "tasks": ["place cable"], "length": 308, "global_instruction": "Pick up the black cable and place it into the red bowl on the table.", "scene_description": "A light wooden table in a lab workspace holds a red bowl, blue cup, two small white containers, assorted pens, a green marker, scissors, a gray cup, a red mug on paper, and a green-yellow package, with a white robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves downward toward the table, adjusts its position to grasp the black cable, lowers the cable into the red bowl, releases it, and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
+{"episode_index": 481, "tasks": ["place cable"], "length": 225, "global_instruction": "Move the black circular cable loop to encircle the red pen cup on the table.", "scene_description": "A light wooden table holds a green-and-yellow notebook, two small white pots, a red cup filled with pens, a green pen, a white marker, an inverted blue cup, a red mug on white paper, and black-orange scissors. A white robotic arm is positioned above the left side of the table holding a black circular cable loop, with an office background including dark cabinets and a yellow storage rack.", "global_instruction_dense": "The right robotic arm moves the black circular cable loop downward to the table surface, moves it to encircle the red pen cup, then lifts the loop back up to a position above the table.", "skill": "Pick & Place", "verb": "place", "object": "cable", "object_category": "Household Appliances & Electronics"}
diff --git a/datasets/droid/data/place__cable/meta/episodes_stats.jsonl b/datasets/droid/data/place__cable/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..305e438b082dfdfabe683922050dc3ff5191977d
--- /dev/null
+++ b/datasets/droid/data/place__cable/meta/episodes_stats.jsonl
@@ -0,0 +1,482 @@
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diff --git a/datasets/droid/data/place__cable/meta/info.json b/datasets/droid/data/place__cable/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c67c9a8b8e2fb451889ea506ac152c9bdd46f4c9
--- /dev/null
+++ b/datasets/droid/data/place__cable/meta/info.json
@@ -0,0 +1,255 @@
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+    "observation.images.ext2": "external_2",
+    "observation.images.wrist": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/place__cable/meta/stats.json b/datasets/droid/data/place__cable/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd76206f8019220c3731379b1b6cd3d40d61dc7c
--- /dev/null
+++ b/datasets/droid/data/place__cable/meta/stats.json
@@ -0,0 +1,761 @@
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