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+{"episode_index": 0, "tasks": ["place other"], "length": 94, "global_instruction": "Pick up the red-handled probe and place it across the rim of the black bowl.", "scene_description": "A white lab tabletop holds a black small bowl, a red-handled probe next to the bowl, and a blue clamping fixture. A robotic arm is positioned at the upper right of the frame, with lab desks, monitors, an office chair, and a whiteboard in the background, a red emergency stop button is at the left edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the red-handled probe on the table, grasps it with its gripper, lifts it, moves it over the black bowl, lowers it, and releases it so the probe rests across the bowl's rim.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 1, "tasks": ["place other"], "length": 108, "global_instruction": "Place the orange-ended metal probe into the black bowl on the table.", "scene_description": "A black round bowl, a blue and orange fixed fixture, and a metal probe with orange ends are placed on a white tabletop, a robotic arm is positioned at the right of the table, with an office workspace including desks, monitors and chairs in the background.", "global_instruction_dense": "The right robotic gripper grasps the orange-ended metal probe from the blue and orange fixture, moves the probe over the black bowl, then lowers and releases the probe into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 2, "tasks": ["place other"], "length": 98, "global_instruction": "Place the red lever from the blue clamping fixture into the black bowl", "scene_description": "A black round bowl and a blue clamping fixture with a red lever are placed on a white table, with office desks, monitors, and a chair in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue clamping fixture on the table, grasps the red lever attached to it, pulls the lever free from the fixture, moves it above the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 3, "tasks": ["place other"], "length": 1629, "global_instruction": "Place all nail polish bottles on the white table into the black open bag.", "scene_description": "A black open bag is on the left of a white table, six nail polish bottles (four red, two light pink) are arranged on the table to the right of the bag, and a white robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each nail polish bottle on the table, lifts each bottle, moves it over the black bag on the left side of the table, and releases it into the bag until all bottles are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 4, "tasks": ["place other"], "length": 1224, "global_instruction": "Place all scattered nail polish bottles on the table into the open black bag.", "scene_description": "A white table holds an open black bag with yellow fabric inside on its left side, and multiple nail polish bottles of varying colors scattered to the right of the bag. A white robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm sequentially moves to each nail polish bottle scattered on the white table, grasps each bottle, moves it over the open black bag, releases it into the bag until all polishes are stored, then returns to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 5, "tasks": ["place other"], "length": 1319, "global_instruction": "Place all the nail polish bottles into the open black handbag.", "scene_description": "An open black handbag holding a yellow cloth, and five nail polish bottles of varying colors lined up in a row, are placed on a table covered with a white cloth, with a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm sequentially moves to each nail polish bottle on the table, grasps each bottle, lifts it, moves it over the open black handbag, releases the bottle into the bag, and repeats this process until all five nail polish bottles are placed inside the handbag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 6, "tasks": ["place other"], "length": 1132, "global_instruction": "Place all nail polish bottles from the table into the open black bag.", "scene_description": "A white table holds an open black bag with a yellow cloth inside on its left side, four nail polish bottles of different colors arranged to the right of the bag, and a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each nail polish bottle from the table, lifts each bottle, moves it over the open black bag, releases it into the bag, and repeats until all four nail polish bottles are stored inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 7, "tasks": ["place other"], "length": 180, "global_instruction": "Place the stacked brown twisted pretzels into the black bowl on the wooden table.", "scene_description": "A light wooden table in an office workspace holds a small black dumbbell, light gray cup, stacked brown twisted pretzels, small white container, and black bowl.", "global_instruction_dense": "The right robotic arm moves downward to grasp the stacked brown twisted pretzels beside the light gray cup, lifts the pretzels, moves them over the black bowl, and releases them into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 8, "tasks": ["place other"], "length": 163, "global_instruction": "Place the stack of brown cookies into the black bowl", "scene_description": "A wooden table holds a white bottle with a green cap, a small black weight, a clear plastic cup filled with snacks, a stack of brown cookies, and a black bowl. The black bowl is on the right section of the table, other items are to its left.", "global_instruction_dense": "The right robotic arm moves toward the stack of brown cookies on the wooden table, grasps the stack, lifts it, moves it over the black bowl, lowers the stack into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 9, "tasks": ["place other"], "length": 377, "global_instruction": "Fit the curved white flexible strip fully into the black grooved rail on the worktable.", "scene_description": "A wooden worktable holds a black long grooved rail supported by small wooden blocks, with a curved white flexible strip resting on the rail. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the curved white flexible strip on the black grooved rail, grasps the free end of the strip, lifts and straightens it, then adjusts the strip's position to lay it fully inside the black grooved rail.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 10, "tasks": ["place other"], "length": 202, "global_instruction": "Remove the black head-mounted goggles from the transparent plastic bag and place them on the wooden table.", "scene_description": "A light wooden table holds a transparent plastic bag containing black head-mounted goggles, with a gray wall to the left and a colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm lowers toward the transparent plastic bag on the wooden table, grasps the black head-mounted goggles inside the bag, lifts and pulls them out of the bag, then places the goggles on the table surface next to the bag before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 11, "tasks": ["place other"], "length": 215, "global_instruction": "Remove the black frame from the plastic bag then place it back into the bag.", "scene_description": "A transparent plastic bag containing a black metal frame is placed on a light wooden table, with a gray backdrop and striped wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the plastic bag on the table, grasps the black frame inside the bag, lifts it out of the bag, then lowers it and places it back into the plastic bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 12, "tasks": ["place other"], "length": 147, "global_instruction": "Remove the headband from the plastic bag and place it on the tabletop.", "scene_description": "A clear plastic bag holding a black metal headband rests on a light wooden table. A grey backdrop is left of the table, and a colorful striped panel is right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the plastic bag on the table, grasps the headband inside the bag, pulls it out of the bag, lowers it onto the table surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 13, "tasks": ["place other"], "length": 214, "global_instruction": "Take the black mechanical frame out of the plastic bag and place it on the wooden table.", "scene_description": "A light wooden table has a transparent plastic bag holding a black mechanical frame on its surface, with a yellow tape mark on the left side of the table, a grey reflector and a colorful striped wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the plastic bag on the wooden table, grasps the black mechanical frame inside the bag, lifts it out of the bag, lowers it onto the table surface, then releases the frame and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 14, "tasks": ["place other"], "length": 163, "global_instruction": "Remove the black and metal hardware component from the clear plastic bag and place it on the wooden table.", "scene_description": "A light wooden table has a clear plastic bag holding black and metal parts on its upper middle area, a yellow tape strip on its left edge, a grey wall to the left of the table, and a colorful striped panel to the right. The robotic arm is out of frame initially.", "global_instruction_dense": "The right robotic arm enters the frame moving down toward the clear plastic bag on the wooden table, grasps the black and metal hardware component inside the bag, lifts the component out of the bag, places it on the table surface next to the now-empty bag, then moves upward away from the component.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 15, "tasks": ["place other"], "length": 334, "global_instruction": "Remove parts from the plastic bag and place them on the wooden table", "scene_description": "A light wooden table has a clear plastic bag with black and metallic parts on its far side, with a grey wall left and colorful striped wall right in the background.", "global_instruction_dense": "The right robotic gripper moves toward the plastic bag on the wooden table, grasps parts from inside the bag one by one, pulls each part out, and places each part onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 16, "tasks": ["place other"], "length": 342, "global_instruction": "Place the translucent gray case from the white table into the open drawer of the white storage unit.", "scene_description": "A white lab table holds a multicolored Rubik's cube, a translucent gray case, and a white 3-drawer storage unit, with a robotic arm on the right, a filament spool holder, framed photo, and marked whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves down from its starting position to the white table, grasps the translucent gray case, lifts it, moves it over the open drawer of the white storage unit, releases the case into the drawer, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 17, "tasks": ["place other"], "length": 184, "global_instruction": "Pick a small black part from the middle storage shelf and reposition it on the same shelf.", "scene_description": "White multi-tier storage shelves hold assorted tools: a white PLA filament box at the left of the middle shelf, a yellow-black cordless drill, black SKIL tool case, coiled yellow cable, small black parts, and other equipment. Orange containers rest on the top shelf, and a right robotic arm is positioned at the right side of the shelves.", "global_instruction_dense": "The right robotic arm moves left toward the middle storage shelf, grasps a small black part from the shelf, lifts and adjusts the part, lowers it back to a new position on the middle shelf, then retracts to its original position on the right.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 18, "tasks": ["place other"], "length": 173, "global_instruction": "Reposition a small black component on the middle storage shelf to a new spot on the same shelf.", "scene_description": "A multi-tier white metal storage shelf holds various tools and supplies: a white box with social media icons, yellow-and-black power drill, black fabric pouch, light gray organizer with coiled yellow cable, and small parts are on the middle shelf, with a white robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left into the storage shelf, grasps a small black component near the yellow cable organizer on the middle shelf, lifts and moves it leftward to another location on the middle shelf, places the component down, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 19, "tasks": ["place other"], "length": 166, "global_instruction": "Place the small white component on the top shelf into the open grey storage bin on the same shelf.", "scene_description": "A white multi-tier storage shelf holds various items: a white box printed with social media icons at the left of the top shelf, a yellow-black power drill, grey storage bins, coiled cables, and a small white component 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 small white component on the top shelf, grasps it, lifts it, moves it over the open grey storage bin on the top shelf, releases the component into the bin, then returns to its starting position to the right of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 20, "tasks": ["place other"], "length": 154, "global_instruction": "Reposition the small white plastic part on the middle shelf of the storage rack.", "scene_description": "A white multi-tier workshop shelf holds assorted items: a printed white box, yellow-and-black power drill, black pouch, grey cable caddy with yellow wires, small components, and a small white plastic part at the middle shelf center. A robotic arm is positioned to the right of the shelf initially.", "global_instruction_dense": "The right robotic arm moves left toward the middle shelf, grasps the small white plastic part, lifts it slightly, adjusts its position on the shelf, then releases the part and moves back toward its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 21, "tasks": ["place other"], "length": 136, "global_instruction": "Pick the small black component from the middle storage shelf and place it into the gray caddy on the same shelf.", "scene_description": "A white multi-tiered storage shelf holds orange toolboxes on its top shelf, a yellow-black power drill, white boxes, coiled cables, and gray storage caddies on its middle shelf, with a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves left toward the middle storage shelf, grasps the small black component, carries it left to the gray storage caddy on the middle shelf, releases the component into the caddy, then retracts rightward to its original position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 22, "tasks": ["place other"], "length": 289, "global_instruction": "Move the fork and spoon from the paper plate to the table, then place a piece of baked good from the plastic bag onto the paper plate.", "scene_description": "A round white table near a large window holds a white paper plate with a black fork and spoon, a clear plastic bag of brown baked goods, a white open box, a black rectangular remote, a black-capped bottle, and white cables. A right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm lowers to the paper plate, grasps the fork and spoon, lifts them and places them on the table adjacent to the plate, then moves to the clear plastic bag, grasps a piece of brown baked good, carries it over the paper plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 23, "tasks": ["place other"], "length": 723, "global_instruction": "Transfer light brown ribbons from the black bowl to the clear jar, then place the red toy tomato and green toy vegetable into the black bowl.", "scene_description": "A light yellow table holds a white plastic bag with orange Target patterns on the left, a green fabric toy vegetable, a red fabric toy tomato, a black bowl with light brown ribbon-shaped objects, a clear plastic jar filled with matching light brown ribbons, a white cloth drawstring bag, and a white rectangular container. Grey office chairs and glass partition walls with an office space in the background are visible.", "global_instruction_dense": "The right robotic gripper enters from the top right, repeatedly grasps light brown ribbon-shaped objects from the black bowl on the table, places them into the adjacent clear plastic jar, then grasps the red toy tomato and green toy vegetable from the table surface and places both into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 24, "tasks": ["place other"], "length": 627, "global_instruction": "Place brown pasta pieces from the clear plastic bag into the black plate on the table.", "scene_description": "A light yellow table holds a white plastic bag with orange circular patterns on the left, a black plate with a red fake radish (with green leaves) on the right, a clear plastic bag of brown pasta next to the plate, a white open rectangular box, and a pink cloth on the far right, with gray chairs and glass office walls in the background.", "global_instruction_dense": "The right robotic arm first enters the scene, grasps the red radish from the black plate and places it on the table to clear space, then opens the top of the clear plastic pasta bag, picks up multiple brown pasta pieces from the bag and places them into the black plate, then closes the pasta bag and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 25, "tasks": ["place other"], "length": 777, "global_instruction": "Take all items from the white cloth bag and place them onto the white rectangular box on the table.", "scene_description": "A white round table holds a white cloth bag filled with assorted items (pink cloth, brown ginger, orange, various fruits and vegetables) on its left side, and a white rectangular box on its right side, adjacent to a large window with an exterior view.", "global_instruction_dense": "The right robotic arm sequentially grasps each item from the white cloth bag on the left of the table, lifts each item, moves it to the white rectangular box on the right of the table, places the item on the box, and repeats until all items from the bag are placed on the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 26, "tasks": ["place other"], "length": 724, "global_instruction": "Place all items from the white box into the open white plastic bag on the table.", "scene_description": "A round white table holds an open white plastic bag on its left half, and a white box on its right half containing assorted produce and a pink cloth. A robotic arm is positioned above the box next to a large window with an outdoor city view.", "global_instruction_dense": "The right robotic arm repeatedly reaches to the white box on the right of the table, grasps each item (red radish, orange, small yellow produce, yellow-red fruit, pink cloth, green pear, and brown kiwis) individually, lifts each item, moves left over the open white plastic bag, and releases each item into the bag until all items from the box are inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 27, "tasks": ["place other"], "length": 383, "global_instruction": "Place all brown ring-shaped treats from the top of the white box into the clear plastic treat bag.", "scene_description": "A yellow table holds a clear plastic bag of brown treats left of a white ridged box topped with several brown ring-shaped treats, a light blue water bottle, two white plates, a black spoon, and a peach-shaped object to the box's right, with a robotic arm positioned above the box.", "global_instruction_dense": "The right robotic arm repeatedly grasps a brown ring-shaped treat from the top of the white box, moves it left over the clear plastic treat bag, releases the treat into the bag, and returns to the box until all treats are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 28, "tasks": ["place other"], "length": 360, "global_instruction": "Pick brown treats from the clear plastic bag and place them on the white storage box", "scene_description": "A yellow table holds dark and light cloths on its far left, a clear plastic bag of brown treats left of a white rectangular storage box, plus a light blue water bottle, two white plates, a dark spoon, and a red peach-shaped object to the box's right, with a night city view window in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves to the clear plastic bag of brown treats, grasps a treat, moves it over the white storage box, and releases it onto the box to place multiple treats there.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 29, "tasks": ["place other"], "length": 581, "global_instruction": "Place the brown treats on top of the white storage box into the adjacent transparent plastic bag.", "scene_description": "A yellow wooden table has a transparent plastic bag of brown treats left of center, a white ribbed storage box with brown treats on top at the center, a light blue water bottle right of the box, two white plates, a small black spoon, a peach-shaped object, and folded clothes on the far left, with a window in the background.", "global_instruction_dense": "The left robotic gripper repeatedly grasps brown treats from the top of the white storage box, lifts each treat, moves left to the transparent plastic bag, releases the treat into the bag, then returns to grasp the next treat until most treats are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 30, "tasks": ["place other"], "length": 1191, "global_instruction": "Pick up the brown rubber bands from the storage box top and the table, and place them into the clear plastic bag next to the storage box.", "scene_description": "A yellow wooden table holds a light blue and white storage box on its left side, with multiple brown rubber bands placed on the box's white top. Next to the box is a clear plastic bag filled with similar brown rubber bands, with two loose brown rubber bands lying on the table to the right of the bag. Further right on the table, there are pink, blue, and light peach cloths resting on a white paper plate, with a dark grey wall in the background.", "global_instruction_dense": "The left robotic gripper moves between the top of the light blue and white storage box, the yellow tabletop, and the clear plastic bag, grasping brown rubber bands from the box top and the loose ones on the table, then moving each grasped rubber band over the clear plastic bag and releasing it into the bag until all the rubber bands from the box top and the adjacent table are placed into the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 31, "tasks": ["place other"], "length": 235, "global_instruction": "Take a portion of wood shavings from the clear plastic bag and place them on top of the light gray storage box.", "scene_description": "A light gray rectangular storage box, a clear plastic bag filled with light brown wood shavings, and folded cloths (pink, blue, peach) on a white plate are arranged left to right on a yellow wooden table.", "global_instruction_dense": "The right robotic gripper descends toward the clear plastic bag of wood shavings, inserts into the bag to grasp a handful of shavings, lifts the shavings out, moves left over the light gray storage box, and releases the shavings onto the box's top surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 32, "tasks": ["place other"], "length": 607, "global_instruction": "Place all light brown rubber bands from the top of the white box into the clear plastic bag.", "scene_description": "A yellow table holds a white rectangular box with a pile of light brown rubber bands on its top, and a clear plastic bag filled with more light brown rubber bands to the right of the box. A robotic gripper is positioned above the white box.", "global_instruction_dense": "The right robotic arm repeatedly moves over the rubber bands on the white box, grasps individual rubber bands, lifts them, moves rightward over the clear plastic bag, releases the rubber bands into the bag, and returns to the box until all rubber bands from the box top are placed in the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 33, "tasks": ["place other"], "length": 489, "global_instruction": "Place all brown rubber bands from the table into the clear plastic bag.", "scene_description": "A light yellow table holds a clear plastic bag of brown items, a white box with a small red rounded object on top, a black plastic spoon, multiple brown rubber bands, and a white paper plate arranged left to right. A robotic arm is at the right edge of the frame, with orange chairs and a black microphone stand in the background.", "global_instruction_dense": "The right robotic arm moves toward the brown rubber bands on the table, grasps each rubber band sequentially, lifts each, moves each over the clear plastic bag, and releases each into the bag until no rubber bands remain on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 34, "tasks": ["place other"], "length": 489, "global_instruction": "Place the golden rubber band on the table around the clear snack bag to seal it.", "scene_description": "The right robotic arm holds a large white rectangular block in the foreground, with a light wooden table and orange chairs visible in the background.", "global_instruction_dense": "The right robotic arm first moves the large white rectangular block away from the foreground, grasps the golden rubber band on the light wooden table, lifts the rubber band, moves it to the opening of the clear snack bag, and secures the rubber band around the bag to seal it closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 35, "tasks": ["place other"], "length": 218, "global_instruction": "Remove dried goods from the transparent plastic bag and place them on the table surface.", "scene_description": "A light yellow wooden table holds a brown cardboard box, a transparent plastic bag of brown dried goods, and a white rectangular storage basket, with a white robotic arm positioned left of the table.", "global_instruction_dense": "The right robotic gripper moves to the transparent plastic bag, opens its top, retrieves clumps of brown dried goods from inside the bag, and places each clump onto the empty light yellow table area next to the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 36, "tasks": ["place other"], "length": 622, "global_instruction": "Pick up the brown rubber bands from the yellow table and place them into the brown cardboard box at the back of the table.", "scene_description": "A light yellow table holds a white rectangular storage basket with light-colored cloth inside on its right side, multiple brown rubber bands are placed on the table left of the basket, a transparent bag filled with identical brown rubber bands sits in front of a brown cardboard box with assorted items at the back of the table, and a robotic arm is positioned at the left side of the table above an orange chair.", "global_instruction_dense": "The left robotic gripper repeatedly moves down to grasp brown rubber bands from the yellow table, lifts the grasped rubber bands up to the brown cardboard box at the back of the table, releases the rubber bands into the box, and returns to the table to collect more rubber bands until most of the table's rubber bands are transferred to the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 37, "tasks": ["place other"], "length": 382, "global_instruction": "Take wooden letters from the clear plastic bag and place them on the yellow table.", "scene_description": "A light yellow table holds a white rectangular storage bin, a clear plastic bag of wooden letters, a small brown stuffed toy, and a cardboard box with assorted items, with orange chairs positioned next to the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic bag of wooden letters on the light yellow table, adjusts the bag to access its contents, grasps sets of wooden letters from inside the bag, lifts each set, and places them on the empty area of the table next to the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 38, "tasks": ["place other"], "length": 130, "global_instruction": "Place the small orange toy duck into the silver metal cup on the table.", "scene_description": "A light brown wooden table is at the center, a silver cylindrical metal cup sits on the left part of the table, and a small orange toy duck is to the right of the cup. A left robotic arm is raised above the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange duck on the table, grasps it, lifts it, moves it over the silver metal cup, releases the duck into the cup, then lifts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 39, "tasks": ["place other"], "length": 92, "global_instruction": "Place the small orange duck into the silver metal cup on the table.", "scene_description": "A silver metal cup and a small orange duck are placed on a light brown wooden table. A left robotic arm is positioned above the table, and a right robotic arm is at the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange duck on the wooden table, grasps the duck with its gripper, lifts the duck, moves it above the silver metal cup, and releases the duck into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 40, "tasks": ["place other"], "length": 100, "global_instruction": "Place the orange rubber duck into the small silver metal cup on the table.", "scene_description": "A small silver metal cup and an orange rubber duck are placed on a light wooden table, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange rubber duck on the table, grasps it with its gripper, lifts it, moves it over the small silver metal cup, and releases the duck into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 41, "tasks": ["place other"], "length": 90, "global_instruction": "Place the orange rubber duck on the table into the small stainless steel pot.", "scene_description": "A light brown wooden table has a small stainless steel pot, an orange rubber duck, and a tiny black object placed on it. The pot is left of the duck, the black object is right of the duck. A left robotic arm is positioned above the table, right robotic arm is at the right side of the table, with a colorful vertical striped wall in the left background.", "global_instruction_dense": "The left robotic arm moves downward toward the orange rubber duck on the wooden table, grasps the duck, lifts it, moves it over the adjacent stainless steel pot, and releases the duck to drop it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 42, "tasks": ["place other"], "length": 116, "global_instruction": "Place the orange toy duck on the table into the small metal pot", "scene_description": "A light wooden table holds a small stainless steel pot, an orange toy duck, and a tiny black cylinder. A multicolored vertically striped wall is to the left of the table, and two robotic arms are positioned to the table's right.", "global_instruction_dense": "The left robotic arm moves downward toward the orange toy duck on the wooden table, grasps the duck, lifts it, moves it over the small metal pot, and releases it to drop the duck into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 43, "tasks": ["place other"], "length": 140, "global_instruction": "Place the small brown metal sphere into the bright blue cup on the wooden table.", "scene_description": "A light brown wooden table holds a dark gray cup, a bright blue cup, and a small brown metal sphere on its surface, with a white robotic arm at the right side of the table and a RALENO lighting rig to the left of the table in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the small brown metal sphere on the wooden table, grasps it with its gripper, lifts the sphere, moves it over the bright blue cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 44, "tasks": ["place other"], "length": 121, "global_instruction": "Place the small brown pebble on the table into the front light blue cup", "scene_description": "A light wooden tabletop has two blue cups (a darker grey-blue cup at the rear, a brighter light blue cup at the front) and a small brown pebble next to the front cup. A robotic arm is positioned to the right of the table, a RALENO photography softbox is on the left, and an open office lab workspace is in the background.", "global_instruction_dense": "The right robotic arm moves toward the small brown pebble on the wooden table, grasps it, lifts it, moves it over the front light blue cup, and releases the pebble into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 45, "tasks": ["place other"], "length": 166, "global_instruction": "Place the yellow hexagonal prism into the blue plastic cup on the table.", "scene_description": "A light wooden table holds a small orange cube, a yellow hexagonal prism, and a blue plastic cup, with a gray wall and colorful striped panel in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow hexagonal prism on the table, grasps it, lifts it, moves it over the blue plastic cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 46, "tasks": ["place other"], "length": 143, "global_instruction": "Place the small yellow prism into the small blue cup on the wooden table.", "scene_description": "A light brown wooden table holds a small red cube, a small yellow prism, and a small blue cup, with a gray wall and colorful striped panel in the background.", "global_instruction_dense": "The right robotic gripper moves toward the small yellow prism on the table, grasps it, lifts it, moves it over the blue cup, releases it into the cup, and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 47, "tasks": ["place other"], "length": 107, "global_instruction": "Place the small yellow prism into the blue cup on the wooden table.", "scene_description": "A light brown wooden table holds a small yellow prism and a blue cup; the yellow prism is closer to the front edge of the table, the blue cup sits further back, with a robotic arm partially visible at the top right, against a grey wall and a colorful vertical striped wall in the background.", "global_instruction_dense": "The right robotic arm moves down toward the small yellow prism on the table, grasps it with its gripper, lifts it, moves it over the blue cup, releases it into the cup, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 48, "tasks": ["place other"], "length": 112, "global_instruction": "Pick up the red hot glue gun from the wooden desk and place it into the blue cup on the black cabinet.", "scene_description": "An office workspace with a whiteboard covered in writing, a black framed portrait below the whiteboard, a stacked spool holder next to the portrait, a wooden desk with office supplies including a red hot glue gun, a black cabinet with a blue cup and purple objects on top, plus office chairs, monitors, a black hard case, white air purifier, and small gray equipment box visible in the area, with no robotic arm in the initial frame.", "global_instruction_dense": "The right robotic arm descends toward the red hot glue gun on the wooden desk, grasps it, lifts it, moves it over the blue cup on the black cabinet, and lowers it toward the cup's interior.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 49, "tasks": ["place other"], "length": 100, "global_instruction": "Place the small component into the blue-and-orange rectangular holder on the lab desk.", "scene_description": "A lab desk holds a small light blue cup, a larger blue cup with an orange handle, and a blue-and-orange rectangular holder, with a whiteboard, 3D filament spools, and a robotic arm at the right side.", "global_instruction_dense": "The right robotic arm moves downward toward the lab desk, grasps a small component, moves it over the blue-and-orange rectangular holder, lowers it into the holder, releases the component, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 50, "tasks": ["place other"], "length": 367, "global_instruction": "Remove the yellow marker from the black bowl, then place the light gray tape roll and yellow-handled scissors into the black bowl.", "scene_description": "A light brown wooden table holds a black bowl with a yellow marker inside, a light gray tape roll to the right of the bowl, a dark gray tape roll to the left of the bowl, a black long-handled tool, a silver small figurine, and yellow-handled scissors at the lower left of the table. A white robotic arm is positioned above the right edge of the table.", "global_instruction_dense": "The right robotic arm first grasps the yellow marker from inside the black bowl, lifts it out and places it on the table surface, then grasps the light gray tape roll on the table, lifts it and drops it into the black bowl, then grasps the yellow-handled scissors on the table and places them into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 51, "tasks": ["place other"], "length": 224, "global_instruction": "Place the wooden plank with green and yellow blocks onto the purple box", "scene_description": "A light brown wooden table in an office workspace holds a purple rectangular box, orange and yellow round discs, and a small white peg board. A right robotic arm positioned above the table grips a wooden plank with green and yellow blocks attached to it, with desks, monitors, and black curtains in the background.", "global_instruction_dense": "The right robotic arm lowers the wooden plank with green and yellow blocks onto the purple box, adjusts the plank to position it properly, then lifts its gripper and moves rightward away from the placed plank.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 52, "tasks": ["place other"], "length": 186, "global_instruction": "Place the blue peg from the white tray onto the wooden table surface.", "scene_description": "A wooden table holds a blue box on its left side, colorful small blocks, a white tray with orange, red, and blue pegs, a tape measure, a yellow rod, and a robotic arm on the right; the background is an office space with black curtains.", "global_instruction_dense": "The right robotic arm moves left from its initial position toward the white tray, grasps the blue peg on the tray, lifts it, moves right over the table, lowers the peg, releases it onto the table, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 53, "tasks": ["place other"], "length": 228, "global_instruction": "Place a red peg from the white peg board onto the wooden table surface.", "scene_description": "A light brown wooden table holds a blue NUC box on its left side, plus a white foam strip, colorful round discs, a green cube, a black tape measure, a white peg board with red/orange pegs, a small white board with green/yellow blocks, black strips, and a white robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the white peg board on the table, grasps a red peg from the board, lifts the peg, moves it over the wooden table, releases the peg onto the table, then raises back up to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 54, "tasks": ["place other"], "length": 212, "global_instruction": "Place the blue circular peg from the wooden peg puzzle onto the worktable surface.", "scene_description": "A wooden worktable in an office environment holds a dark blue box, yellow and green interlocking plastic blocks, a wooden peg puzzle with red, yellow, and blue circular pegs, and a small rectangular wooden block. A robotic arm is positioned over the table, with office desks and monitors visible in the background.", "global_instruction_dense": "The right robotic arm moves a small wooden block toward the wooden peg puzzle, lifts the blue circular peg from the puzzle, places the blue peg on the worktable, then lifts the wooden block and moves it out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 55, "tasks": ["place other"], "length": 205, "global_instruction": "Pick a red peg from the wooden base and place it on the wooden tabletop.", "scene_description": "A wooden worktable in a lab/office holds a dark blue NUC box on the left, a wooden base with red pegs, yellow, orange, blue circular discs, green and yellow interlocking blocks, a gray flexible tube, scissors, a black strip, and a slotted wooden tray; a white robotic arm is positioned at the right of the table, with office desks, monitors and storage cabinets in the background.", "global_instruction_dense": "The right robotic arm moves down from its initial raised position toward the wooden base with red pegs, grasps a red peg, lifts it, moves it over the table surface, drops the red peg onto the table, then lifts back up and retracts to its original starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 56, "tasks": ["place other"], "length": 677, "global_instruction": "Place the three small black parts from the workbench into the open tool drawer then close the drawer.", "scene_description": "A light wooden workbench sits atop a dark metal tool cabinet with an open drawer holding assorted black plastic parts. On the workbench: the left side has a black printer, stacked papers, and a roll of gray tape; the center has orange-handled clamps in a blue holder, a stack of books, a small black cubic block, a black U-shaped part, and a small black cylindrical part; the right side has a multi-colored stacking block and a white container, with an Amazon cardboard box behind the bench. A robotic arm is positioned at the right edge of the workbench above the open drawer.", "global_instruction_dense": "The right robotic arm grasps the black U-shaped part from the workbench, lowers it into the open drawer and releases it, then grasps the black cubic block from the workbench, lowers it into the drawer and releases it, then grasps the small black cylindrical part from the workbench, lowers it into the drawer and releases it, then pushes the open drawer closed, and moves back to the edge of the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 57, "tasks": ["place other"], "length": 615, "global_instruction": "Pick black plastic parts from the workbench, place them into the open drawer below, then close the drawer.", "scene_description": "A wooden workbench holds a black printer on stacked papers at the left, a grey duct tape roll, a blue holder with orange-handled hex keys, a stack of books, multiple black plastic parts, a small yellow-red-green stacking block, and a white container at the right. An open drawer below the bench holds more black plastic parts, a robotic arm is at the top right, and a person in a red jacket is partially visible at the left edge.", "global_instruction_dense": "The right robotic gripper repeatedly grasps black plastic parts from the wooden workbench, lowers each part into the open drawer below the workbench and releases it, then moves to the front of the drawer and pushes it closed, before returning to a position above the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 58, "tasks": ["place other"], "length": 558, "global_instruction": "Transfer the small black plastic parts from the workbench into the open drawer, then close the drawer.", "scene_description": "A wooden workbench holds a black printer, silver tape, blue-based orange-handled tools, stacked books, small black plastic parts, and a rear Amazon box. A wall-mounted TV is above the bench, an open drawer with black plastic parts is below the bench, and a white-black robotic arm is positioned to the right of the bench.", "global_instruction_dense": "The right robotic gripper sequentially grasps small black plastic parts from the workbench, places each part into the open drawer below the bench, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 59, "tasks": ["place other"], "length": 581, "global_instruction": "Place all black plastic parts from the workbench into the open drawer below, then close the drawer.", "scene_description": "A wooden workbench holds a black printer on the left, gray adhesive tape, orange-handled clamps on a blue base, stacked books, two black plastic parts, a small multicolor block stack, a white pen cup, and an Amazon cardboard box at the back right. An open drawer below the bench holds additional black plastic parts, a monitor is mounted above the bench, and a robotic gripper is at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves down to the workbench, sequentially grasps each black plastic part from the workbench surface, moves each part to the open drawer below and drops it inside, then pushes the drawer closed before returning to its initial upper right position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 60, "tasks": ["place other"], "length": 644, "global_instruction": "Pick black plastic parts from the workbench, place them into the open drawer, then close the drawer.", "scene_description": "A wooden workbench sits atop a metal drawer cabinet with one lower drawer open holding black plastic parts. On the workbench from left to right: a black electronic device, stacks of paper topped with a silver tape roll, a blue holder with orange-handled tools, stacked books, multiple black plastic parts, a small multi-colored block stack, a white pen cup, and a brown cardboard box. A white and black robotic arm is positioned above the right side of the workbench, with a wall-mounted TV and multi-colored (blue, grey, beige, white) wall in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each black plastic part from the workbench surface, moves each part down to the open drawer below the workbench, releases each part into the drawer, then pushes the drawer closed, and returns to its rest position above the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 61, "tasks": ["place other"], "length": 657, "global_instruction": "Place the black plastic parts from the workbench into the open drawer below, then close the drawer.", "scene_description": "A wooden workbench has a black printer on its left edge, a roll of silver duct tape atop stacked white books, orange-handled clamps on a blue base, a stack of textbooks, multiple black plastic parts on the worktop, and a cardboard box on the right. An open drawer below the workbench holds more black plastic parts, a TV is mounted on the wall above the left bench, and a right robotic gripper is positioned above the worktop black parts.", "global_instruction_dense": "The right robotic gripper sequentially grasps three black plastic parts from the workbench surface, lowers each part into the open drawer below the workbench and releases it, then pushes the drawer closed before moving upward away from the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 62, "tasks": ["place other"], "length": 583, "global_instruction": "Pick the black U-shaped plastic parts from the workbench, place them into the open drawer, then close the drawer.", "scene_description": "A wooden workbench sits below a wall-mounted TV, holding a black printer, grey duct tape, a blue holder with orange clamps, three black U-shaped plastic parts, stacked books, small colorful stacked blocks, a white pen cup, a white bin, and a brown Amazon box. An open drawer with small black parts and a phone is under the bench, with a black curtain to the right.", "global_instruction_dense": "The right robotic arm grasps each black U-shaped plastic part from the workbench one by one, places each into the open drawer under the bench, pushes the drawer fully closed, then returns to its initial position above the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 63, "tasks": ["place other"], "length": 582, "global_instruction": "Place the black plastic parts from the workbench into the open lower drawer.", "scene_description": "A wooden workbench holds a black printer on the far left, a roll of gray tape on stacked white papers, orange clamps in a blue holder, a stack of books, two black plastic parts, a small multi-colored block stack, a white pen cup, and a brown cardboard box on the right. A TV is mounted above the bench, and the robotic arm is initially off the right edge of the frame.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves over the workbench, grasps one black plastic part, lowers it into the open lower drawer and releases it, returns to the workbench to grasp another black plastic part, lowers it into the drawer and releases it, then retracts back to the right out of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 64, "tasks": ["place other"], "length": 603, "global_instruction": "Pick up the black plastic U-shaped parts from the workbench, place them into the open drawer under the workbench, then close the drawer.", "scene_description": "A wooden workbench holds stacks of books near the center, multiple black plastic U-shaped parts scattered on its surface, an orange multi-clamp fixture on the left, a roll of gray tape next to the books, a white pen holder with stationery, a small colored block toy, and brown cardboard boxes on the far right. An open drawer is visible under the workbench, and a robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves across the workbench to grasp each black plastic U-shaped part, lowers each part into the open drawer below the workbench to release it, and finally pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 65, "tasks": ["place other"], "length": 510, "global_instruction": "Place black parts retrieved from the under-bench drawer onto the wooden workbench.", "scene_description": "A wooden workbench holds a black electronic device, grey tape, stacked white boxes, orange fixtures on a blue base, a stack of books, small black objects, and cardboard boxes on its right end. Dark metal drawers with silver handles are under the workbench, a right robotic arm is at the upper right of the frame, and a person in a red jacket is partially visible on the left.", "global_instruction_dense": "The right robotic arm moves down to open the under-bench drawer, grasps a black part from the drawer, lifts it and places it on the workbench, grasps another black part from the drawer, lifts it and places it on the workbench, pushes the drawer closed, and returns to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 66, "tasks": ["place other"], "length": 841, "global_instruction": "Place all black plastic parts from the workbench surface into the open drawer below the workbench.", "scene_description": "A wooden workbench holds three black plastic parts, a stack of books, a cluster of orange clamps, a roll of gray tape, a white pen cup, and an Amazon cardboard box on its right side. A white-and-black robotic arm is positioned at the upper right of the bench, with pull-out drawers below the work surface, and a person in an orange jacket is visible to the left of the bench behind a glass partition.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the workbench surface, grasps a black plastic part, lowers it into the open drawer below the workbench, releases the part, and retracts back to the workbench until all parts are stored, then moves away from the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 67, "tasks": ["place other"], "length": 544, "global_instruction": "Place all small black plastic parts from the workbench into the open storage drawer below the workbench.", "scene_description": "A wooden workbench holds stacked books, a blue-based fixture with orange clamps, small black plastic parts, a white pen cup, and cardboard boxes on the right. A white-and-black robotic arm is positioned above the workbench, with storage drawers below, and a mirror on the left shows a person in red in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps each small black plastic part on the wooden workbench, lowers each part into the open storage drawer below the workbench, releases the part, and returns to the workbench until all parts are placed in the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 68, "tasks": ["place other"], "length": 475, "global_instruction": "Retrieve small black parts from the workbench drawer and place them on the workbench surface.", "scene_description": "A wooden workbench holds stacks of books, a blue base with orange clamps, gray tape rolls, a small multi-colored block, a white pen cup, and Amazon boxes at the back. A TV is mounted on the blue-and-white wall above the bench, black metal drawers are under the bench, and a person in a red jacket is behind a left-side glass partition.", "global_instruction_dense": "The right robotic arm moves down to open the workbench's top drawer, grasps small black parts from the drawer one by one, lifts each part and places it on the workbench surface, then closes the drawer and retracts upward to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 69, "tasks": ["place other"], "length": 576, "global_instruction": "Place the three black U-shaped plastic parts from the workbench into the under-bench drawer, then close the drawer.", "scene_description": "A wooden workbench in a lab holds three black U-shaped plastic parts, a stack of books, a blue holder with orange-handled tools, gray tape, a printer on the left, a cardboard box, a white pen cup, and a small colorful block, with a closed drawer under the workbench and a robotic arm at the top right.", "global_instruction_dense": "The right robotic gripper first pulls open the drawer under the workbench, sequentially grasps each of the three black U-shaped plastic parts on the workbench, moves each part down to the open drawer and releases it inside, pushes the drawer closed, then moves back up to its initial position above the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 70, "tasks": ["place other"], "length": 544, "global_instruction": "Place the black plastic parts from the workbench into the open drawer below the workbench.", "scene_description": "A wooden workbench holds three black plastic parts, a stack of books, orange-handled tools in a blue holder, grey tape, and a small rainbow stacking toy. An open drawer beneath the workbench contains more black plastic parts, and a TV is mounted on the wall above the bench. A robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic gripper sequentially grasps each of the three black plastic parts on the workbench, lowers each part into the open drawer beneath the workbench and releases it, then pushes the drawer closed before returning to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 71, "tasks": ["place other"], "length": 983, "global_instruction": "Place all the black plastic parts from the workbench into the open drawer below the workbench, then close the drawer.", "scene_description": "A wooden workbench holds a stack of magazines on the far left, a black electronic device, a roll of grey tape on white paper, a blue holder with orange-handled tools, multiple small black plastic U-shaped parts, a stack of books, a white container, a cup holding pens, and a brown Amazon box at the back. An open drawer below the workbench contains more black plastic parts, and a robotic arm is positioned above the workbench near the black parts.", "global_instruction_dense": "The right robotic arm repeatedly grasps black plastic parts from the workbench surface, lowers each part into the open drawer beneath the bench, releases the part, returns to the workbench to grasp the next part, and finally pushes the drawer closed after all parts are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 72, "tasks": ["place other"], "length": 684, "global_instruction": "Pick up yellow and orange round chips from the table and checkered board, then place them into the white plastic cup.", "scene_description": "A light yellow wooden table holds a white plastic cup on a black circular base, a black-and-white checkered board with two orange round chips and one yellow round chip, two loose orange round chips, and a wooden number puzzle strip. A white robotic arm is positioned above the right side of the table, with an office space with glass partitions in the background.", "global_instruction_dense": "The right robotic arm moves toward a yellow chip on the checkered board, grasps it, lifts and places it into the white cup, then attempts to grasp and move orange chips from the board (dropping some on the table), moves an orange chip from the table to the checkered board, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 73, "tasks": ["place other"], "length": 658, "global_instruction": "Place all red circular chips into the clear glass cup and the blue circular chip into the white paper cup.", "scene_description": "A light brown wooden table holds four red circular chips, one blue circular chip, a pair of orange-handled scissors, a white paper cup, a clear glass cup, and a numbered stacking toy with a vertical rod. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper sequentially moves to each red circular chip on the table, grasps each chip, moves it over the clear glass cup and releases it into the cup, then moves to the blue circular chip, grasps it, moves it over the white paper cup and releases it into the cup, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 74, "tasks": ["place other"], "length": 658, "global_instruction": "Pick up the blue and orange circular pucks on the table and place them into the appropriate containers, putting the blue puck in the clear glass and orange pucks in the white plastic cup.", "scene_description": "A light wood office table holds a clear glass, white plastic cup, blue circular puck, multiple orange circular pucks, scissors, a notepad, and small miscellaneous items. A Franka Emika robotic arm is positioned on the right side of the table, with an office space with refrigerators and cubicles in the background.", "global_instruction_dense": "The right robotic gripper sequentially moves to each circular puck on the table, grasps each puck, moves it to the matching container (blue puck to the clear glass, orange pucks to the white plastic cup), releases each puck into its target container, and finally retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 75, "tasks": ["place other"], "length": 725, "global_instruction": "Place all orange circular washers into the white cup, and the blue circular washer into the clear small glass.", "scene_description": "A light brown wooden table in an office with glass doors and workstations in the background holds a white disposable cup (right), a clear small glass (center), four orange circular washers, one blue circular washer, a wooden number puzzle board (left), and scissors atop a paper with gray fabric pieces, with a left robotic arm positioned above the table's right side.", "global_instruction_dense": "The left robotic arm sequentially grasps each orange circular washer, lifts and drops them into the white disposable cup, grasps the blue circular washer, lifts and drops it into the clear small glass, then grasps the remaining orange washers and drops them into the white cup until all washers are placed in their respective containers.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 76, "tasks": ["place other"], "length": 168, "global_instruction": "Pick the dark green polka dot tie from the chair back and place it into the white basket.", "scene_description": "A grey mesh office chair with a dark green polka dot tie draped over its back sits next to a small light brown table holding a white rectangular basket with clothes inside. A robotic arm is positioned above the chair, and an open office space with desks and chairs is in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark green polka dot tie on the grey chair back, grasps it, lifts it, moves it over the adjacent white basket, releases the tie into the basket, then moves upward away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 77, "tasks": ["place other"], "length": 250, "global_instruction": "Place the polka dot tie from the gray chair into the white storage bin", "scene_description": "A white rectangular storage bin sits on a small light wooden table, holding light pink fabric, black fabric, and an orange object. A gray fabric chair with a dark polka dot tie draped over its back is positioned in front of the bin, with a white robotic arm above the bin and a glass partition separating the area from an office with desks and rolling chairs in the background.", "global_instruction_dense": "The right robotic arm moves downward from above the white bin toward the gray chair, grasps the polka dot tie on the chair's back, lifts the tie, moves it over the white bin, lowers the tie into the bin, releases it, then moves upward away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 78, "tasks": ["place other"], "length": 272, "global_instruction": "Remove the silver braided protective sleeve from the curved rubber strip and lay it flat on the worktable.", "scene_description": "A curved black rubber strip with a silver braided protective sleeve resting on it sits atop a cardboard cutout on a light wood worktable, with miscellaneous office supplies on adjacent background tables.", "global_instruction_dense": "The robotic gripper moves into position above the silver braided sleeve, grasps it, pulls it free from the curved rubber strip, moves it across the worktable, and lays it flat on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 79, "tasks": ["place other"], "length": 337, "global_instruction": "Remove the white bubble-wrapped flexible strip from the curved frame and place it flat on the worktable.", "scene_description": "A curved black frame with an attached white bubble-wrapped flexible strip sits on a light wooden worktable. Background tables hold snacks, an orange, office supplies, and dark storage cabinets.", "global_instruction_dense": "The right robotic gripper moves toward the end of the white bubble-wrapped flexible strip attached to the curved black frame, grasps it, pulls it free from the frame, adjusts its position, lays it flat on the light wooden worktable, then releases it and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 80, "tasks": ["place other"], "length": 286, "global_instruction": "Take the silver foam-wrapped strip from the curved black base and place it flat on the wooden worktable.", "scene_description": "A light wooden worktable holds a curved black base with a silver foam-wrapped long strip resting on top. Background office desks have an orange fruit, snack packages, and other supplies placed on them.", "global_instruction_dense": "The left robotic gripper moves toward the silver foam-wrapped strip on the curved black base, grasps it, lifts it off the base, moves it to an empty spot on the wooden table, lays it flat, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 81, "tasks": ["place other"], "length": 535, "global_instruction": "Place the long white foam strip onto the black metal bar on the worktable.", "scene_description": "A long curved white foam strip rests on a light wooden worktable. A black metal bar is mounted on two wooden blocks at the left side of the worktable. VR equipment is positioned to the right of the table, and a separate table with colorful building blocks is visible to the far left.", "global_instruction_dense": "The right robotic gripper first grasps the upper end of the white foam strip, positions that end on the black metal bar, then moves to grasp the lower end of the foam strip, lifts it, and places the full foam strip along the black metal bar, adjusting it to fit properly.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 82, "tasks": ["place other"], "length": 182, "global_instruction": "Pick up the orange-handled metal pick and place it into the bright green mug.", "scene_description": "A black table holds a bright green mug, an orange-handled metal pick, and a silver metal plate on its left edge. A white side table with green fabric, cables and equipment is to the left of the black table, and a robotic gripper sits above the top right of the black table.", "global_instruction_dense": "The right robotic gripper moves down toward the orange-handled metal pick on the black table, grasps and lifts the pick, moves it over the bright green mug, then releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 83, "tasks": ["place other"], "length": 312, "global_instruction": "Place the metal cleaning scrubber into the silver stainless steel cup, then tilt and reset the cup.", "scene_description": "A black table holds a green metal fixture with protruding silver screws on its left side, a silver upright stainless steel cup in the center, and a white flat object with a metal cleaning scrubber on its right side, with a green curtain and office workspace in the background.", "global_instruction_dense": "The right robotic arm moves to the right side of the table, grasps the metal cleaning scrubber, lifts it, moves it to the center silver stainless steel cup, inserts the scrubber into the cup, then grips the cup's handle, lifts and tilts the cup, sets it back upright, and moves out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 84, "tasks": ["place other"], "length": 106, "global_instruction": "Move the left robotic gripper down toward the metal fixture on the foreground worktable.", "scene_description": "A dark worktable with a silver metal fixture is in the foreground. Multiple camera tripods stand next to a wooden table on the left. A white robotic arm, stacked boxes, green screen setup, and office desks with monitors are in the lab background.", "global_instruction_dense": "The left robotic gripper enters the frame from the right edge, then moves downward toward the silver metal fixture on the dark foreground worktable.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 85, "tasks": ["place other"], "length": 85, "global_instruction": "Place a white mount on the left black tripod, then remove the mount from the tripod.", "scene_description": "A lab workspace with wooden floors, black tripods beside a left wooden table with small items, cardboard boxes and computer monitors on midground tables, a fixed white robotic arm on the right table, green curtains on the far left, and a grey foreground table with a metal fixture.", "global_instruction_dense": "The right robotic gripper moves toward the left black tripod, places a white mount on its top, holds the mount in place briefly, then detaches the white mount and moves away from the tripod.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 86, "tasks": ["place other"], "length": 87, "global_instruction": "Place a white sensor mount on the tall left tripod then remove it from the tripod.", "scene_description": "A robotics lab workspace with multiple black tripods, a tall black tripod on the left with an empty top, wooden tables holding computers and supplies, green curtains on the left, a white robotic arm on the right, and stacked cardboard boxes near glass partitions in the background.", "global_instruction_dense": "The right robotic arm places a white sensor mount onto the top of the tall left tripod, then grasps the sensor mount to lift it off the tripod, and moves it out of the camera's field of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 87, "tasks": ["place other"], "length": 74, "global_instruction": "Place a grey head onto the left tall black camera tripod.", "scene_description": "A laboratory workspace contains wooden work tables, multiple black camera tripods, a silver metal fixture on a dark foreground table, a fixed white robotic arm on a right-side table, stacked cardboard boxes, computer monitors, and green curtains on the left wall.", "global_instruction_dense": "The left robotic arm replaces the black head on the left tall camera tripod with a grey head, while the right robotic arm enters from the right frame edge, moves slightly left, then retracts back out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 88, "tasks": ["place other"], "length": 161, "global_instruction": "Place the right robotic end effector onto the foreground black worktable", "scene_description": "An office lab workspace: black worktable surfaces occupy the foreground, a black photography tripod is on the left, stacked cardboard boxes and a green screen are at the back left, and a white stationary robotic arm sits on a wooden desk at the right background with office furniture around.", "global_instruction_dense": "The right robotic arm moves from off-screen upper right toward the foreground black worktable, lowers its end effector, and rests the end effector on the worktable surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 89, "tasks": ["place other"], "length": 92, "global_instruction": "Place the clear plastic cover over the cylindrical objects on the purple mat on the table.", "scene_description": "A white table with a purple mat holding several white-and-black cylindrical objects, and a clear plastic cover next to the mat, is in a lab workspace; the right robotic arm is positioned above the right edge of the table, the left robotic arm is in the background near a desk with computers.", "global_instruction_dense": "The right robotic arm moves down toward the clear plastic cover next to the purple mat, grasps the cover, lifts it, positions it over the cylindrical objects on the mat, lowers it, and releases it to cover the objects.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 90, "tasks": ["place other"], "length": 240, "global_instruction": "Pick up the transparent plastic cover on the purple mat and place it back onto the purple mat.", "scene_description": "A white table has a purple square mat on its surface, multiple white cylindrical batteries and a transparent square plastic cover are placed on the purple mat, a right robotic gripper is positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the transparent plastic cover on the purple mat, grasps the cover, lifts and adjusts its position above the mat, lowers it back onto the purple mat near the batteries, then releases the cover.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 91, "tasks": ["place other"], "length": 222, "global_instruction": "Pick up the white batteries from the purple mat and place them on the empty white table surface.", "scene_description": "A white table holds a purple mat with several white batteries on it, a glass, a black device, and a power strip. A gray office chair is left of the table, a robotic arm is at the top right, and another robotic arm plus a working person are in the background.", "global_instruction_dense": "The right robotic arm moves toward the white batteries on the purple mat, grasps them with its gripper, lifts and moves them left over the empty area of the white table, then lowers and releases the batteries onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 92, "tasks": ["place other"], "length": 165, "global_instruction": "Lift the purple plastic sheet on the table and place it back onto its original position.", "scene_description": "A white curved table holds a purple plastic sheet, a clear container of white cylindrical batteries, a black coffee maker, and a white power strip; a separate white robotic arm is in the background left near a person.", "global_instruction_dense": "The right robotic arm moves down toward the purple plastic sheet on the white table, grasps it, lifts it upward, lowers it back to its original position on the table, releases it, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 93, "tasks": ["place other"], "length": 197, "global_instruction": "Place the transparent cover from the wooden tray over the white bottles on the purple mat", "scene_description": "A white table in an open office has a black backpack on its left foreground, a purple mat with small white bottles on its right, a wooden tray with bottles behind the mat, another black backpack leaning against a gray partition behind the table, and a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden tray, grasps the transparent cover on the tray, lifts it, moves it over the purple mat, and places the cover over the small white bottles on the mat.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 94, "tasks": ["place other"], "length": 137, "global_instruction": "Place the clear plastic cover from the purple mat onto the desk left of the purple mat.", "scene_description": "In an open office, a white desk holds a black backpack on its left edge, a purple mat with white cylindrical bottles and a clear plastic cover in the right foreground, and a light beige tray with bottles behind the mat, with another black backpack leaning against the desk partition behind the tray.", "global_instruction_dense": "The right robotic arm moves down toward the clear plastic cover on the purple mat, grasps the cover, lifts it, moves it left to the area left of the purple mat, lowers and releases it onto the desk, then lifts upward away from the placed cover.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 95, "tasks": ["place other"], "length": 253, "global_instruction": "Reposition the transparent plastic cover on the white office desk.", "scene_description": "A white office desk holds a purple mat with small white cylindrical bottles, a light wooden tray, and a transparent plastic cover. Two black backpacks rest on the grey partition behind the desk, and a robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the transparent plastic cover on the desk, grasps it with its gripper, lifts and moves the cover to a new position on the desk, then releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 96, "tasks": ["place other"], "length": 204, "global_instruction": "Pick up the clear plastic cover from the wooden tray and place it on the desk next to the purple mat.", "scene_description": "A white office desk holds a light wooden tray with small white vials on its right, a purple mat with small white vials on its left, two black backpacks sit on the grey desk partition, and a right robotic arm is positioned above the tray.", "global_instruction_dense": "The right robotic arm moves downward toward the clear plastic cover on the wooden tray, grasps the cover, lifts it, moves it leftward to the area beside the purple mat on the desk, then releases the cover onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 97, "tasks": ["place other"], "length": 177, "global_instruction": "Place the transparent cover over the white cylindrical objects on the purple desk mat", "scene_description": "A white office desk has a purple mat with multiple white cylindrical objects, a light wooden tray with identical white cylinders to the right of the mat, two black backpacks rest on the gray partition behind the desk, and long LED ceiling lights are visible in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right while holding a transparent cover, lowers and adjusts its position above the white cylindrical objects on the purple mat, then lowers the cover to place it over the cylinders.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 98, "tasks": ["place other"], "length": 215, "global_instruction": "Place the transparent plastic cover over the white small bottles on the purple desk mat.", "scene_description": "A white office desk has a black backpack on its left side, a purple mat on its right side with multiple white cylindrical small bottles on the mat, a light brown wooden tray behind the mat, and a robotic arm above the right side of the desk.", "global_instruction_dense": "The right robotic arm moves downward from its initial upper position, grasps the transparent plastic cover, lifts it, moves it to position above the white cylindrical bottles on the purple desk mat, then lowers the cover to place it over the bottles.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 99, "tasks": ["place other"], "length": 143, "global_instruction": "Pick up the clear plastic piece and place it over the white cylindrical assembly on the purple mat.", "scene_description": "A white office desk holds a purple mat with a white cylindrical modular assembly on it, a light wooden frame, a clear plastic piece left of the mat, and two black backpacks on the desk partition, with a robotic arm at the upper right in an open office space.", "global_instruction_dense": "The right robotic arm moves downward and left from its initial upper right position, grasps the clear plastic piece on the desk, lifts it, moves it right over the white cylindrical assembly on the purple mat, and lowers it to cover the assembly.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 100, "tasks": ["place other"], "length": 194, "global_instruction": "Pick up the transparent plastic cover and place it over the two white cylinders on the purple mat.", "scene_description": "A white office desk holds a black backpack on its left side, two white cylindrical objects with yellow and black rings resting on a purple mat, a transparent plastic cover adjacent to the mat, a wooden tray of identical white cylinders to the right of the mat, and a robotic arm positioned above the desk.", "global_instruction_dense": "The right robotic arm moves downward to grasp the transparent plastic cover next to the purple mat, lifts the cover, moves it rightward over the two white cylinders on the purple mat, lowers the cover to place it over the cylinders, then releases the cover and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 101, "tasks": ["place other"], "length": 117, "global_instruction": "Pick up the small white plastic part on the black table and place it at another position on the table.", "scene_description": "A small white plastic part rests on the center of a black table, with a green screen backdrop, office chairs, and a tripod visible in the background.", "global_instruction_dense": "The right robotic arm descends toward the small white plastic part on the black table, grasps it with its gripper, lifts it, moves it rightward, lowers it, and releases it at a new position on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 102, "tasks": ["place other"], "length": 121, "global_instruction": "Pick up the dark blue earbud case on the right of the black table and place it on the left part of the table.", "scene_description": "A dark blue wireless earbud case is placed on the right part of a black table, with a green screen behind the table, and an office chair and tripod visible in the background.", "global_instruction_dense": "The right robotic gripper moves down to the dark blue earbud case on the right of the black table, grasps it, lifts it, moves it left across the table, lowers it onto the left table area, releases it, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 103, "tasks": ["place other"], "length": 113, "global_instruction": "Move the dark blue earbud case from the center of the black table to its left side.", "scene_description": "A small dark blue earbud case is at the center of a black table, with an office workspace with desks, computers, chairs, and boxes in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark blue earbud case at the center of the black table, grasps it with its gripper, lifts and moves it leftward, then lowers and places it on the left area of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 104, "tasks": ["place other"], "length": 134, "global_instruction": "Pick up the small dark fob with a lanyard on the table and place it back on the table surface.", "scene_description": "A small dark fob with a black lanyard rests on the right half of a black office table, with office desks, chairs, computers, and boxes visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the small dark lanyard-attached fob on the black table, grasps it, lifts it briefly, then lowers it and releases it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 105, "tasks": ["place other"], "length": 160, "global_instruction": "Place the clear plastic cover onto the container holding the small vials.", "scene_description": "A white desk holds a white monitor on the left, a purple mat at the center with multiple small cylindrical vials, a clear plastic cover next to the vials, a black coffee machine behind the mat, and a power strip with a white cup to the right of the mat.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cover next to the vials, grasps the cover, lifts it, moves it over the vial container, and places it onto the container to cover the vials.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 106, "tasks": ["place other"], "length": 147, "global_instruction": "Pick up the metal tweezer from the wooden tray and place it on the desk surface next to the tray.", "scene_description": "A white office desk holds a white power strip with orange indicators on the left, a light beige wooden tray with a metal tweezer inside at the center, a transparent plastic spoon near the front edge, scattered white cables, a black backpack against the grey partition behind the desk, and a computer monitor on the right side of the desk.", "global_instruction_dense": "The right robotic arm moves downward toward the wooden tray on the desk, grasps the metal tweezer inside the tray, lifts the tweezer, moves it rightward to the area adjacent to the tray, lowers it, releases it onto the desk surface, then moves upward away from the placed tweezer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 107, "tasks": ["place other"], "length": 128, "global_instruction": "Pick up the metal stylus from the wooden tray and place it on the purple paper", "scene_description": "A white office desk has a white power strip with orange switches on the left, a light wooden tray with a metal stylus inside at the center, a purple paper sheet to the right of the tray, a small clear plastic spoon at the bottom edge of the desk, with a black backpack and electronic equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the wooden tray on the desk, grasps the metal stylus inside the tray, lifts the stylus, moves it over the purple paper, and releases the stylus onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 108, "tasks": ["place other"], "length": 182, "global_instruction": "Pick the metal tweezer from the wooden tray and place it onto the purple paper", "scene_description": "A white office desk holds a white power strip with orange switches on the left, a light wooden tray with a metal tweezer inside at the center, a purple paper to the right of the tray, a black backpack against the grey partition behind the tray, and a monitor and other electronics on the far right.", "global_instruction_dense": "The right robotic arm moves down toward the wooden tray, grasps the metal tweezer inside the tray, lifts the tweezer, moves it rightward over the purple paper, lowers it, and releases it onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 109, "tasks": ["place other"], "length": 133, "global_instruction": "Pick up the metal tweezer from the wooden tray and place it on the purple paper.", "scene_description": "A white office desk holds a white power strip with orange switches, a light wooden tray containing a metal tweezer, a purple sheet of paper, assorted cables, and computer monitors on the right, with a black backpack leaning against the partition behind the desk.", "global_instruction_dense": "The right robotic arm moves toward the metal tweezer inside the wooden tray on the desk, grasps the tweezer with its gripper, lifts it, moves it over the purple paper, lowers it, and releases it onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 110, "tasks": ["place other"], "length": 152, "global_instruction": "Pick up the metal tweezers from the wooden tray and place it on the purple paper.", "scene_description": "A white office desk has a white power strip with orange sockets on the left, a light wooden divided tray with a metal tweezers inside, a purple paper to the tray's right, a plastic spoon at the desk edge, and monitors on the far right, with a black backpack against the gray partition behind the desk.", "global_instruction_dense": "The right robotic arm moves toward the metal tweezers inside the light wooden divided tray, grasps the tweezers, lifts it, moves it over the purple sheet of paper, then releases the tweezers onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 111, "tasks": ["place other"], "length": 158, "global_instruction": "Pick up the metal tweezer from the wooden tray and place it on the purple paper.", "scene_description": "A light wooden tray holding a metal tweezer, a purple paper sheet, a white power strip with orange buttons, and a clear plastic spoon are on a white office desk. A robotic arm is positioned above the desk, with office partitions and computer equipment in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the metal tweezer inside the wooden tray, grasps the tweezer with its gripper, lifts it, moves it over the adjacent purple paper, then releases the tweezer onto the purple paper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 112, "tasks": ["place other"], "length": 212, "global_instruction": "Place the gold coin on the table onto the opening of the clear glass bottle.", "scene_description": "A white tabletop holds a teal potted succulent, light blue tissue box, gold coin, green bowl with a black spoon, clear glass bottle, and black-handled whisk arranged left to right. A striped brown sofa sits to the table's right, with blinds in the background.", "global_instruction_dense": "The right robotic arm enters from above the table, grasps the gold coin next to the green bowl, lifts the coin, moves it over the clear glass bottle, and places the coin onto the bottle's opening.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 113, "tasks": ["place other"], "length": 588, "global_instruction": "Pull the free end of the black cable to the left side of the mat, then place the white charging adapter at the upper right edge of the white mat.", "scene_description": "A purple tissue box is on the left of a light gray table, a white charging adapter with a coiled black cable rests on a central white mat, three wooden chairs are around the table, and white doors are in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, grasps the free end of the black coiled cable connected to the white charging adapter, pulls the cable end to the left side of the white mat and releases it, then grasps the white charging adapter, moves it to the upper right edge of the white mat, releases the adapter, and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 114, "tasks": ["place other"], "length": 559, "global_instruction": "Move the white adapter to the right edge of the table and adjust the attached black cable to lay stretched across the table.", "scene_description": "A gray tissue box, a black cable connected to a white adapter are placed on a white table, with wooden chairs and white doors in the background.", "global_instruction_dense": "The right robotic arm enters the scene, moves to grasp the free end of the black cable, moves the cable end toward the left tissue box and releases it, then grasps the white adapter, moves it to the right edge of the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 115, "tasks": ["place other"], "length": 530, "global_instruction": "Move the white charging adapter from inside the coiled black cable to the right of the cable, then pull the loose end of the cable to the left edge of the table.", "scene_description": "A light purple tissue box is on the left side of a white tabletop, a white charging adapter inside a coiled black cable is at the table's center, a small white object rests at the far end of the table, with wooden chairs and white doors in the background.", "global_instruction_dense": "The right robotic arm enters the frame from above, moves down to grasp the white charging adapter inside the coiled black cable, lifts and moves the adapter to the right side of the cable before placing it down, then moves to the loose end of the black cable, grasps it, and drags it toward the left edge of the table near the tissue box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 116, "tasks": ["place other"], "length": 181, "global_instruction": "Move the green toothpaste from the far back of the bathroom counter to a position closer to the sink.", "scene_description": "A granite bathroom counter with a central white sink holds toiletries including a contact solution bottle, contact case, toothbrush in a silver cup, green soap dispenser, green toothpaste at the counter's far back, and yellow-capped sunscreen. A white toilet is behind the right end of the counter, a mirror sits above the counter, and a robotic arm is positioned at the bottom right of the frame initially.", "global_instruction_dense": "The right robotic arm moves toward the green toothpaste at the far back of the granite bathroom counter, grasps and lifts the toothpaste, moves it to a spot on the counter closer to the right edge of the sink, and releases it in the new position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 117, "tasks": ["place other"], "length": 176, "global_instruction": "Pick up the green toothpaste tube next to the sink and place it next to the yellow-capped tube on the counter.", "scene_description": "A granite bathroom countertop with a central white oval sink holds various toiletries: a clear contact solution bottle, contact lens case parts, and a silver cup with a blue toothbrush to the left of the sink; a green toothpaste tube, green soap pump, yellow-capped white tube, and gray towels to the right of the sink. A white toilet is positioned right of the counter, and a robotic arm is at the lower right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from the lower right edge of the frame toward the green toothpaste tube on the right side of the sink, grasps the tube, lifts it, moves it rightward to the area beside the yellow-capped white tube on the counter, lowers the tube, and releases it onto the counter at that location.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 118, "tasks": ["place other"], "length": 196, "global_instruction": "Pick up the green toothpaste tube from the counter and drop it into the sink.", "scene_description": "A bathroom granite countertop sink has a green toothpaste tube on its right, plus a clear contact solution bottle, contact case, green pump soap, toothbrush in a metal holder, yellow-capped spray bottle, brown towel, with a toilet in the background and a robotic gripper near the counter edge.", "global_instruction_dense": "The right robotic gripper moves toward the green toothpaste tube on the bathroom counter, grasps it, lifts it, moves it over the sink basin, and releases it to drop into the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 119, "tasks": ["place other"], "length": 406, "global_instruction": "Pick the toothpaste from inside the sink, place it on the countertop, then turn on the sink faucet.", "scene_description": "A bathroom granite countertop with an oval sink, a green and white toothpaste tube rests inside the sink, a contact lens case, eye solution bottle, toothbrush in a metal cup, liquid soap bottle, folded towel, and spray can are arranged on the counter, a toilet is positioned to the right of the counter, and a robotic arm is at the bottom right of the frame.", "global_instruction_dense": "The right robotic arm moves above the sink, lowers to grasp the toothpaste inside the sink, lifts it out and places it on the countertop to the right of the sink, then moves to the faucet handle, twists the handle to turn on water flow into the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 120, "tasks": ["place other"], "length": 274, "global_instruction": "Pick the blue razor from the sink and place it on the bathroom countertop.", "scene_description": "The scene is a bathroom with a granite countertop sink. A blue razor sits inside the sink. On the counter, there are a green soap pump bottle, a metal toothbrush holder with a light blue toothbrush, purple and green toothpaste tubes, a contact lens case, a small blue bottle, a black soap dispenser, and folded gray and brown towels. A white toilet is visible in the right background, and a robotic arm is positioned next to the sink.", "global_instruction_dense": "The right robotic arm moves toward the blue razor inside the bathroom sink, grasps the razor, lifts it out of the sink, moves it over to the right side of the countertop, and releases it onto the counter near the folded towels.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 121, "tasks": ["place other"], "length": 207, "global_instruction": "Pick up the blue razor from the countertop and drop it into the sink.", "scene_description": "A granite bathroom countertop with a centered white sink holds assorted toiletries: left of the sink are a silver toothbrush holder with a blue toothbrush, a blue tube, purple toothpaste, green toothpaste, a white contact lens case, a green contact case, and a green pump soap bottle next to the silver faucet; right of the sink are a clear water bottle and a blue razor; a white toilet is to the right of the counter, a right robotic gripper is at the lower right of the initial frame.", "global_instruction_dense": "The right robotic arm moves toward the blue razor on the right side of the bathroom countertop, grasps the razor with its gripper, lifts it, moves it over the white sink, and releases the razor to drop it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 122, "tasks": ["place other"], "length": 212, "global_instruction": "Pick up the purple toothpaste tube from the left side of the bathroom counter and place it next to the white tube on the right side of the counter.", "scene_description": "A speckled granite bathroom countertop with a central white sink holds a purple toothpaste tube, green toothpaste tube, silver toothbrush holder with a blue toothbrush, green pump soap bottle, clear plastic bottle, and white tube on its surface; a white toilet is in the background, and the base of a robotic arm is visible at the bottom right.", "global_instruction_dense": "The right robotic arm moves down toward the purple toothpaste tube on the left area of the bathroom counter, grasps it, lifts it, moves it rightward across the counter, and releases it next to the white tube at the far right end of the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 123, "tasks": ["place other"], "length": 88, "global_instruction": "Place the white mounting bracket onto the top edge of the bathroom mirror frame.", "scene_description": "A bathroom has a granite countertop with a white sink under a wooden-framed mirror. On the counter are a silver tumbler, clear plastic bottle, green toothpaste, white contact case, blue toothbrush, and two toothpaste tubes. A white toilet is to the right of the counter, and a calibration board is in the lower right foreground.", "global_instruction_dense": "The right robotic arm holds the white mounting bracket, lowers it to the top edge of the wooden mirror frame, and presses it into place to secure it on the frame.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 124, "tasks": ["place other"], "length": 629, "global_instruction": "Place small toiletries from the sink edge into the open drawer, then close the drawer.", "scene_description": "A granite bathroom countertop holds a sink, multiple toiletries (green pump bottle, clear bottle, green toothpaste, purple tube, several small white/yellow-capped bottles/tubes at the sink's back), and an open wooden drawer next to a toilet, with a white robotic arm to the counter's right.", "global_instruction_dense": "The right robotic gripper sequentially grasps three small toiletries from the back of the bathroom sink, moves each to the open drawer and releases it inside, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 125, "tasks": ["place other"], "length": 231, "global_instruction": "Pick up the blue razor from the bathroom counter and drop it into the sink.", "scene_description": "A speckled granite bathroom counter with a white oval sink holds a clear plastic bottle, green toothpaste tube, purple small packet, white contact lens case, and green pump bottle; a blue razor rests at the far end of the counter, a white toilet is in the background, and the left robotic gripper is positioned above the sink.", "global_instruction_dense": "The left robotic arm moves toward the far end of the bathroom counter, grasps the blue razor with its gripper, lifts the razor, moves it over the sink, releases the razor to drop it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 126, "tasks": ["place other"], "length": 793, "global_instruction": "Move the toiletries near the sink to the right side of the bathroom countertop.", "scene_description": "A granite bathroom countertop has a central sink, with a purple toothpaste, blue small object, white squeeze tube, and silver cup holding a blue toothbrush near the sink, plus a green bottle, contact lens case, water bottle, and open drawer in the background, with a white robotic arm on the right side.", "global_instruction_dense": "The left robotic arm sequentially grasps the purple toothpaste, blue small object, white squeeze tube, and blue toothbrush from the area near the bathroom sink, moves each item to the right section of the countertop, and releases them there.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 127, "tasks": ["place other"], "length": 810, "global_instruction": "Move a toiletry tube from the open drawer onto the counter, move a yellow-capped toiletry bottle from the counter into the drawer, then close the drawer.", "scene_description": "A granite bathroom counter with a sink, assorted toiletries (transparent liquid bottle, metal tumbler, green pump bottle, contact lens case, white bottle with yellow cap), an open drawer adjacent to the counter holding more toiletries, and a robotic arm mounted to the right of the counter.", "global_instruction_dense": "The left robotic arm moves into the open drawer, grasps a white toiletry tube with a yellow cap, places it on the bathroom counter, then grasps a white toiletry bottle with a yellow cap from the counter, places it into the drawer, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 128, "tasks": ["place other"], "length": 346, "global_instruction": "Pick up the black razor from the bathroom counter and place it into the sink.", "scene_description": "A granite bathroom counter holds a white sink, silver faucet, clear contact solution bottle, white contact case, green cap, green liquid soap dispenser, silver metal cup, blue toothbrush, black razor, white toothpaste, a white robotic arm base to the counter's right, and a white toilet in the background.", "global_instruction_dense": "The right robotic gripper moves from off-screen toward the black razor on the bathroom counter, grasps the razor, lifts it, moves it over the sink, releases it to drop into the sink, then moves back away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 129, "tasks": ["place other"], "length": 464, "global_instruction": "Pick up the white toothpaste with a yellow cap from the far end of the bathroom counter and place it on the left side of the counter near the mirror.", "scene_description": "A bathroom granite sink counter holds a clear contact solution bottle, white contact lens case, blue toothbrush in a gray metal cup, green pump soap, razor, and a white toothpaste with a yellow cap at the far end of the counter, a toilet is in the background, and a white robotic arm on a black platform sits to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white toothpaste with a yellow cap at the far end of the bathroom counter, grasps it, lifts it, moves it left over the sink area, and places it on the left side of the granite counter near the mirror.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 130, "tasks": ["place other"], "length": 198, "global_instruction": "Place the blue razor on the bathroom counter into the silver metal cup next to the sink.", "scene_description": "A bathroom granite countertop holds a white sink, silver metal cup, clear contact solution bottle, white contact case, green soap pump, blue toothbrush, yellow-capped toothpaste, and other toiletries, with a white toilet in the background and a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm extends its gripper toward the blue razor on the rear of the bathroom counter, grasps the razor, lifts it, moves it over the silver metal cup adjacent to the sink, lowers the razor, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 131, "tasks": ["place other"], "length": 168, "global_instruction": "Pick up the white toothpaste tube near the sink and place it on the far end of the bathroom counter.", "scene_description": "A speckled granite bathroom counter with an embedded white sink holds a clear plastic bottle, contact lens case, green pump bottle, metal cup, toothbrush, yellow-capped small tube, and a white toothpaste tube near the sink edge. A white robotic arm is positioned to the right of the counter, with a toilet visible in the background.", "global_instruction_dense": "The right robotic arm moves its gripper toward the white toothpaste tube on the counter near the sink, grasps the tube, lifts it, moves it across the counter to the far end near the toilet, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 132, "tasks": ["place other"], "length": 333, "global_instruction": "Place the blue floss case from near the sink onto the far end of the bathroom counter.", "scene_description": "A speckled granite bathroom counter with a white oval sink holds a clear contact solution bottle, open white contact lens case, green pump bottle, silver metal cup, toothbrush, toothpaste, and small blue floss case; a toilet and wall mirror are in the background, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The left robotic gripper moves from its starting position above the sink toward the small blue floss case on the left side of the counter, grasps the case, lifts it, transports it to the far end of the counter near the toothpaste, lowers it to the counter surface, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 133, "tasks": ["place other"], "length": 472, "global_instruction": "Manipulate the toothbrush and toothpaste on the bathroom counter, then place them back.", "scene_description": "A granite bathroom counter with an under-mount sink, a blue toothbrush, a white toothpaste tube, a yellow-capped small tube, a clear mouthwash bottle with green liquid, a green pump soap bottle, a stainless steel cup, a white contact lens case, and a white toilet in the background. A white right robotic arm is positioned on a black platform to the right of the counter.", "global_instruction_dense": "The right robotic arm moves to the blue toothbrush on the bathroom counter, grasps and lifts it, shakes it over the sink, places it back on the counter, then moves to the white toothpaste tube, grasps and lifts it, squeezes it, and places it back on the counter near the toothbrush.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 134, "tasks": ["place other"], "length": 158, "global_instruction": "Pick up the headset beside the monitor and place it on the black desk mat on the desktop.", "scene_description": "A wooden desktop has a curved monitor on the left, a black-and-silver headset beside the monitor, a black keyboard on the desk surface, a small black desk lamp on the desk's right side, and a wooden shelf unit behind the desk holding a black zippered case on its upper shelf.", "global_instruction_dense": "The right robotic arm moves from the upper right of the frame toward the black-and-silver headset next to the monitor, grasps the headset, lifts it, moves it rightward over the black desk mat, lowers it, and releases it onto the desk mat.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 135, "tasks": ["place other"], "length": 360, "global_instruction": "Move the gray pressure cooker with the black handle from the left table side to the right table side.", "scene_description": "A light wooden table holds a gray pressure cooker with a black handle on the left, a blue-orange wooden tool, small paper boxes, a green marker, and a gray lidded container on the right. A whiteboard and office equipment are in the background, with a robotic arm at the right frame edge.", "global_instruction_dense": "The right robotic gripper moves toward the gray pressure cooker on the left part of the wooden table, grasps its black handle, lifts the cooker, moves it rightward across the table, lowers it onto the right part of the table, and releases the gripper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 136, "tasks": ["place other"], "length": 370, "global_instruction": "Pick up the white and orange seasoning shaker from the toy kitchen shelf and place it on the toy kitchen stovetop", "scene_description": "A light grey pot with black handles rests on the black countertop of a white cabinet labeled 'NOTES'. To the cabinet's right is a toy kitchen set with a red bowl in its sink and grey cookware on its stovetop, and a white robotic arm is positioned above the toy kitchen.", "global_instruction_dense": "The right robotic arm moves toward the white and orange seasoning shaker on the toy kitchen shelf, grasps the shaker, lifts and moves it over the toy kitchen stovetop, lowers and releases the shaker onto the stovetop, then retracts away from the placed shaker.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 137, "tasks": ["place other"], "length": 385, "global_instruction": "Pick the yellow plastic connector from the tool tray and place it on the white box beside the orange cup.", "scene_description": "A light wooden table holds a white text-printed box, a white tool tray atop the box, a yellow plastic connector inside the tray, an orange small cup and a small black object on the box next to the tray, with a robotic arm in the upper background.", "global_instruction_dense": "The right robotic arm moves downward toward the tool tray on the white box, grasps the yellow plastic connector inside the tray, lifts it, moves it to the area of the white box next to the orange cup, lowers and releases it onto the box, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 138, "tasks": ["place other"], "length": 318, "global_instruction": "Adjust the position of the yellow cylindrical fitting on the white box on the tabletop.", "scene_description": "On a light wooden tabletop, a white box rests at the center, with a black short cylindrical object, small orange cup, and yellow cylindrical fitting placed on top of it. An open white carrying case with small internal components sits adjacent to the box, and the right robotic arm is positioned at the upper right of the frame above the table.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position down toward the yellow cylindrical fitting on the white box, grasps the fitting with its gripper, lifts and adjusts its position over the box, lowers the fitting, releases it onto the box, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 139, "tasks": ["place other"], "length": 361, "global_instruction": "Take the yellow connector from the tool case and place it on the wooden table.", "scene_description": "A light wooden table in a lab office environment holds a white box, atop which are an orange small cup, a black small cylinder, a red-blue measuring tape, and an open gray tool case with a yellow connector inside it; part of a left robotic arm is visible on the left side of the frame.", "global_instruction_dense": "The right robotic arm moves down from the upper frame toward the open gray tool case on the table, grasps the yellow connector inside the case, lifts it out, moves it over the empty area of the wooden table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 140, "tasks": ["place other"], "length": 389, "global_instruction": "Pick up the yellow T-shaped plastic connector from the wooden table and place it in the area behind the table.", "scene_description": "A wooden lab worktable holds a white cardboard box, atop which are an orange small cup, a black rectangular block, a blue-red measuring tape, and an open grey tool case. On the table surface below the box are a brown perforated plate and a yellow T-shaped plastic connector. Two white robotic arms are positioned at the sides of the table, with lab desks and equipment in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow T-shaped plastic connector on the wooden table, grasps it with its gripper, lifts it, moves it backward to the area behind the table, releases it, then returns to a rest position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 141, "tasks": ["place other"], "length": 691, "global_instruction": "Place the small parts from the foam tray and table onto the white box and into the clear plastic container.", "scene_description": "A wooden lab worktable holds a white box topped with a foam tray of small yellow objects, a yellow cylinder on the box surface, a holed wooden slat on the table in front of the box, a clear plastic container behind the box, and a red mug left of the box.", "global_instruction_dense": "The right robotic arm first grasps a yellow object from the foam tray atop the white box, then grasps the holed wooden slat from the table and places it into the clear plastic container behind the box, next grasps a beige object from the foam tray and places it on the white box, and finally adjusts the position of the yellow cylinder on the white box before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 142, "tasks": ["place other"], "length": 418, "global_instruction": "Pick up small dark objects from the orange sofa and place them into the transparent plastic container.", "scene_description": "An orange fabric sofa is in the foreground, with a gray cloth, a white round ball on a small brown base, and small dark circular objects placed on its seat. The background is an office space with desks, office chairs, computers, and stacked cardboard boxes, with a robotic arm positioned at the upper right above the sofa.", "global_instruction_dense": "The right robotic arm moves downward toward the orange sofa, pushes the gray cloth aside, grasps small dark circular objects from the sofa, lifts them, moves them over the transparent plastic container at the bottom of the frame, and releases the objects into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 143, "tasks": ["place other"], "length": 234, "global_instruction": "Move the foreground transparent plastic box and place small parts onto the orange sofa.", "scene_description": "An orange fabric sofa is in an office workspace, an orange cylindrical bottle rests on the sofa seat, a transparent plastic box with small parts is in the foreground, a white robotic arm is positioned to the right of the sofa, and office desks, chairs and computers are in the background.", "global_instruction_dense": "The right robotic arm extends downward from its initial position at the right of the sofa, pushes the foreground transparent plastic box backward, moves the orange bottle on the sofa seat aside, and takes small parts from the box to place them on the sofa.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 144, "tasks": ["place other"], "length": 210, "global_instruction": "Place the white component held by the right robotic arm above the red 3D printer.", "scene_description": "In an open-plan office, an orange fabric couch is in the foreground with a yellow dumbbell-shaped tool, red tape measure, and yellow-handled wrench placed on its seat. A grey fabric couch sits behind the orange couch, office workstations with computers and black office chairs fill the background, a red 3D printer is mounted on a white stand to the right, stacked cardboard boxes are in the far right, and a right robotic arm holding a white component is initially off-frame at the top right.", "global_instruction_dense": "The right robotic arm holding a white component moves from its off-frame position at the top right of the view downward into the frame, adjusts its horizontal and vertical position, and stops hovering with the white component above the red 3D printer on the white stand.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 145, "tasks": ["place other"], "length": 262, "global_instruction": "Pick up the small black USB drive from the right side of the desk and place it near the black toaster.", "scene_description": "A light wooden office desk holds a black 4-slice toaster, a clear wine glass, a small black USB drive, a clear plastic bowl, a white power strip, a green plastic bottle, a small green cup, a green bowl, scattered papers, a pink pen, and red tape. To the left of the desk are stacked blue bins, a smaller desk with a keyboard and black containers, and writing-covered whiteboards; the background has office desks with monitors and office chairs.", "global_instruction_dense": "The right robotic gripper moves toward the small black USB drive on the right of the light wooden office desk, grasps it, lifts and moves it left to the area near the black toaster, lowers it, and releases it onto the desk surface next to the toaster.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 146, "tasks": ["place other"], "length": 265, "global_instruction": "Place the small white funnel into the grey cylindrical cup on the table.", "scene_description": "A light wooden table in an office setting holds a large blue square bin, small black square container, white lidded pot with a glass top, grey cylindrical cup, white tape roll, small white funnel, white clamp attached to the table edge, and small pump bottle; office desks with monitors and a marked whiteboard are in the background.", "global_instruction_dense": "The right robotic arm extends toward the small white funnel on the light wooden table, grasps the funnel with its gripper, lifts it, moves it over the adjacent grey cylindrical cup, lowers the funnel into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 147, "tasks": ["place other"], "length": 732, "global_instruction": "Pick up the silver sink strainer and place it near the edge of the stainless steel sink.", "scene_description": "A dark gray kitchen counter has a stainless steel sink at its center, a metal dish rack with assorted cups and containers to the left of the sink, a small white bowl and blue plastic bottle on the counter behind the sink, a circular silver sink strainer on the counter to the right of the sink, and a white robotic arm positioned at the far right of the frame.", "global_instruction_dense": "The right robotic arm moves from its raised starting position toward the sink area, pushes the blue bottle aside, grasps the silver sink strainer on the counter right of the sink, lifts it, holds it above the sink basin, then lowers and releases it onto the counter edge next to the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 148, "tasks": ["place other"], "length": 415, "global_instruction": "Take the sandwich from the toaster oven and place it on the red plate on the table.", "scene_description": "A light wooden table holds a black cup, small white cube, silver metal lid, yellow object, wooden spatula, red plate, small silver mug, black book stand, and a grey toaster oven against a whiteboard, with an office area in the background.", "global_instruction_dense": "The right robotic gripper moves to the grey toaster oven, opens its door, reaches inside to grasp the sandwich, lifts the sandwich out of the oven, moves it over the red plate on the table, lowers it, and releases it onto the plate before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 149, "tasks": ["place other"], "length": 187, "global_instruction": "Move the small white shaker next to the red plate to the space between the stainless steel bowl and the red plate.", "scene_description": "A light wooden table holds a black cup on the left, a stainless steel bowl to the right of the cup, a wooden slotted spatula, a round silver metal lid, a red plate with a slice of white bread and yellow corn, a small white shaker next to the plate, and a gray toaster oven at the back of the table, with a robotic arm positioned above the red plate initially.", "global_instruction_dense": "The right robotic arm first moves backward then positions itself above the small white shaker next to the red plate, grasps and lifts the shaker, moves it left to the area between the stainless steel bowl and the red plate, releases the shaker onto the table, then moves upward away from the shaker.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 150, "tasks": ["place other"], "length": 183, "global_instruction": "Pick up the golden bow and place it near the red-and-white ribbon spool on the table.", "scene_description": "A grey table holds craft items including golden, red, green bows, ribbon spools, a tablet, a notepad, clear boxes, a blue lid and a purple umbrella. A black office chair, orange floor bags, a wall-mounted TV and a door with a blue trash bin outside are in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, grasps the golden bow on the right section of the table, lifts it, moves left toward the red-and-white ribbon spool, and releases the bow onto the nearby table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 151, "tasks": ["place other"], "length": 128, "global_instruction": "Pick up the orange decoration from the black box and place it on the gray table surface.", "scene_description": "A gray table holds scissors, tape rolls, a black mug, a black box with an orange decoration on top, a transparent organizer, white paper sheets, a purple umbrella, and small gift bows. A black office chair is against a white wall with a mounted TV, orange bags rest on the floor near the chair, and a wooden door and glass partition are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange decoration on the black box, grasps it, lifts and moves it over the table, then releases it onto the table next to the black mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 152, "tasks": ["place other"], "length": 227, "global_instruction": "Place the orange decorative bow on the right side of the table next to the other orange bow on the left side of the table.", "scene_description": "A grey tabletop holds craft supplies including two orange decorative bows, scissors, tape rolls, a black box, white notepad, purple umbrella, black mug on a white stand, and clear plastic organizer; a black office chair, wall-mounted TV, and orange floor bags are in the background, with a robotic arm at the right frame edge.", "global_instruction_dense": "The right robotic arm moves toward the orange decorative bow on the right side of the grey table, grasps it, lifts it, moves left across the table, lowers it, places it next to the other orange decorative bow near the glass container, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 153, "tasks": ["place other"], "length": 229, "global_instruction": "Place the red-and-white ribbon reel onto the stack of books on the table.", "scene_description": "A table covered with a gray tablecloth holds a red-and-white ribbon reel, green-handled scissors, a black cup, a stack of books with orange cover art, a clear plastic organizer, white sticker sheets, a tablet, and assorted craft supplies; a black office chair, wall-mounted TV, and orange bags are in the background near a door.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves toward the red-and-white ribbon reel on the table, grasps and lifts the reel, moves it over the stack of books, and releases it to rest on top of the books.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 154, "tasks": ["place other"], "length": 300, "global_instruction": "Place the green decorative bow into the clear rectangular organizer on the gray table.", "scene_description": "A gray table holds office supplies: blue-green handle scissors, white tape rolls, markers, a black mug on a white pad, clear acrylic organizers, a purple folded umbrella, white papers, gold and green decorative bows, and a dark book box. A black mesh office chair sits behind the table, a black TV is mounted on the wall, orange bags are by the wooden door, and a robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the green decorative bow on the right of the gray table, grasps the bow, lifts it, moves leftward over the clear rectangular organizer, lowers the bow, and releases it into the organizer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 155, "tasks": ["place other"], "length": 174, "global_instruction": "Pick a golden decorative bow from the table and place it at another position on the table.", "scene_description": "A grey table holds various office supplies including a black mug, scissors, tape rolls, golden decorative bows, a clear pen holder, clear multi-compartment tray, purple pouch, white papers, and a book. A black office chair is behind the table, a robotic arm is at the upper right, a TV is mounted on the wall, orange bags are near the wooden door, and a blue trash bin is in the background.", "global_instruction_dense": "The right robotic arm moves toward a golden decorative bow on the grey table, grasps it with its gripper, lifts it, moves it across the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 156, "tasks": ["place other"], "length": 157, "global_instruction": "Move the clear acrylic organizer from the left side of the table to its right side", "scene_description": "A gray table holds various craft supplies including a black mug, blue-green handled scissors, multiple tape reels, a clear acrylic organizer, pens, a book, white papers, and a purple cloth. A black office chair sits behind the table, orange bags are near a wooden door on the wall, and a robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the clear acrylic organizer on the left part of the gray table, grasps it, lifts it, moves it right across the table, lowers it, and releases it at a new position on the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 157, "tasks": ["place other"], "length": 194, "global_instruction": "Place the red gift bow from the black container onto the table between the two golden gift bows.", "scene_description": "A grey tabletop holds craft supplies including green-blue handled scissors, tape rolls, golden gift bows, a black mug, a black container, white papers, a clear organizer, and a blue pen; a black office chair, wall-mounted TV, and orange bags are behind the table, with a wooden door in the background.", "global_instruction_dense": "The right robotic arm moves left across the table toward the black container, grasps the red gift bow inside the container, lifts the bow, moves it to the space between the two golden bows on the table, lowers and releases the bow onto the table, then moves back to the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 158, "tasks": ["place other"], "length": 209, "global_instruction": "Place the blue lighter into the small clear tray on the table.", "scene_description": "A gray table holds various items including a blue lighter, blue pen, green-handled scissors, blue scissors, white tape rolls, a black cup, a small clear tray, a clear storage rack, white sticker sheets, and a purple umbrella. A black mesh office chair, orange floor bags, and a wall-mounted TV are in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue lighter on the table, grasps it, lifts and moves it over the small clear tray, then releases the lighter into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 159, "tasks": ["place other"], "length": 253, "global_instruction": "Place the red decorative bow from the table onto the red spool on the black box.", "scene_description": "A gray table holds green-handled scissors, a black tape dispenser, a white tablet, a black mug with pens, a clear multi-slot organizer, a purple umbrella, white sticker sheets, multiple white tape rolls, a small white container, gold and red decorative bows, and a red spool atop a black box. A black office chair, orange bags, a wall-mounted TV, wooden door, and blue trash bin are in the background.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves down to grasp the red decorative bow on the table, lifts it, moves right to position over the red spool on the black box, lowers the bow, and releases it onto the spool.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 160, "tasks": ["place other"], "length": 632, "global_instruction": "Take stationery items out of the clear glass container and place them on the gray tabletop.", "scene_description": "A gray table holds various items: two pairs of green-handled scissors, a black mug, a clear acrylic organizer on the left, a clear glass container with stationery inside, white tape rolls, gold decorative bows, a stapler, and a gift-box-like item on the right. A black office chair is behind the table under a wall-mounted TV, with orange bags against the wall near a glass door in the background.", "global_instruction_dense": "The right robotic arm approaches the clear glass container on the gray table, grasps each stationery item inside the container one by one, lifts each item out, moves it to an empty spot on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 161, "tasks": ["place other"], "length": 707, "global_instruction": "Organize the tabletop stationery by placing items into their appropriate containers.", "scene_description": "A gray table covered with a gray cloth holds various items: a black mug, two pairs of green-handled scissors, blue and purple pens, rolls of white tape, gold decorative bows, a clear glass container, a notepad with a white tablet, a transparent storage tray, and a folded purple umbrella. A black office chair sits behind the table, a wall-mounted TV is on the left wall, red bags are next to the chair, and a wooden door is in the background.", "global_instruction_dense": "The right robotic arm first grasps the black mug and moves it to rest on the notepad, then grasps a pair of green-handled scissors and inserts it into the black mug, next grasps a purple pen and places it into the clear glass container, before retracting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 162, "tasks": ["place other"], "length": 183, "global_instruction": "Pick a red bow from the red bowl and place it into the adjacent glass bowl holding green items.", "scene_description": "A grey table holds crafting supplies including two pairs of scissors, black tape, a black cup, white paper, a purple item, small craft decorations, a red bowl of red bows, and a glass bowl of green items; a robotic arm is positioned to the right of the table, a black office chair and orange bags are near the wall behind the table, with a TV mounted on the wall.", "global_instruction_dense": "The right robotic arm moves toward the red bowl on the right of the table, grasps a red decorative bow, lifts it, moves left to the glass bowl containing green items, and releases the red bow into that glass bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 163, "tasks": ["place other"], "length": 297, "global_instruction": "Place a gold decorative bow into the glass bowl holding red bows.", "scene_description": "A table covered with a gray cloth holds two green-handled scissors, markers, black tape, a black cup on a white notebook, purple fabric, paper sheets, a transparent organizer, a transparent container with orange fabric, scattered gold and red decorative bows, and a glass bowl with red bows. A black office chair is behind the table, orange bags are on the floor near the wall with a mounted TV, and a blue trash bin is visible outside the glass door.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves down to grasp a gold decorative bow on the table, lifts the bow, moves it over the glass bowl filled with red bows, and releases the gold bow into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 164, "tasks": ["place other"], "length": 292, "global_instruction": "Pick golden decorative bows from the small square box and place them on the table near the clear container with orange fabric.", "scene_description": "A gray tabletop holds various supplies: a clear 4-slot organizer on the left, purple folded fabric, white paper sheets, a black tablet, two pairs of scissors with blue and green handles, a black stapler, blue pens, a black mug, a small square box of red and gold decorative bows, a roll of white tape, a red tape roll on a printed black box, and a clear container with orange fabric at the table back. A black mesh office chair sits behind the table, a TV is mounted on the wall above the chair, orange bags rest on the floor near the chair, a wooden glass door is at the back right, and a right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the small square box of red and gold decorative bows, grasps a golden bow, lifts it, moves it to the back of the table near the clear container with orange fabric, places the bow on the table, returns to the box to grasp a golden bow, moves it to the same back table area, and places the bow next to the previously placed bow on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 165, "tasks": ["place other"], "length": 478, "global_instruction": "Place the red and green decorative bows from the small clear box into the larger clear tray on the table.", "scene_description": "A table covered with a gray tablecloth holds scissors, a black mug, stationery, a small clear box with red and green decorative bows, a larger transparent tray, a purple umbrella, papers, and a tablet. A black office chair, wall-mounted TV, and orange bags are in the background, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves to the small clear box, grasps a red decorative bow, moves it to the larger clear tray at the far end of the table and places it inside, then returns to the small box, grasps a green decorative bow, moves it to the tray and places it inside.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 166, "tasks": ["place other"], "length": 171, "global_instruction": "Move the folded purple umbrella from the left side of the table to the right side near the white tablet.", "scene_description": "A gray table holds a folded purple umbrella, two pairs of green-handled scissors, a transparent storage organizer, a black tape dispenser, white and red tape rolls, a small brown box, a white tablet, a clear case with a white round object, a black cup, and small stationery items. A black office chair is behind the table, orange bags are near the wooden glass door, a TV is mounted on the wall, and a robotic arm is at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves left toward the folded purple umbrella on the left of the table, grasps it, lifts it, moves it right across the table, and places it down near the white tablet on the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 167, "tasks": ["place other"], "length": 152, "global_instruction": "Place the small gold trinket near the black cup next to the white tape roll on the table.", "scene_description": "A grey table holds green-handled scissors, clear storage boxes, a purple cloth, white paper sheets, a black stapler, white and red tape rolls, a black cup, and an orange cloth in a clear container. A black office chair, orange bags, a wall-mounted TV, and wooden door are in the background, with a robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic arm moves left toward the small gold trinket near the black cup on the table, grasps the trinket, lifts it, moves it right to the area beside the white tape roll, and places it down on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 168, "tasks": ["place other"], "length": 212, "global_instruction": "Pick up the CD stack from the table and place it into the clear acrylic organizer", "scene_description": "A gray table holds various items including a red-and-white topped CD stack, clear acrylic organizer, two green-handled scissors, purple umbrella, white label sheets, black tape dispenser, two white spools, black cup, and orange fabric in a clear container. A black office chair sits against a wall below a mounted TV, with orange bags on the floor nearby, and a glass door is visible in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward the red-and-white topped CD stack on the gray table, grasps the CD stack, lifts it, moves left over the clear acrylic organizer, lowers the stack, and releases it into the organizer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 169, "tasks": ["place other"], "length": 154, "global_instruction": "Reposition the purple umbrella from the center of the table to the right side of the table", "scene_description": "A gray table holds a purple folded umbrella, two green-handled scissors, clear supply containers, a black cup, two white tape rolls, a stapler, a wooden block, a black-and-white tablet, and white sticker sheets. A black office chair sits behind the table, orange bags are against the far wall under a mounted TV, and a hallway with a blue trash bin is visible through an open door.", "global_instruction_dense": "The right robotic arm moves left toward the purple umbrella at the center-right of the table, closes its gripper to grasp the umbrella, lifts it, moves rightward, and lowers it to place it on the right side of the table before releasing the gripper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 170, "tasks": ["place other"], "length": 282, "global_instruction": "Place a green decorative bow from the tray into the small clear square container on the table.", "scene_description": "A table covered with a gray cloth holds green scissors, clear plastic containers, a small black-and-white notebook, white color sample sheets, a tray of colorful decorative bows, an orange cloth, a black mug, a tape dispenser, and a purple garment. A black mesh office chair sits behind the table, orange bags are near the wall below a wall-mounted black TV, and a wooden door is in the background. The right robotic arm is partially visible at the far right edge.", "global_instruction_dense": "The right robotic arm moves toward the tray of decorative bows at the far end of the gray table, grasps a green decorative bow, lifts it, moves it across the table to the small clear square container, and releases the bow into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 171, "tasks": ["place other"], "length": 268, "global_instruction": "Place a blue decorative bow from the transparent tray into the clear square container with green bows", "scene_description": "A gray table holds two pairs of green-handled scissors, a black stapler, a black mug, a folded purple cloth, a clear square container with green decorative bows, a black-and-white notebook, white sticker sheets, and a transparent tray with an orange cloth and assorted red, gold, blue decorative bows. A black mesh office chair is against the wall below a mounted TV, orange bags sit near the wooden door, and the right robotic arm is partially visible at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from off the right side of the table toward the transparent tray of decorative bows at the far end of the gray table, grasps a blue decorative bow with its gripper, lifts the bow, moves it leftward over the clear square container holding green bows, lowers the bow, releases it into the container, then moves slightly away from the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 172, "tasks": ["place other"], "length": 271, "global_instruction": "Place the golden decorative bows on the table into the clear container holding red and green decorative bows", "scene_description": "A grey cloth-covered table holds green-handled scissors, a small white-backed notebook, blank paper sheets, a black mug, a black stapler, a clear container with red and green decorative bows, scattered golden decorative bows, a clear tray with an orange cloth, and folded purple fabric. A black office chair sits behind the table, a wall-mounted TV is on the left wall, orange bags are near the wooden door, a blue trash bin is in the background, and a robotic arm is at the upper right frame edge.", "global_instruction_dense": "The right robotic arm moves from the upper right of the frame toward the table, grasps each golden decorative bow from the table surface, moves each bow to the clear container holding red and green bows, and releases each bow into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 173, "tasks": ["place other"], "length": 287, "global_instruction": "Place the red decorative bow from the table into the clear box of multi-colored bows.", "scene_description": "A grey conference table holds various items: two pairs of green-handled scissors, a black stapler on a white notepad, a clear box of multi-colored decorative bows, a black mug, a purple folded fabric item, an orange cloth in a clear tray, blue tape, and a small red decorative bow. A black mesh office chair sits behind the table, with a wall-mounted black TV and wooden glass door in the background.", "global_instruction_dense": "The right robotic gripper enters from the right of the frame, moves to grasp the small red decorative bow on the grey table, lifts the bow, moves it to the clear box holding other decorative bows, releases the bow into the box, then retracts slightly away from the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 174, "tasks": ["place other"], "length": 230, "global_instruction": "Place the purple folded umbrella from the right side of the table onto the left side of the table", "scene_description": "A gray table holds various items including two pairs of green-handled scissors, a black mug, a clear container with red and green bows, two white tape spools, a folded purple umbrella on the right, an orange cloth, clear storage containers, a stapler on a small notebook, and blank white sticker sheets. A black office chair sits behind the table, a wall-mounted TV is on the left wall, orange bags are on the floor near a wooden glass door, and a blue trash bin is outside the door.", "global_instruction_dense": "The right robotic arm moves toward the folded purple umbrella on the right side of the gray table, grasps it with its gripper, lifts it, moves it horizontally left across the table, lowers it to the table surface on the left side, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 175, "tasks": ["place other"], "length": 271, "global_instruction": "Pick up the purple umbrella on the gray table and place it near the white sticker sheet on the table.", "scene_description": "A table covered with a gray cloth holds a purple umbrella, two pairs of green-handled scissors, clear plastic trays, orange fabric pieces, two white tape rolls, a black cup, a tape dispenser, a white sticker sheet, and a container of red decorative items. A black office chair is behind the table, a wall-mounted TV is on the wall behind the chair, orange bags are on the floor near the wooden door, and a blue trash bin is outside the glass partition.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward the purple umbrella on the gray table, grasps the umbrella, adjusts its grip, lifts it, moves it leftward, and places it down on the table near the white sticker sheet.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 176, "tasks": ["place other"], "length": 163, "global_instruction": "Place a red decorative bow from the bowl into the clear plastic tray on the table", "scene_description": "A grey cloth-covered table holds a purple umbrella, white notepads, a tape dispenser, a black cup, green-handled scissors, clear containers, orange cloths, and a clear bowl of red decorative bows. A black office chair and wall-mounted TV are behind the table, with a glass door in the background.", "global_instruction_dense": "The right robotic arm moves from the right of the scene toward the bowl of red bows on the table, grasps a red bow, moves it left over the clear plastic tray, and releases the bow into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 177, "tasks": ["place other"], "length": 173, "global_instruction": "Pick a red decorative bow from the bow box and place it into the clear craft supply container.", "scene_description": "A grey cloth-covered table holds a purple folded umbrella, black tape dispenser, black cup, green-handled scissors, orange fabric pieces, clear craft supply containers, a box of colorful decorative bows, a white tape roll, and white grid paper. A black office chair, orange bags, wall-mounted TV, and wooden door are in the background, with a robotic arm at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the box of colorful bows on the right side of the table, grasps a red decorative bow with its gripper, lifts the bow, moves it left toward the clear craft supply container, lowers the bow, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 178, "tasks": ["place other"], "length": 356, "global_instruction": "Move golden bows from the clear right container to the area near the orange object on the table", "scene_description": "A grey table holds a purple umbrella, white paper stack, tape dispenser, green-handled scissors, orange rectangular object, golden bows in a clear right-side container, black mug, and clear boxes with orange tissue. A black office chair is against the wall below a mounted TV, with orange bags next to the chair, and a glass door is in the background.", "global_instruction_dense": "The right robotic arm enters the frame, reaches toward the clear right container of golden bows, grasps a bow, moves it to the area near the orange object, releases it, then grasps another bow and moves it toward the same target area.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 179, "tasks": ["place other"], "length": 245, "global_instruction": "Place the green decorative bow on the table into the transparent plastic box", "scene_description": "A grey table covered with a grey tablecloth holds a purple umbrella, a black cup on a white tablet, two green-handled scissors, a small container with red items, a green decorative bow, multiple golden decorative bows, an orange cloth, transparent plastic boxes, a roll of blue tape, a roll of white tape, and a black container with a white item inside. A black office chair sits behind the table, with orange bags against a wall with a mounted TV, a wooden door, and a blue trash bin visible outside a glass partition.", "global_instruction_dense": "The right robotic arm extends toward the green decorative bow on the table, grasps it, lifts it, moves it over the transparent plastic box, releases the bow into the box, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 180, "tasks": ["place other"], "length": 218, "global_instruction": "Pick up the gold decorative bow from the table and place it into the transparent tray on the upper right of the table.", "scene_description": "A grey table covered with a grey cloth holds craft supplies: a purple umbrella, a black cup on a white tablet, green-handled scissors, a clear container with red items, an orange cloth, gold decorative bows, blue tape, white tape rolls, and a black tape dispenser. A black office chair, orange bags, a wall TV, a wooden door, and a robotic arm are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the gold decorative bow on the table, grasps it with its gripper, lifts it, moves it to the upper right transparent tray, lowers it, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 181, "tasks": ["place other"], "length": 444, "global_instruction": "Place red decorative bows from the lower clear container into the upper clear tray on the table.", "scene_description": "A gray table covered with a gray cloth holds various craft items: a folded purple umbrella, a black cup on a white pad, two green-handled scissors, a clear container with small decorations, an orange eraser, blue and white tape rolls, a black tape dispenser, with the right robotic arm positioned at the upper right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the lower clear container on the table, grasps red decorative bows one by one, lifts each bow, moves rightward over the upper clear tray, lowers each bow, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 182, "tasks": ["place other"], "length": 282, "global_instruction": "Place red decorative bows from the right clear tray into the left clear tray on the table.", "scene_description": "A grey office table holds a purple folded umbrella, black mug on a white notepad, two clear plastic trays with colorful decorative bows, scissors, rolls of tape, and a black tape dispenser. A black mesh office chair, orange bags, and a wall-mounted TV are behind the table, with a glass partition, wooden door, and blue trash bin in the background, and a robotic arm is positioned near the trash bin on the right.", "global_instruction_dense": "The right robotic arm moves from the area near the blue trash bin to the right clear tray of bows on the table, grasps red decorative bows, moves each to the left clear tray, and releases them into the tray twice in sequence.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 183, "tasks": ["place other"], "length": 167, "global_instruction": "Place the red ribbon spool onto the stacked transparent plastic boxes on the table", "scene_description": "A grey cloth-covered table holds a purple umbrella, black mug, stacked transparent plastic boxes, tape dispenser, two white tape rolls, a red ribbon spool, trays with colorful decorative bows, scissors, and craft supplies; a black mesh chair sits against a wall with a mounted TV behind the table, orange bags are near the chair, and a glass door leading to an area with a blue trash bin is visible, with no robotic arm in the initial frame.", "global_instruction_dense": "The right robotic arm enters the frame from the right side, moves toward the red ribbon spool on the right section of the table, grasps the spool with its gripper, lifts it, moves it leftward above the stacked transparent plastic boxes, lowers the spool, and releases it to place it on top of the boxes.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 184, "tasks": ["place other"], "length": 338, "global_instruction": "Place decorative bows from the clear tray onto the cluster of bows on the table", "scene_description": "A table covered with a gray cloth holds a folded purple umbrella, a black mug on a white pad, a red circular item in a clear case, a black tape dispenser, two white tape rolls, scattered red and gold decorative bows, blue scissors, small craft supplies, and a clear tray with gold and green decorative bows. A black office chair sits behind the table, orange bags are on the floor next to the chair, a TV is mounted on the wall above the chair, a glass door is to the right of the TV, and a blue trash bin is outside the glass partition in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the top right, moves to the clear tray of decorative bows, grasps a green bow, moves it to the cluster of bows on the table left of the tray and releases it, then returns to the tray to grasp a gold bow, moves it to the same cluster of bows and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 185, "tasks": ["place other"], "length": 180, "global_instruction": "Pick up the small purple umbrella and place it next to the folded purple umbrella on the table", "scene_description": "A gray cloth-covered table holds a white grid sheet, small purple umbrella, folded purple umbrella, tablet with a headphone stand, scissors, blue tape, decorative bows, clear plastic box, orange fabric, black mug, and two white tape rolls. A black office chair, orange bags, wall-mounted TV, wooden door, and blue trash bin are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the small purple umbrella on the white grid sheet, grasps it, lifts it, moves it left to the area near the folded purple umbrella, lowers it, and releases it next to the folded umbrella.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 186, "tasks": ["place other"], "length": 172, "global_instruction": "Place the golden decorative bow into the clear acrylic box on the table.", "scene_description": "A table covered with gray cloth holds a purple umbrella, green-handled scissors, decorative bows, a clear acrylic box with a white disc lid, red and white tape rolls, a black cup, headphones on a white pad, and sticker sheets. A black office chair, wall-mounted TV, and orange bags are behind the table, with a robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear acrylic box, grasps and removes its white disc lid to place it on the table, moves to the golden decorative bow, grasps and lifts the bow, moves it over the open box, and releases the bow into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 187, "tasks": ["place other"], "length": 470, "global_instruction": "Place the red-and-white ribbon spool into the clear plastic container on the table.", "scene_description": "A gray cloth-covered table holds a purple umbrella, green scissors, decorative bows, clear plastic containers, three ribbon spools (one red-and-white, two light-colored), a black cylindrical cup, a black-and-white cover book, and white label sheets. A black mesh office chair sits behind the table, orange bags are near a wooden door, a TV is wall-mounted, and a robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red-and-white ribbon spool on the right of the table, grasps the spool, lifts it, moves it over the clear plastic container, lowers it into the container, adjusts its position, then releases the spool and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 188, "tasks": ["place other"], "length": 154, "global_instruction": "Pick up the red ribbon spool from its clear stand and place it next to the other tape rolls on the table.", "scene_description": "A grey table covered with a grey cloth holds a purple umbrella, green scissors, multiple tape rolls, a red ribbon spool in a clear stand, decorative bows, a black mug, white notebooks, and a small tablet. A black office chair, wall-mounted TV, and orange bags are in the background, with a robotic arm positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the red ribbon spool in its clear stand on the grey table, grasps the spool, lifts and moves it leftward, then releases it on the table next to the other tape rolls.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 189, "tasks": ["place other"], "length": 186, "global_instruction": "Pick a gold decorative bow from the clear container and place it on the table near the loose gold bow", "scene_description": "A grey table covered with a grey cloth holds various items: a purple folded cloth, blue-and-green scissors, a black cup resting on a tablet, white grid sheets, a blue circular tin, clear containers with decorative bows, two white tape rolls, a black tape dispenser, a small red ornament, a white pen, and a loose gold bow. The background has a black office chair, wall-mounted black TV, orange bags next to a glass wooden door, and a blue trash bin outside the glass partition.", "global_instruction_dense": "The right robotic arm moves toward the clear container of decorative bows on the grey table, grasps a gold bow, lifts and moves it to the area near the loose gold bow on the table, then releases the bow onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 190, "tasks": ["place other"], "length": 305, "global_instruction": "Take decorative bows from the clear container and place them on the table", "scene_description": "A table covered with a gray tablecloth holds various items: a purple cloth, blue-green scissors, a clear container with red and green decorative bows, a black cup on a tablet, white sticker sheets, multiple tape rolls, and orange items in the background. A black office chair sits against a wall with a mounted TV, orange bags are on the floor next to the chair, and a glass door is visible in the background.", "global_instruction_dense": "The right robotic arm enters the scene, moves to the clear container holding decorative bows, grasps a red bow, lifts and places it on the table, then returns to the container, grasps a green bow, lifts and places it on the table next to the red bow.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 191, "tasks": ["place other"], "length": 167, "global_instruction": "Place the gold decorative ornament into the clear plastic container on the gray table", "scene_description": "A gray table is laid with two green-handled scissors, purple folded fabric, a black cup resting on a white tablet, white label sheets, tape rolls in clear containers, and small red, green, gold decorative ornaments. A black mesh office chair, wall-mounted black TV, and orange bags are behind the table, with a glass door and blue trash bin in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves toward the gold decorative ornament on the table, grasps the ornament with its gripper, lifts it, moves it to the clear plastic container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 192, "tasks": ["place other"], "length": 436, "global_instruction": "Place the green and red decorative bows from the table into the clear plastic container.", "scene_description": "A gray table covered with a gray cloth holds items including green/blue scissors, green, red and gold decorative bows, a clear square plastic container, multiple rolls of tape, a black cup, white label sheets, and a blue circular badge. A black office chair sits beside the table, orange bags are on the floor behind the chair, a TV is mounted on the wall, and a robotic arm is positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the green decorative bow on the table, grasps it, places it into the clear plastic container, then moves toward the red decorative bow on the table, grasps it, places it into the same clear plastic container, and lifts away from the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 193, "tasks": ["place other"], "length": 219, "global_instruction": "Pick a red bow from the front clear container and place it into the back clear ribbon tray.", "scene_description": "A grey cloth-covered table holds craft supplies: a clear container with red and green bows, clear ribbon trays, white tape spools, a black cup, white notepad, purple cloth, two green-handled scissors, and orange tissue paper at the table far end. A black office chair sits under a wall-mounted TV, with orange bags near the door in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear container holding red and green bows, grasps a red bow, lifts it, carries it to the clear ribbon tray at the far end of the table near orange tissue paper, and releases the red bow into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 194, "tasks": ["place other"], "length": 365, "global_instruction": "Pick a green decorative bow from the clear plastic container and place it on the table near the orange supplies.", "scene_description": "A table covered with a grey tablecloth holds scissors with green and blue handles, a purple cloth, a black cup, white sheets, a small blue object, a round blue sticker, a clear plastic container with green decorative bows, transparent supply boxes, two white ribbon spools, and a black tape dispenser. A black office chair sits next to the table, a black TV is wall-mounted behind, orange bags are near the wooden door, and a blue trash bin is in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic container of green bows on the table, grasps a green bow from inside the container, lifts the bow, moves it across the table to the far end near orange supplies, and releases the bow onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 195, "tasks": ["place other"], "length": 220, "global_instruction": "Pick up the green decorative bow and place it near the black cup on the table", "scene_description": "A gray cloth-covered table holds various objects: purple cloth, green-handled scissors, white tape spools, a black cylindrical cup, red tape roll, blue marker, clear organizer, orange plush toy, green decorative bow, small blue item, black notebook, white sticker sheet, and blue round badge. A black office chair is behind the table, a wall-mounted TV is above the chair, orange bags are near the door, and a robotic arm is on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the green decorative bow on the right side of the table, grasps it with its gripper, lifts it, moves it leftward across the table, and places it near the black cylindrical cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 196, "tasks": ["place other"], "length": 234, "global_instruction": "Pick up the green decorative bow and place it near the orange fabric pieces on the gray table.", "scene_description": "A gray cloth-covered table holds a green decorative bow, white and red tape rolls, blue and green scissors, a purple cloth, a black cup, white sticker sheets, and orange fabric pieces. A black office chair is behind the table, a black TV is mounted on the wall, orange bags are near the chair, and a blue trash bin is visible outside the glass partition.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the green decorative bow on the gray table, grasps it with its gripper, lifts it, moves it to a position near the orange fabric pieces on the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 197, "tasks": ["place other"], "length": 163, "global_instruction": "Pick up the red decorative bow and place it near the green decorative bow on the table.", "scene_description": "A grey table covered with a grey tablecloth holds craft items: green-handled scissors, a purple cloth, a black cylindrical cup, white label sheets, white and red ribbon spools, gold, red and green decorative bows, clear containers, and orange fabric items. A black office chair sits under a wall-mounted TV, with a robotic arm at the table's right side.", "global_instruction_dense": "The right robotic gripper moves toward the red decorative bow on the table, grasps it, lifts and carries it to the area near the green decorative bow, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 198, "tasks": ["place other"], "length": 265, "global_instruction": "Place the red decorative bow next to the white tape roll on the table.", "scene_description": "A gray cloth-covered table holds various items including a purple umbrella, blue-green scissors, a black mug, multiple tape rolls, small decorative bows, orange fabric, a white grid sheet, and a black notebook. A black office chair sits behind the table, with a wall-mounted TV above the chair and orange bags on the floor nearby. A glass door and blue trash bin are visible in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves to grasp the red decorative bow on the upper part of the gray table, carries the bow leftward across the table, and places it beside the white circular tape roll on the lower right section of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 199, "tasks": ["place other"], "length": 161, "global_instruction": "Pick up the green decorative bow on the table and place it near the red decorative bow.", "scene_description": "A gray table holds various items including a purple cloth, green scissors, a black mug, gold, red, and green decorative bows, multiple tape rolls, clear plastic containers, and orange fluffy decorations. A black office chair sits behind the table, a TV is mounted on the wall, and orange bags are near the wooden door in the background.", "global_instruction_dense": "The right robotic gripper enters the frame from the right, moves over the orange fluffy decorative items, positions itself above the green decorative bow, grasps and lifts it, then moves it left toward the red decorative bow on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 200, "tasks": ["place other"], "length": 149, "global_instruction": "Place the black holder with a white ball inside onto the black notebook on the gray table.", "scene_description": "A gray table is covered with assorted craft supplies: a purple umbrella, green-handled scissors, gold bows, orange craft material, tape rolls, a black cup, a black holder with a white ball inside, a black notebook, and a white sticker sheet. A black office chair sits behind the table, with a wall-mounted TV above the chair and orange bags near the wooden door in the background.", "global_instruction_dense": "The right robotic arm moves toward the black holder with a white ball on the gray table, grasps the holder, lifts it, moves it leftward over the black notebook, lowers it, and releases it onto the notebook.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 201, "tasks": ["place other"], "length": 328, "global_instruction": "Pick up the dark strap on the right of the wooden table and place it near the purple scissors on the table.", "scene_description": "A light wooden table holds a blue-green patterned tissue box, purple scissors, a black ring, purple small item, blue snack packet, white phone, and dark strap on its right side. Two wooden chairs sit behind the table, a white rice cooker is on the far left, and a white robotic arm base is on a workbench to the table's right, with an open door in the background.", "global_instruction_dense": "The right robotic arm moves from its base on the right workbench toward the dark strap on the right of the wooden table, lowers to grasp the strap, lifts it, moves left over the table to the area near the purple scissors, releases the strap onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 202, "tasks": ["place other"], "length": 214, "global_instruction": "Pick up the black hair tie from the table and place it at the front edge of the table.", "scene_description": "A light wooden table holds a white rice cooker, light blue tissue box, purple screwdriver, black hair tie, small tools, and folded beige cloth, with a dual-arm white robot to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the black hair tie on the left section of the table, grasps it with its gripper, lifts it, moves it to the front edge of the table, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 203, "tasks": ["place other"], "length": 354, "global_instruction": "Place the silver peeler into the blue dish on the wooden table", "scene_description": "A light wooden table holds a blue triangular shallow dish, a clear round shallow dish, a folded beige cloth, and a silver metallic peeler. A white robotic arm is positioned at the right of the frame, with a brown sofa, small side table, brown armchair, and stainless steel refrigerator visible in the background.", "global_instruction_dense": "The left robotic arm moves downward from its initial position at the top right of the frame, grasps the silver peeler on the table, adjusts its grip on the peeler, lifts and moves the peeler over the blue dish, then lowers and releases the peeler into the blue dish.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 204, "tasks": ["place other"], "length": 371, "global_instruction": "Place the small white rectangular case into the canvas tote bag and remove the lid from the cylindrical container.", "scene_description": "A light wooden dining table holds a small gold cylindrical object, a purple rectangular pouch, a small white rectangular case, and a blue-and-white sealed cylindrical container; a canvas tote bag sits on a wooden chair behind the table, a brown sofa is in the background, and a right robotic arm is positioned at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the small white rectangular case on the table, grasps it, moves it over the canvas tote bag behind the table, releases it into the bag, then moves to the blue-and-white cylindrical container on the table, grasps its lid, and lifts the lid off the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 205, "tasks": ["place other"], "length": 252, "global_instruction": "Pick up the silver rectangular tag from the left arm of the brown sofa and place it on the sofa's right arm.", "scene_description": "A white U-shaped bladeless fan stands on wooden flooring to the left, next to a brown leather single sofa. A white bicycle helmet and red bag rest on the sofa seat, a small silver rectangular tag is on the sofa's left arm, and a robotic arm is positioned at the top right near a robot work surface.", "global_instruction_dense": "The right robotic arm moves toward the silver rectangular tag on the left arm of the brown sofa, grasps the tag, lifts it, moves it rightward to the sofa's right arm, lowers the tag, and releases it onto the right sofa arm.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 206, "tasks": ["place other"], "length": 240, "global_instruction": "Pick the white helmet from the sofa armrest and place it into the black backpack left of the sofa.", "scene_description": "A brown upholstered single sofa is against a light wall. A white helmet rests on the sofa's right armrest, an orange bag lies on the sofa seat, a black backpack with a purple cap on top stands left of the sofa, and a robotic arm is positioned right of the sofa on a wooden floor.", "global_instruction_dense": "The right robotic arm moves toward the white helmet on the sofa's right armrest, grasps and adjusts its hold on the helmet, lifts it, moves left toward the black backpack beside the sofa, and lowers the helmet into the backpack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 207, "tasks": ["place other"], "length": 184, "global_instruction": "Move the white cycling helmet from the sofa armrest to the sofa seat next to the red package.", "scene_description": "A brown single-seat sofa sits against a white wall on a light wood floor. A white cycling helmet rests on the sofa's right armrest, a red printed package lies on the sofa seat, and a white curved structure is positioned to the left of the sofa.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves to the sofa's right armrest, grasps the white cycling helmet, lifts it, moves it over the sofa seat, and places it next to the red package on the seat.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 208, "tasks": ["place other"], "length": 218, "global_instruction": "Place a golf club from the golf bag onto the brown armchair seat.", "scene_description": "A brown armchair is positioned against a white wall, with a white bicycle helmet and a red packaged item resting on its seat. To the left of the armchair sits a black golf bag holding golf clubs with dark blue headcovers, light wooden flooring covers the ground, a workbench with tools is visible on the right edge of the frame, and a white curved object is in the lower left foreground.", "global_instruction_dense": "The right robotic arm extends toward the golf bag next to the armchair, grasps a golf club with a dark blue headcover, lifts it out of the bag, moves it down over the armchair seat, and releases it onto the seat near the red package.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 209, "tasks": ["place other"], "length": 196, "global_instruction": "Pick up the silver metal strip from the left sofa armrest and place it on the right sofa armrest.", "scene_description": "A brown sofa rests against a light wall, with a white canvas bag, a light blue-and-white cycling helmet on its seat, and a small silver metal strip on its left armrest. A black golf bag with purple club covers stands to the left of the sofa, a tool workbench sits at the far right, and a robotic arm is positioned at the top right above a wooden floor.", "global_instruction_dense": "The right robotic arm moves downward toward the silver metal strip on the left sofa armrest, grasps the strip, lifts it, moves it rightward across the sofa, lowers it, and releases it onto the right sofa armrest.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 210, "tasks": ["place other"], "length": 189, "global_instruction": "Remove the dark purple headcover from the golf club and place it on the brown armchair seat.", "scene_description": "A brown fabric armchair sits against a light-colored wall, with a white canvas tote bag and a black T-shaped tool resting on its seat. A black golf bag holding golf clubs (one club has a dark purple headcover) leans against the wall to the left of the armchair, and a white robotic arm is positioned to the right of the armchair.", "global_instruction_dense": "The right robotic arm moves toward the dark purple headcover on the golf club in the black golf bag, grasps the headcover, pulls it off the club, moves it over the brown armchair seat, lowers it, and releases it onto the seat.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 211, "tasks": ["place other"], "length": 193, "global_instruction": "Place the black golf club head cover into the white tote bag on the brown sofa.", "scene_description": "A light brown sofa is against a white wall, with a white canvas tote bag with a green panel on its seat. A black golf club head cover rests on a curved white foreground surface, a golf bag with clubs is left of the sofa, and a tool workbench is at the far right.", "global_instruction_dense": "The right robotic arm extends from off-frame right toward the black golf club head cover on the foreground white surface, grasps it, lifts it, moves it over the white tote bag on the sofa, lowers the cover into the bag and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 212, "tasks": ["place other"], "length": 231, "global_instruction": "Place the golf club with the dark blue headcover into the white canvas tote bag on the sofa.", "scene_description": "A brown sofa is against a white wall, a black golf bag with golf clubs (one with a dark blue headcover) is to the left of the sofa, a white canvas tote bag with green accents sits on the sofa, a white curved appliance is in the foreground, and a workbench with tools is on the right.", "global_instruction_dense": "The right robotic arm extends from the top right of the frame toward the golf bag next to the sofa, grasps the golf club with the dark blue headcover, lifts it, moves it over the white canvas tote bag on the sofa, lowers it into the tote, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 213, "tasks": ["place other"], "length": 392, "global_instruction": "Pick up the silver perforated strainer on the stovetop, tilt it, then place it back on the burner.", "scene_description": "A black electric stove sits against a speckled stone backsplash, with a black cooking pot on a rear burner, a silver perforated strainer on a front burner, two small seasoning bottles at the right stovetop edge, a light wall cabinet above the stove, and a white robotic arm positioned at the right side of the frame.", "global_instruction_dense": "The left robotic arm moves left toward the silver perforated strainer on the front stovetop burner, grasps its black top knob, lifts and tilts the strainer, then lowers it back onto the front burner and releases the knob.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 214, "tasks": ["place other"], "length": 214, "global_instruction": "Grasp the standing lint roller and lay it horizontally on the desktop", "scene_description": "A light wooden desktop holds a black monitor on the left, a white standing lint roller with a gray handle, a purple cloth, metal tweezers, and a white paper with two red rectangular objects. A wooden shelf with books, a white table lamp, and a blue starry box sits behind the desk, and a black camera mount is fixed to the white wall on the right.", "global_instruction_dense": "The right robotic arm moves from the upper right of the frame down toward the standing lint roller, grasps its gray handle, lifts and tilts it to lay it horizontally on the desktop, then releases the handle and moves upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 215, "tasks": ["place other"], "length": 440, "global_instruction": "Place the light purple hair tie into the dark blue dotted storage bag on the tabletop.", "scene_description": "A wooden tabletop holds a silver-base Dell monitor on the left, a dark gray hair tie stacked atop a light purple hair tie near the monitor, two red rectangular silicone sticks, a black baseball cap, a yellow-white box, an orange translucent gel sheet, and an open dark blue dotted storage bag on the right. A right robotic arm is positioned above the tabletop's right side.", "global_instruction_dense": "The right robotic arm moves left to the stacked hair ties, grasps the upper dark gray hair tie, moves it right and places it near the orange gel sheet, then grasps the light purple hair tie, moves it right over the dark blue storage bag, lowers and releases the hair tie into the bag, then lifts away from the tabletop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 216, "tasks": ["place other"], "length": 219, "global_instruction": "Place the purple hair scrunchie into the dark blue pouch on the desk.", "scene_description": "A light wooden desk has a black monitor with silver base on its left side, with a black cap next to the monitor. On the desk are a gray neck pillow, purple cloth, orange gel pack, dark gray and purple hair scrunchies, white rectangular tube, brown box, and dark blue pouch on the right. A shelf with bottles is behind the monitor, and a white wall with a power outlet is to the desk's right.", "global_instruction_dense": "The right robotic arm moves toward the purple hair scrunchie on the desk, grasps it, lifts and moves it over the dark blue pouch, then releases the scrunchie into the pouch.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 217, "tasks": ["place other"], "length": 480, "global_instruction": "Pick up the pink scrunchie on the desk and place it into the dark blue dotted makeup bag.", "scene_description": "A light wood desk holds a black monitor on its left, a black baseball cap, a purple cloth, a dark blue dotted makeup bag at the center, a brown rectangular object, an orange plastic bag, a yellow-capped white bottle, and paper with a red heart design near the cap. A light wood shelf with containers is in the background next to a white wall with a power outlet.", "global_instruction_dense": "The right robotic arm extends toward the pink scrunchie near the black baseball cap on the desk, grasps the scrunchie, lifts and moves it over the dark blue dotted makeup bag, lowers and releases it into the bag, adjusts the scrunchie to fit fully inside, then retracts upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 218, "tasks": ["place other"], "length": 470, "global_instruction": "Move the light brown block to the desk back edge, then take the purple scrunchie from the dark blue bag and place it on the desk.", "scene_description": "A light wood desk holds a black monitor on its left, a purple cloth beside the monitor, a dark blue dotted bag at its center, a small yellow item, an orange plastic bag on its right, a light brown rectangular block near its front, and a robotic arm in the top right corner.", "global_instruction_dense": "The right robotic arm first grasps the light brown rectangular block at the front of the desk, moves and places it at the back left edge of the desk near the monitor, then reaches into the dark blue dotted bag, grasps the purple scrunchie inside, lifts it out, places it on the desk next to the blue bag, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 219, "tasks": ["place other"], "length": 336, "global_instruction": "Place the red pad from the white paper onto the desk area next to the purple hair scrunchie", "scene_description": "A wooden desk holds a black monitor on its left side, two red oval pads on a white sheet of paper, a purple hair scrunchie, a white lens wipe, and two black caps. A wooden shelf with containers is behind the monitor, and a white wall with a power outlet is in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the red pads on the white paper on the desk, adjusts position to grasp one red pad, lifts the pad, moves it to the space next to the purple hair scrunchie, lowers it, and releases it onto the desk surface before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 220, "tasks": ["place other"], "length": 163, "global_instruction": "Pick up the red rectangular case on the desk and place it onto the stacked white papers.", "scene_description": "A light brown wooden desk holds a black monitor on its left, a dark blue dotted bag, purple fabric, black baseball cap, stacked white papers, purple scrunchie, red rectangular case, and small white object. A wooden shelf is behind the monitor, and a robotic arm is at the far right of the frame next to a white wall with a power outlet.", "global_instruction_dense": "The right robotic gripper moves toward the red rectangular case on the right side of the desk, grasps it, lifts it, moves it leftward above the stacked white papers, lowers it, and releases it onto the papers.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 221, "tasks": ["place other"], "length": 402, "global_instruction": "Pick up the dark purple hair scrunchie from the desk and place it into the open bag on the left of the desk.", "scene_description": "A wooden desk holds a black monitor on its left, a black hat near the back, a white tray with a red case and small items, a dark purple hair scrunchie in front of the tray, a dark purple cloth near the monitor, an open black-and-blue bag at the left front, and a white robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves downward toward the dark purple hair scrunchie on the wooden desk, grasps it with its gripper, lifts it, moves it left over the open black-and-blue bag, releases the scrunchie into the bag, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 222, "tasks": ["place other"], "length": 407, "global_instruction": "Grasp the flat white flash drive on the desk tray and place it upright on the desk.", "scene_description": "A light wooden desk holds a black monitor on the left, a black cap next to a wooden shelf, and a white tray with a red rectangular case, small yellow-capped bottle, and flat white flash drive, with a power socket on the right white wall.", "global_instruction_dense": "The right robotic arm moves downward toward the flat white flash drive on the desk tray, grasps it, lifts and rotates it to an upright position, places it on the wooden desk, then moves upward away from the object.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 223, "tasks": ["place other"], "length": 186, "global_instruction": "Pick the pink scrunchie from the blue case and place it onto the white cloth on the desk.", "scene_description": "A light wooden desk has a black monitor on its left, an open dark blue dotted case holding a pink scrunchie, a purple cloth, a black cap with red logo, a small brown box, a white cloth, a white contact lens case, and a yellow-capped tube, with a robotic arm on the right near the wall.", "global_instruction_dense": "The right robotic arm moves left toward the dark blue dotted open case, grasps the pink scrunchie inside it, lifts the scrunchie, moves right over the white cloth on the desk, lowers the scrunchie, releases it onto the white cloth, then moves back to the right side of the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 224, "tasks": ["place other"], "length": 500, "global_instruction": "Pick up the red elongated strip from the rear of the table and place it near the white contact lens case at the front of the table.", "scene_description": "A light wooden tabletop holds a black monitor on its left side. On the table are a black cap with a red logo, a small brown cardboard box, a white cloth with a dark purple hair scrunchie, a white double-sided contact lens case, a yellow-capped white tube, a small silver lock, and a red elongated strip at the table's rear. A white robotic arm is positioned at the right of the frame above the table initially.", "global_instruction_dense": "The right robotic arm moves toward the red elongated strip at the rear of the wooden table, adjusts its position to grasp the strip while moving the small brown box aside, lifts the strip, moves it to the front of the table near the white contact lens case, lowers and releases the strip onto the table, adjusts its placement, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 225, "tasks": ["place other"], "length": 559, "global_instruction": "Pick up the red rectangular bars from the back of the desk and place them on the front of the desk.", "scene_description": "A light wood desk holds a black monitor on its left, two red rectangular bars near the back corner by a wooden shelf, a dark blue open upright case, a white sheet with assorted small items at the center, and black hats on the far left; a white and gray robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm first moves to a red rectangular bar at the back of the desk, grasps it, lifts and moves it to the front of the desk to release it, then moves back to another red rectangular bar at the back of the desk, grasps it, lifts and moves it to the front of the desk to release it next to the first placed bar, before moving upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 226, "tasks": ["place other"], "length": 409, "global_instruction": "Pick up the black wallet on the desk and place it into the open desk drawer.", "scene_description": "A light wooden desk has a black monitor on its left, a black wallet, two lip balm tubes, a brown-and-white plush toy, black gloves, and small items on its surface, an open drawer with miscellaneous items under its right side, and a robotic arm positioned above the desk.", "global_instruction_dense": "The right robotic arm moves toward the black wallet on the desk, grasps it with its gripper, lifts and adjusts its grip on the wallet, moves the wallet over the open desk drawer, lowers it into the drawer, and releases the wallet inside before lifting back up.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 227, "tasks": ["place other"], "length": 326, "global_instruction": "Pick up the black strap on the desk, reposition it, and place it back onto the desk.", "scene_description": "A light wooden desk holds a black monitor on its left, a black strap near the center, small plastic tubes, and black gloves at the front edge. A small side table to the right of the desk holds a black cloth, yellow object, and brown pastry item. A robotic arm is positioned above the desk.", "global_instruction_dense": "The left robotic arm lowers toward the black strap on the desk center, grasps it with its gripper, lifts and moves it above the desk, then lowers and releases the strap back onto the desk surface before retracting.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 228, "tasks": ["place other"], "length": 223, "global_instruction": "Place the black wallet from the smaller adjacent table onto the main wooden desk.", "scene_description": "A light wooden main desk holds a black monitor, an orange snack packet, a yellow packaged item, a small white tube, black straps, and a small red block. An adjacent smaller light wooden table to the right holds a black rectangular wallet, a small white bottle, and a red eraser. A robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the black wallet on the smaller adjacent table, grasps the wallet with its gripper, lifts it, moves it left over the main wooden desk, lowers it, releases it onto the main desk, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 229, "tasks": ["place other"], "length": 233, "global_instruction": "Pick up the black strap on the main desk and place it at another position on the same desk.", "scene_description": "A light wooden desk holds a black monitor on the left, a black strap, small orange bag, white tube, and plate with items on its surface. A small adjacent side table has two red blocks and a black pouch with a green insert, and a robotic gripper is at the upper right of the initial frame.", "global_instruction_dense": "The right robotic gripper moves downward from the upper right toward the black strap on the desk, grasps the strap, lifts it, moves it to the left side of the desk, and releases the strap onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 230, "tasks": ["place other"], "length": 377, "global_instruction": "Move the small tube and the orange flip-flop to the lower left area of the wooden desk.", "scene_description": "A light wooden desk holds a black monitor on its left, a white plate with purple items, a small pink and white tube, a black strap, a black headband, black work gloves, and an orange flip-flop; a small side table next to the desk has two red blocks and a black pouch with a green label, with a robotic arm above the desk.", "global_instruction_dense": "The right robotic arm moves toward the small pink and white tube on the desk, grasps it, moves and releases it at the lower left area of the desk, then moves toward the orange flip-flop, grasps it, moves and releases it at the lower left area of the desk near the tube.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 231, "tasks": ["place other"], "length": 254, "global_instruction": "Reposition the black strap from its original position to a new spot on the desk.", "scene_description": "A light wood desk with a black monitor on the left holds a black strap, long black case, red rectangular object, small white tube, and a plate with small items. An adjacent small table has an orange package, green strip object, small dark tube, and red rectangular object.", "global_instruction_dense": "The right robotic arm moves downward toward the black strap on the desk, grasps it, lifts and moves it leftward, adjusts its position, then lowers and places it back on the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 232, "tasks": ["place other"], "length": 247, "global_instruction": "Pick up the black wallet on the desk and place it next to the black lululemon shopping bag on the left side of the desk.", "scene_description": "A light wooden office desk holds a black monitor, a small black wallet, a yellow packaged item, a black lululemon shopping bag, assorted papers, and small miscellaneous objects. A smaller wooden side table with two red rectangular blocks is to the right of the main desk, and a white robotic arm is positioned above the main desk near the black wallet.", "global_instruction_dense": "The left robotic gripper moves toward the black wallet at the center of the desk, grasps it, lifts it, moves it left to the area next to the black lululemon shopping bag, lowers the wallet, releases it onto the desk, then moves upward away from the placed wallet.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 233, "tasks": ["place other"], "length": 176, "global_instruction": "Pick up the white charging adapter on the left desk area and place it near the tissue box on the right desk area.", "scene_description": "A dark black desktop holds a white desk lamp at its left, scattered papers, pens, white charging cables, a black monitor, black keyboard, light green tissue box, and a clear plastic bottle, with a window with closed blinds to the left and a grey sofa with cushions in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white charging adapter on the left area of the dark desk, grasps it with its gripper, lifts it, moves it horizontally rightward across the desk to the area near the tissue box, lowers it, and releases it onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 234, "tasks": ["place other"], "length": 182, "global_instruction": "Pick up the black case on the left of the desk and place it near the keyboard.", "scene_description": "A black desk holds a white desk lamp, black monitor, black keyboard, pink octopus plush, yellow-blue card, small gray device, white papers, and a black rounded case on the left. A white robotic arm is positioned on the right side of the desk, with a gray couch and windows in the background.", "global_instruction_dense": "The left robotic arm moves toward the black case on the left of the desk, grasps it, lifts it, moves it rightward to the area near the keyboard, places it down, releases it, and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 235, "tasks": ["place other"], "length": 433, "global_instruction": "Move the black circular base from the center of the countertop to its left edge.", "scene_description": "A granite kitchen countertop holds multiple blue FIJI water bottles, a black circular base, a yellow packaged snack, a white plastic bag, a colorful tissue box, and a white microwave. A wall-mounted phone is on the left wall above the counter, a hotel-style room with a couch, bed, and trash bin is in the background, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm lowers toward the black circular base at the center of the granite counter, grasps it, lifts and moves it left across the counter, places it at the counter's left edge near the metal pan, then releases the base and moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 236, "tasks": ["place other"], "length": 466, "global_instruction": "Place the black headset from the right side of the counter to the left side of the counter.", "scene_description": "A granite kitchen counter holds multiple blue FIJI water bottles, a yellow printed paper package, a black can, a black headset, a white plastic bag, and a colorful tissue box, with the right robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic arm first adjusts the position of the yellow paper package, then grasps the black headset, lifts it, moves it leftward across the counter, places it down near the tissue box, and returns to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 237, "tasks": ["place other"], "length": 301, "global_instruction": "Pick up the black headset on the counter and place it on the left side of the counter.", "scene_description": "A granite kitchen counter holds multiple blue FIJI water bottles, a white paper towel roll, a dark jar, a yellow paper package, a black headset, a tissue box, and a white plastic bag, with a hotel bedroom area visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the black headset on the granite kitchen counter, grasps it with its gripper, lifts it, moves it leftward across the counter, lowers it, and releases it near the white paper towel roll.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 238, "tasks": ["place other"], "length": 317, "global_instruction": "Move the black headset from the center of the kitchen counter to the left side near the paper towel roll", "scene_description": "A granite kitchen counter holds multiple blue Fiji water bottles, a small black cylindrical can, a light brown rectangular cardboard package, a roll of white paper towels, a black jar with a beige cap, and a black headset at the center. Wooden cabinets are mounted on the left above the counter, a wall-mounted telephone is below the cabinets, and a living area with a brown couch and gray trash bin is in the background. A white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the black headset at the center of the granite kitchen counter, grasps and lifts the headset, moves it leftward to the area next to the white paper towel roll, places it on the counter, releases the headset, and returns to its starting position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 239, "tasks": ["place other"], "length": 1276, "global_instruction": "Move all pizza slices from the open pizza box on the lower granite counter to the upper granite countertop.", "scene_description": "An open pizza box with two pizza slices rests on a lower granite kitchen counter, a left robotic arm is positioned to the right of the counter, and an upper granite countertop with wooden chairs, round placemats, and a mobile phone sits behind the box.", "global_instruction_dense": "The left robotic arm moves toward the pizza slices in the open pizza box on the lower granite counter, grasps each slice (including those that fall to the edge of the lower counter during manipulation) individually, lifts each slice, transfers it to the upper granite countertop behind the box, releases the slice onto the upper counter, and returns to collect the next slice until all slices are removed from the box and placed on the upper counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 240, "tasks": ["place other"], "length": 752, "global_instruction": "Place the silver tablet from the sofa arm into the cardboard box filled with dark blue fabric.", "scene_description": "A cardboard box filled with dark blue fabric sits on a light brown coffee table in front of a tan sofa. Resting on the sofa arm near the table are a white printed book, a yellow cover book, a small light brown box, and a thin silver rectangular tablet. A white robotic arm is positioned in the upper right of the frame, with a bed with white bedding and a desk with a black monitor visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the silver tablet on the sofa arm, grasps it with its gripper, lifts and carries it leftward over the cardboard box holding dark blue fabric, then releases the tablet into the box before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 241, "tasks": ["place other"], "length": 425, "global_instruction": "Pick up the white plastic-wrapped umbrella from the couch and place it into the white cardboard box.", "scene_description": "A brown couch holds a white cardboard box with black fabric inside, a printed white paper, a small brown box, and a white plastic-wrapped umbrella. The background has a bed with white sheets, a round white pillow, a desk with monitors, and a black office chair, with a robotic arm positioned in the top right.", "global_instruction_dense": "The right robotic arm moves downward toward the white plastic-wrapped umbrella on the brown couch, grasps it, lifts it, moves it leftward over the open white cardboard box, lowers it, releases the umbrella into the box, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 242, "tasks": ["place other"], "length": 460, "global_instruction": "Place the hood of the black hoodie onto the seated person's head.", "scene_description": "A person wearing a black hoodie sits on a brown leather couch, a bed with white linens is behind the couch, and a white robotic arm is to the right of the person with the hoodie's hood resting on the person's back.", "global_instruction_dense": "The right robotic arm moves toward the hood of the black hoodie on the seated person's back, grasps the hood, lifts it up over the person's head, places it onto their head, adjusts it slightly, then moves away from the person.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 243, "tasks": ["place other"], "length": 472, "global_instruction": "Place the hood of the seated man's black hoodie onto his head", "scene_description": "A man in a black hoodie sits on a brown leather sofa with his hood down, a white robotic arm is to his upper right, a bed with white bedding is behind the sofa, a white dotted pillow is on the sofa's left, and boxes are on the floor near the arm.", "global_instruction_dense": "The right robotic arm moves toward the back of the seated man's black hoodie, grasps its hood, lifts the hood upward, pulls it over the man's head to place it properly, then releases the hood and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 244, "tasks": ["place other"], "length": 263, "global_instruction": "Place the silver flashlight on the workbench into the white mug.", "scene_description": "A light wooden workbench holds a red and black toolbox on the left, a silver flashlight, a white mug, a gold sphere, scattered cables, and small tools. 3D printer filament spools are mounted on the wall above the bench, a grey parts drawer unit is to the left of the toolbox, and a white robotic arm is at the top right of the initial frame.", "global_instruction_dense": "The right robotic arm moves down toward the silver flashlight on the workbench, grasps it, lifts it, moves it over the white mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 245, "tasks": ["place other"], "length": 310, "global_instruction": "Place the silver and black flashlight into the white mug on the workbench.", "scene_description": "A light wooden workbench holds a red and black toolbox on the left, a white mug, a silver and black flashlight, scattered cables, tools, and a brass spherical object, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves toward the silver and black flashlight on the workbench, grasps it with its gripper, lifts it, moves it over the white mug, and lowers it to place the flashlight inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 246, "tasks": ["place other"], "length": 209, "global_instruction": "Place the silver and black cylindrical flashlight into the white plastic cup on the workbench.", "scene_description": "A cluttered light wooden workbench has a red and black hard tool case on the left, a silver and black cylindrical flashlight, red pliers, a gold sphere, scattered cables, and a white plastic cup on its surface, with a grey parts storage drawer unit on the far left edge of the frame, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm moves toward the silver and black flashlight on the workbench, grasps it, lifts it, moves it above the white plastic cup, and releases the flashlight into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 247, "tasks": ["place other"], "length": 203, "global_instruction": "Place the blue hot air gun from the blue control device onto the wooden workbench surface.", "scene_description": "A wooden lab workbench holds a blue hot air gun resting on a blue control device, assorted cables and electronic components, with storage panels on the left wall and a white left robotic arm positioned above the right side of the workbench.", "global_instruction_dense": "The left robotic arm moves toward the blue hot air gun on the blue control device, grasps the gun, lifts it, moves it over the empty workbench area, and lowers it to place it on the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 248, "tasks": ["place other"], "length": 200, "global_instruction": "Pick up the blue hot air gun from the workbench and place it at a new position on the workbench.", "scene_description": "In a robotics lab, a wooden workbench on the left holds a blue handheld hot air gun connected to a blue control unit, scattered electrical wires, small tools and components, and a white left robotic arm is positioned above the right side of the workbench.", "global_instruction_dense": "The left robotic arm moves toward the blue hot air gun on the left workbench, grasps it with its gripper, lifts and moves it to a different spot over the workbench, then lowers and releases it onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 249, "tasks": ["place other"], "length": 647, "global_instruction": "Pick up the black wallet from the carpet and place it into the black backpack.", "scene_description": "A black backpack leans against a pale wall, with a leafy green plant to its left, a small black rectangular wallet on the brown carpet in front of it, a wooden floor to the right of the carpet, an open door in the background, and a bicycle mounted on the far right wall.", "global_instruction_dense": "The right robotic arm moves downward from the right side of the frame toward the black wallet on the carpet, grasps the wallet, lifts it, moves it to the black backpack, inserts the wallet into the backpack, releases the wallet, then pulls away from the backpack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 250, "tasks": ["place other"], "length": 400, "global_instruction": "Pick up the small rectangular wallet and place it into the black backpack", "scene_description": "A black backpack leans against a light-colored wall on a dark rug, a small rectangular wallet rests on the rug near the backpack, and green plant leaves are visible on the left.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves toward the wallet on the dark rug, grasps the wallet, lifts it, moves it leftward over the opening of the black backpack, lowers it, and releases it into the backpack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 251, "tasks": ["place other"], "length": 447, "global_instruction": "Place the small gadget from the black backpack's side pocket into the backpack's main compartment.", "scene_description": "A black backpack leans against a light-colored wall, with a small black and silver gadget in its right side pocket, green plant foliage on the left, an open doorway in the background, and a bicycle mounted on the right wall above a wooden floor.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves toward the black backpack's right side pocket, grasps the small black and silver gadget inside, pulls it out, lifts it up to the backpack's top opening, inserts the gadget into the main compartment, then retracts away from the backpack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 252, "tasks": ["place other"], "length": 145, "global_instruction": "Move the ceiling light fixture to its intended position near the wall switch.", "scene_description": "A residential room has a white light switch on a light-colored wall, wooden floor, gray rug, plaid pillow on the right, and a shelving unit with glowing compartments in the background; the ceiling light fixture is initially outside the top of the frame.", "global_instruction_dense": "The right robotic arm holds the ceiling light fixture, moves it downward into the frame from the top edge, lowers it near the wall light switch, then shifts it rightward to its final target position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 253, "tasks": ["place other"], "length": 224, "global_instruction": "Place the light wooden strip into the open upper wooden kitchen cabinet.", "scene_description": "A stainless steel refrigerator is on the far left, a light brown upper wooden cabinet with an open glass door is mounted above a granite kitchen counter. A silver toaster sits on the counter near a sink area, and a robotic arm is positioned above the right side of the counter, with a light wooden strip leaning near the refrigerator edge.", "global_instruction_dense": "The right robotic arm moves toward the light wooden strip near the refrigerator, grasps it, lifts it upward toward the open upper cabinet, moves it inside the cabinet, releases it onto the cabinet shelf, then withdraws its arm from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 254, "tasks": ["place other"], "length": 528, "global_instruction": "Take a wooden tong from the open upper cabinet, place it in the countertop dish rack, then close the cabinet door.", "scene_description": "Upper wooden kitchen cabinets (right door is open, interior shelves hold dishware) are mounted above a granite kitchen countertop. The counter holds a silver toaster, metal dish rack, stainless steel sink with faucet, paper towel roll, and assorted small kitchen containers, with a robotic arm positioned above the counter near the open cabinet.", "global_instruction_dense": "The right robotic arm reaches into the open upper cabinet to grasp a wooden tong, lifts the tong out of the cabinet, lowers it to the metal dish rack on the counter and releases it into the rack, then moves to the open cabinet door and pushes it fully closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 255, "tasks": ["place other"], "length": 745, "global_instruction": "Retrieve a wooden cutting board from the upper cabinet and place it in the vertical slot next to the refrigerator.", "scene_description": "A stainless steel refrigerator is on the left of a granite kitchen counter, which holds a silver toaster, a sink, and a paper towel roll. Light wooden upper cabinets are mounted above the counter, with a robotic arm positioned on the counter's right side.", "global_instruction_dense": "The right robotic arm moves to grasp the upper cabinet handle, opens the cabinet door, reaches inside to grasp the wooden cutting board, pulls it out, moves left to insert it into the vertical slot next to the stainless steel fridge, releases the board, then returns to close the cabinet door and moves back toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 256, "tasks": ["place other"], "length": 722, "global_instruction": "Place a light wooden strip from the counter dish rack area into the upper wooden cabinet and close the cabinet door.", "scene_description": "A kitchen counter with a stainless steel refrigerator on the left, closed light wooden upper cabinets, a silver toaster, stainless steel sink, and dish rack; a white and grey robotic arm is positioned near the sink.", "global_instruction_dense": "The right robotic arm moves to the right upper cabinet handle, opens the cabinet door, moves to grasp a light wooden strip near the refrigerator, lifts the strip, moves it into the open cabinet, releases it inside, then closes the cabinet door.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 257, "tasks": ["place other"], "length": 838, "global_instruction": "Retrieve a wooden cutting board from the upper kitchen cabinet, place it on the counter, then close the cabinet.", "scene_description": "A kitchen counter with a silver toaster, sink, and wooden upper cabinets is visible, with a stainless steel appliance on the left and a white-grey robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves to the upper wooden cabinet handle, pulls the cabinet door open, reaches inside to grasp a light wooden cutting board, lifts it out, moves it to the left edge of the counter near the stainless steel appliance, places it there, then pushes the cabinet door closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 258, "tasks": ["place other"], "length": 1017, "global_instruction": "Retrieve a wooden tong from the upper light-brown cabinet, place it on the kitchen counter, then close the cabinet door.", "scene_description": "A white and gray right robotic arm is positioned above a granite kitchen counter, with a silver toaster, sink, and closed light-brown upper cabinets visible, and a silver metal surface on the left edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the handle of the right upper light-brown cabinet, grasps the handle to pull the door open, reaches inside to grasp a wooden tong, lifts the tong out of the cabinet, moves it down to place it on the left edge of the counter, releases the tong, moves back to push the cabinet door closed, then moves away from the cabinet toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 259, "tasks": ["place other"], "length": 340, "global_instruction": "Place all three white mushrooms on the kitchen counter into the square clear glass tray.", "scene_description": "A speckled granite kitchen counter sits under light-colored upper wooden cabinets. On the counter: a clear glass bottle with a silver cap, black coffee machine, clear plastic pitcher, silver small kitchen appliance, glass bowl of yellow and orange fruits, square clear glass tray, and three whole white mushrooms to the right of the tray, with a robotic arm positioned at the top right above the counter.", "global_instruction_dense": "The right robotic arm descends toward a white mushroom on the counter, grasps and places it into the square clear glass tray, then repeats the action to grasp and place two more white mushrooms into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 260, "tasks": ["place other"], "length": 415, "global_instruction": "Pick up the dark green folded umbrella on the left of the kitchen counter and place it near the grey steamer insert.", "scene_description": "A tan granite kitchen counter holds a dark green folded umbrella, a pink cloth, a grey round steamer insert, and a black espresso machine. Two robotic arms are positioned to the left of the counter, with a sink and wooden cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark green folded umbrella on the left side of the kitchen counter, grasps it with its gripper, lifts it, moves it rightward to the area next to the grey steamer insert, lowers it, releases it onto the counter, then lifts away from the placed umbrella.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 261, "tasks": ["place other"], "length": 283, "global_instruction": "Pick up the fuzzy earmuffs from the upper cardboard box and place them into the lower open cardboard box.", "scene_description": "A kitchen counter area with an upper brown cardboard box, lower open cardboard box, black microwave, clear water pitcher, lidded storage containers, upper wooden cabinets, a stove in the background, and a robotic arm at the upper left of the view.", "global_instruction_dense": "The right robotic gripper reaches into the upper cardboard box, grasps the fuzzy earmuffs, lifts and moves them over the lower open cardboard box, then releases the earmuffs into the lower box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 262, "tasks": ["place other"], "length": 195, "global_instruction": "Place the red cutting board from the foreground box into the farther cardboard box on the kitchen counter.", "scene_description": "A kitchen with light wooden upper cabinets, a white refrigerator at the left, a foreground open cardboard box holding a red cutting board, and assorted kitchen items on the countertops.", "global_instruction_dense": "The left robotic arm moves downward toward the red cutting board in the foreground open cardboard box, grasps the cutting board, lifts it, moves it over the farther cardboard box on the kitchen counter, and releases it into that box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 263, "tasks": ["place other"], "length": 697, "global_instruction": "Pick up the tissue, aluminum can, and mailing envelope from the counter, and place each into the trash bin.", "scene_description": "A dark marble office countertop holds, from left to right: a dark blue container, a silver and blue aluminum can, a brown cardboard box with a white mailing envelope on its surface, and a white trash bin with a gray plastic liner. A white 'FIRST AID' cabinet is mounted above the counter, and a robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm first moves down to grasp a small white tissue from the counter, lifts it, moves it over the trash bin, and releases it into the bin; next it moves to grasp the blue and silver aluminum can, lifts it, moves over the trash bin, releases it into the bin; finally it grasps the white mailing envelope on top of the brown cardboard box, lifts it, moves over the trash bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 264, "tasks": ["place other"], "length": 495, "global_instruction": "Place the soda can and crumpled tissue from the cardboard box into the trash bin.", "scene_description": "A brown cardboard box rests on a dark marble countertop, with a blue and silver soda can and a crumpled white tissue on the box. A grey trash bin is to the right of the box, with office space and a white upper cabinet in the background.", "global_instruction_dense": "The right robotic arm moves to grasp the blue and silver soda can on the brown cardboard box, lifts it, moves it over the grey trash bin and releases the can inside, then moves back to grasp the crumpled white tissue on the box, lifts it, moves it over the trash bin and releases the tissue inside.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 265, "tasks": ["place other"], "length": 594, "global_instruction": "Place the snack package and white tissues from the counter into the trash bin.", "scene_description": "A dark marble office counter holds a yellow-red silver snack package, a brown cardboard box with crumpled white tissues on top, and a gray plastic trash bin with a white liner next to the box. White upper cabinets are above the counter, with a glass office door in the background.", "global_instruction_dense": "The right robotic arm moves left to grasp the yellow-red silver snack package on the counter, lifts it, moves over the gray trash bin, releases the package into the bin, then moves to grasp the white crumpled tissues on the brown cardboard box, lifts them, moves over the trash bin, and releases the tissues into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 266, "tasks": ["place other"], "length": 2077, "global_instruction": "Sort the scattered silverware on the black table into the divided white cutlery tray.", "scene_description": "A black round table holds scattered silver forks, spoons, and knives on its left half, a white divided cutlery tray on its right half, a roll of white paper towels at the far right, a grey mug next to the tray, and a metal pot behind the tray. A living room with couches, a television, and windows with vertical blinds is visible in the background.", "global_instruction_dense": "The single robotic arm moves over the scattered silver utensils on the black round table, grasps each fork, spoon, and knife individually, lifts each utensil, moves it to the correct compartment of the white divided cutlery tray, and releases it into the tray until all scattered silverware is placed in the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 267, "tasks": ["place other"], "length": 1360, "global_instruction": "Place the scattered silver tableware into the matching compartments of the white utensil organizer on the table.", "scene_description": "A black round kitchen table holds scattered silver forks, knives, and spoons, a white six-compartment utensil organizer, a gray folded cloth, a silver pressure cooker, a dark gray water bottle, a gray mug, and a large lidded pan. A left robotic arm is positioned at the left edge of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps individual pieces of silverware from the black table, moves each to the corresponding compartment in the white multi-section utensil organizer, and releases the utensil into the compartment to sort all the tableware.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 268, "tasks": ["place other"], "length": 2013, "global_instruction": "Sort the scattered silver flatware on the black table into the compartments of the white segmented utensil tray.", "scene_description": "A black round table holds scattered silver flatware, a white segmented utensil tray, a stainless steel lidded pot, gray cloth, dark travel thermos, gray mug, and frying pan, with a robotic arm base visible on the left side of the frame.", "global_instruction_dense": "The left robotic arm repeatedly grasps individual pieces of silver flatware from the scattered pile on the left side of the black table, moves each piece to the corresponding compartment of the white segmented utensil tray, releases the flatware into the compartment, adjusts misaligned pieces as needed, and returns to the scattered pile to grasp another piece of flatware.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 269, "tasks": ["place other"], "length": 1512, "global_instruction": "Pick up the small orange tangerines from the black table and place them into the white bowl.", "scene_description": "A round black dining table holds an empty white bowl, a cluster of small orange tangerines, a metal container with kitchen utensils, a small bowl of food, and a black water bottle next to a window with vertical white blinds, with white robotic arms positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small orange tangerines on the black table, repeatedly grasps individual tangerines with its gripper, moves each grasped tangerine over the white bowl, and releases it into the bowl until most tangerines are inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 270, "tasks": ["place other"], "length": 116, "global_instruction": "Pick up the brown ginger from the kitchen counter and place it into the white bin below the counter.", "scene_description": "A dark brown kitchen counter holds several white garlic cloves and a piece of brown ginger, with white upper/lower cabinets, a stainless steel dishwasher under the counter, and a white robotic system positioned to the right of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the brown ginger on the kitchen counter, grasps the ginger, lifts it, moves it over the white bin under the counter, and releases the ginger to drop it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 271, "tasks": ["place other"], "length": 154, "global_instruction": "Pick up a piece of ginger from the kitchen counter and place it near the stove on the left side of the counter.", "scene_description": "A brown kitchen counter has several pieces of ginger and garlic placed on it, a stove is to the left of the counter, a dishwasher is under the counter, white cabinets are above the counter, and a white robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm lowers its gripper toward a piece of ginger on the counter, grasps the ginger, lifts it, moves it leftward across the counter, and places it near the black dish next to the stove.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 272, "tasks": ["place other"], "length": 129, "global_instruction": "Pick up the ginger piece from the kitchen counter and place it into the open trash bin.", "scene_description": "A dark brown kitchen counter holds several light brown ginger pieces and garlic cloves. An open white trash bin is positioned below the counter, and a white robotic arm is to the right of the counter. Kitchen cabinets, a sink, dishwasher, refrigerator, and microwave are visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the ginger piece on the kitchen counter, grasps it with its gripper, lifts and moves it over the open white trash bin, then releases the ginger into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 273, "tasks": ["place other"], "length": 359, "global_instruction": "Place the blue pack from the countertop into the open lower drawer.", "scene_description": "A kitchen with light wood cabinets, a stainless steel refrigerator on the right, an open lower drawer holding blue packaged goods, a countertop with a sink, white rice cooker, blue containers, and a green bottle; a blue pack rests on the counter directly above the open drawer, and a robotic arm base with purple/blue lights is on the left.", "global_instruction_dense": "The right robotic arm moves toward the blue pack on the countertop above the open drawer, grasps the pack, lowers it into the open drawer, releases it, and then lifts its gripper away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 274, "tasks": ["place other"], "length": 392, "global_instruction": "Pick up the black slide sandal from the second shoe rack shelf and place it on the top shoe rack shelf.", "scene_description": "A metal four-tier shoe rack rests on a light wooden table. The second rack shelf holds a black slide sandal next to dark blue sneakers, the top shelf holds grey and black sneakers, the third shelf holds white sneakers. A California Republic flag hangs on the wall behind the rack, a white door is to the left, and a white robotic arm is positioned left of the rack.", "global_instruction_dense": "The left robotic arm moves toward the black slide sandal on the second shelf of the shoe rack, grasps the sandal, lifts it upward to the top shelf level, adjusts its position over the top shelf, releases the sandal onto the top shelf, then retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 275, "tasks": ["place other"], "length": 235, "global_instruction": "Remove the wooden rice paddle from the rice cooker and place it on the wooden table.", "scene_description": "A light wooden table holds an open white rice cooker with a wooden rice paddle inside, an orange circular plate in front of the cooker, and several packaged items plus a blue bag on the table's right side. A robotic arm is positioned near the back wall above the table area.", "global_instruction_dense": "The right robotic arm moves toward the open white rice cooker, grasps the wooden rice paddle inside it, lifts the paddle out of the cooker, moves it to the table surface next to the cooker, lowers and releases the paddle onto the table, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 276, "tasks": ["place other"], "length": 275, "global_instruction": "Place a small blue square object into the green mug on the bathroom countertop.", "scene_description": "A white robotic arm is positioned to the left of a speckled grey bathroom countertop, which holds a white sink, two small blue square objects, a green mug, a blue mouthwash bottle, assorted small toiletries, and a mirror mounted above the sink.", "global_instruction_dense": "The right robotic arm moves toward a small blue square object on the countertop, grasps it, lifts and moves it over the green mug, then releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 277, "tasks": ["place other"], "length": 463, "global_instruction": "Remove a blister pack from the open blue box and place it on the bathroom counter.", "scene_description": "A bathroom countertop holds a white sink, an open blue box, a green mug with a toothbrush, assorted toiletries, and a robotic arm positioned to the left of the counter.", "global_instruction_dense": "The right robotic gripper descends toward the open blue box on the bathroom counter, grasps a blister pack inside the box, lifts it out of the box, moves it to a clear spot on the counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 278, "tasks": ["place other"], "length": 292, "global_instruction": "Place the white blister pack into the open blue box on the bathroom counter.", "scene_description": "A white robotic arm is positioned to the left of a bathroom countertop. The counter holds a white sink, a green mug with a toothbrush inside, an open blue box, a white blister pack, mouthwash bottle, small toiletries, and a wooden-framed mirror mounted above the sink.", "global_instruction_dense": "The left robotic arm extends toward the white blister pack on the bathroom counter, grasps it, lifts it, moves it over the open blue box, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 279, "tasks": ["place other"], "length": 273, "global_instruction": "Pick up the red and white lip balm and place it into the clear plastic cup", "scene_description": "A round white table holds a clear transparent plastic cup and a red-and-white lip balm, with the cup near the upper part of the table and the lip balm near the lower part of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red and white lip balm on the white table, grasps it, lifts it, moves it over the clear plastic cup, releases it to drop into the cup, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 280, "tasks": ["place other"], "length": 239, "global_instruction": "Place the red-and-white lip balm into the light blue plastic cup on the round wooden table.", "scene_description": "A light brown round wooden table holds a light blue plastic cup, a red-and-white lip balm stick, and a folded gray sweatshirt. Multiple black office chairs are positioned behind the table, and a white robotic arm is situated to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red-and-white lip balm on the table, grasps it, lifts it, moves it over the light blue plastic cup, lowers it into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 281, "tasks": ["place other"], "length": 265, "global_instruction": "Place the red lip balm tube into the white ceramic mug on the blue table.", "scene_description": "A dark blue cloth-covered table holds a white ceramic mug, three white lace doilies, a red lip balm tube, two small white paper slips, and a small photo card; a robotic arm base sits on a black platform to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the red lip balm on the right white doily, grasps it, lifts and moves it over the white mug, then releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 282, "tasks": ["place other"], "length": 109, "global_instruction": "Place the red dotted white strip from the table into the light gray bowl.", "scene_description": "A white round table holds a light gray bowl on its right half and a white strip with red dots on its left half, with office desks and chairs in the background.", "global_instruction_dense": "The left robotic arm moves down toward the red dotted white strip on the left of the table, grasps it with its gripper, lifts it, moves it right over the light gray bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 283, "tasks": ["place other"], "length": 126, "global_instruction": "Pick up the pink-and-white dotted strip on the table and place it into the silver bowl.", "scene_description": "A silver bowl and a pink-and-white dotted long strip are placed on a white round table. The bowl is on the right side of the table, the strip is on the left side of the table, with an office space including desks and office chairs in the background.", "global_instruction_dense": "The left robotic arm moves toward the pink-and-white dotted strip on the left of the table, grasps it with the gripper, lifts it, moves it rightward over the silver bowl, lowers it, and releases it into the silver bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 284, "tasks": ["place other"], "length": 153, "global_instruction": "Place the purple and white lip balm into the white bowl on the wooden table.", "scene_description": "A light-colored round wooden table holds small black clips, a purple-and-white lip balm, a white bowl, an orange garment, a dark blue cloth with a white scalloped doily on it, and small dark objects. A white robotic arm is positioned to the left of the table, with a black office chair in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple-and-white lip balm on the wooden table, grasps the lip balm, lifts it, moves it over the white bowl, and releases it to drop the lip balm into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 285, "tasks": ["place other"], "length": 337, "global_instruction": "Place the black mounting fixture onto the grey vertical surface next to the worktable.", "scene_description": "A white worktable holds an orange triangular tool, a yellow-black tape roll, and a black rectangular box. A white left robotic arm carrying a black mounting fixture is positioned left of the table, with a grey vertical surface to the table's right in a glass-partitioned lab.", "global_instruction_dense": "The left robotic arm moves the black mounting fixture rightward to the grey vertical surface, presses and adjusts the fixture to attach it to the surface, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 286, "tasks": ["place other"], "length": 307, "global_instruction": "Place the light green funnel on the counter into the open white drawer under the counter.", "scene_description": "A white kitchen counter holds a silver orange-lidded kettle, green spray bottle, light green funnel, black trash bin, small table tennis racket, and silver coffee pot, with board game boxes stacked on white cabinets to the left of the counter.", "global_instruction_dense": "The left robotic arm moves rightward to pull open the white drawer under the counter, moves toward the light green funnel on the counter, grasps the funnel, lifts it, moves it over the open drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 287, "tasks": ["place other"], "length": 141, "global_instruction": "Pick up the table tennis paddle and place it at a new position on the countertop", "scene_description": "A white kitchen countertop holds a black table tennis paddle with wooden handle, a silver kettle with black handle, a silver kettle with orange lid, a green bottle, and a black trash bin. An open drawer below the counter has a white egg on a light plate inside, and a white robotic arm is positioned near the sink at the left end of the counter.", "global_instruction_dense": "The left robotic arm moves toward the table tennis paddle on the counter, grasps it, lifts and moves it across the counter surface, then releases it at a new position on the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 288, "tasks": ["place other"], "length": 180, "global_instruction": "Pick up the light green funnel from the countertop and place it into the open left cabinet shelf.", "scene_description": "A white kitchen countertop holds a silver kettle with an orange lid, green spray bottle, small silver kettle, brown-handled hand mirror, light green funnel, and black trash bin. A white robotic arm is at the left end of the counter, and a cabinet with open wooden shelves holding board game boxes is against the wall left of the counter.", "global_instruction_dense": "The left robotic arm moves right toward the light green funnel on the countertop, grasps the funnel, lifts it, moves left to the open wooden cabinet shelf, places the funnel inside the shelf, then retracts its arm away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 289, "tasks": ["place other"], "length": 177, "global_instruction": "Move the black table tennis paddle to the right side of the kitchen countertop", "scene_description": "A white kitchen countertop holds a silver kettle with an orange lid, bright blue plastic cup, light blue bowl, black table tennis paddle, small white dish, and black trash bin arranged left to right. White wall cabinets with metal handles are above the counter, with stacked red, purple, blue board game boxes on the left cabinet top and a green safety sign on the cabinet doors. Robotic arms are positioned at the lower left edge of the frame initially.", "global_instruction_dense": "The right robotic arm moves rightward across the white kitchen countertop toward the black table tennis paddle, grasps the paddle with its gripper, lifts it, and moves it to a new position on the right side of the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 290, "tasks": ["place other"], "length": 137, "global_instruction": "Reposition the black table tennis racket on the white tabletop.", "scene_description": "A white tabletop holds a blue plastic cup, black table tennis racket, turquoise bowl, orange-capped silver thermos, white funnel-shaped object, and black tissue box. White cabinets with a safety sign are behind the table, and a robotic arm is at the lower left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black table tennis racket on the table, grasps it, lifts and adjusts its position over the table, then lowers and releases it onto the tabletop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 291, "tasks": ["place other"], "length": 190, "global_instruction": "Take the red and yellow table tennis paddle out of the open drawer and place it on the kitchen countertop.", "scene_description": "White kitchen cabinets sit above a white countertop holding a silver kettle and small tools, with an open drawer below the counter containing a red and yellow table tennis paddle, and two robotic arms positioned in front of the counter.", "global_instruction_dense": "The right robotic arm moves toward the open drawer, grasps the red and yellow table tennis paddle inside, lifts it out of the drawer, moves it onto the adjacent white countertop, and releases it to rest on the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 292, "tasks": ["place other"], "length": 206, "global_instruction": "Place the red table tennis paddle on the counter into the open drawer.", "scene_description": "A red table tennis paddle with a wooden handle lies on a white kitchen counter, an empty open drawer sits to the right of the paddle, and white robotic arms are positioned left of the counter.", "global_instruction_dense": "The right robotic arm extends toward the red table tennis paddle on the kitchen counter, grasps the paddle, lifts it, moves it right over the open drawer, lowers it, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 293, "tasks": ["place other"], "length": 232, "global_instruction": "Place the red table tennis racket on the kitchen counter into the open drawer below.", "scene_description": "A red table tennis racket, silver kettle, and small items rest on a white kitchen counter, with an empty open drawer below the counter and white handle cabinets above.", "global_instruction_dense": "The right robotic arm moves toward the red table tennis racket on the white kitchen counter, grasps it, lifts it, moves it over the open empty drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 294, "tasks": ["place other"], "length": 151, "global_instruction": "Pick up the white-and-black table scraper and place it near the green-patterned mug on the table.", "scene_description": "A light wooden table holds a white-and-black scraper with orange grip, red-lidded clear container, green-patterned white mug, small wrapped candies, and empty white bowl. A white robotic arm is positioned to the left of the table in an office setting.", "global_instruction_dense": "The left robotic arm moves rightward toward the white-and-black scraper on the wooden table, grasps the scraper by its handle, lifts it, and moves it to a position near the green-patterned white mug on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 295, "tasks": ["place other"], "length": 142, "global_instruction": "Place small silver components from the ping pong table into the light blue bowl.", "scene_description": "A purple ping pong table holds a light blue bowl, orange folded garment, white water bottle, clear plastic cup, a pile of small silver components, and a small black object. Two white robotic arms are positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the pile of small silver components on the purple ping pong table, grasps a single component, lifts it, moves it over the light blue bowl, and releases the component into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 296, "tasks": ["place other"], "length": 448, "global_instruction": "Take the red pen and black tool from the open drawer, place them on the countertop, then close the drawer.", "scene_description": "A white lab countertop holds a blue-green small box, a thick book, and light-colored thin items. An open drawer below the counter contains a red pen and a black L-shaped tool, with two robotic arms positioned to the left of the counter.", "global_instruction_dense": "The left robotic gripper reaches into the open drawer to grasp the red pen, lifts it and places it on the countertop next to the book, then returns to the drawer to grasp the black L-shaped tool, lifts it and places it on the countertop, then the right robotic gripper pushes the open drawer to close it fully.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 297, "tasks": ["place other"], "length": 202, "global_instruction": "Pick up the black sink drain strainer, move it over the sink, then place it back into the sink drain.", "scene_description": "A white kitchen counter holds a stainless steel sink, a white plate on the right edge of the sink, a wire dish rack behind the sink, assorted cleaning supplies near the faucet, and a black sink drain strainer positioned in the sink drain, with a robotic arm located to the left of the sink.", "global_instruction_dense": "The right robotic arm moves toward the black sink drain strainer in the kitchen sink drain, grasps it with its gripper, lifts it, moves it over the sink surface, lowers it back into the sink drain, and releases the strainer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 298, "tasks": ["place other"], "length": 251, "global_instruction": "Move the sink drain stopper from inside the sink to the kitchen countertop.", "scene_description": "A white dual-arm robotic arm is positioned next to a stainless steel kitchen sink. Inside the sink, there is a dark sink drain stopper, a white plate, and a gray cutting board. A dish rack, blue container, and cleaning supplies sit on the adjacent countertop.", "global_instruction_dense": "The right robotic gripper moves toward the dark sink drain stopper inside the stainless steel sink, grasps it, lifts it out of the sink, carries it over the adjacent kitchen counter, and places it on the countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 299, "tasks": ["place other"], "length": 121, "global_instruction": "Reposition the small black L-shaped bracket on the white countertop to a new spot on the same counter.", "scene_description": "A white lab countertop holds a small black L-shaped bracket, a yellow rectangular pad, a brown cardboard box, and a black trash bin; a white robotic arm with a black gripper is positioned above the counter, with white cabinets above and below the counter.", "global_instruction_dense": "The left robotic arm lowers its black gripper toward the small black L-shaped bracket on the white counter, grasps the bracket, lifts it slightly, shifts it horizontally leftward, and places it onto a new position on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 300, "tasks": ["place other"], "length": 163, "global_instruction": "Pick up the small black nozzle on the table and place it at a new position on the table.", "scene_description": "A round light brown table holds a white bottle with red labels, a white pen, a small black nozzle, and a dark square pad. A white dual-arm robot is positioned above the table, with a person in a grey printed shirt standing to the left of the robot.", "global_instruction_dense": "The right robotic arm moves toward the small black nozzle on the round table, closes its gripper to grasp the nozzle, lifts the nozzle, moves it horizontally across the table, lowers it to the table surface, and releases its gripper to place the nozzle at a new position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 301, "tasks": ["place other"], "length": 351, "global_instruction": "Pick up the black speaker from the wall ledge and place it on the wooden table.", "scene_description": "A light brown round wooden table is against a light gray wall, with a white water bottle with red markings and a small pen on its surface; a black rectangular speaker sits on the wall ledge to the right of the table, with a white robotic arm positioned left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black speaker on the right wall ledge, grasps the speaker, lifts it, carries it leftward over the wooden table, lowers it, and releases it onto the table next to the white water bottle.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 302, "tasks": ["place other"], "length": 137, "global_instruction": "Remove the clear plastic rack from the toaster and place it on the kitchen counter.", "scene_description": "A dark marbled kitchen counter holds a light green toaster, black rectangular tray, black slotted spoon, small silver measuring utensil, white cables, and a laptop in the background. Two white robotic arms are positioned above the counter, with the right robotic arm above the toaster area.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic rack on the light green toaster, grasps it, lifts it off the toaster, moves it rightward over the counter, lowers it, and releases it onto the counter surface next to the toaster.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 303, "tasks": ["place other"], "length": 282, "global_instruction": "Place the small orange cap onto the white bottle and place the purple marker into the white cup with a blue lid.", "scene_description": "A white tabletop holds a red pen, purple marker, green rectangular block, small orange cap, uncapped white plastic bottle, white cup with blue lid, and black cloth; a black workbench with clamps is to the left of the table, a glass partition is to the right, and the background wall has power sockets and a wall-mounted telephone.", "global_instruction_dense": "The left robotic arm lowers to grasp the small orange cap on the table, lifts it, moves to the uncapped white bottle, places the cap onto the bottle, then moves toward the purple marker, grasps it, lifts it, moves to the white cup with a blue lid, places the marker inside the cup, and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 304, "tasks": ["place other"], "length": 144, "global_instruction": "Pick up the clear glass flask and place it at a new position on the wooden table.", "scene_description": "A light brown wooden table holds a clear conical glass flask, a black pen, a folded white napkin, and a white power strip with a yellow marker on top. A light blue padded chair is behind the table, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the clear glass flask on the wooden table, grasps it, lifts it, moves it to a new spot on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 305, "tasks": ["place other"], "length": 273, "global_instruction": "Pick up a brown mushroom from the cutting board and place it into the white pot with the black lid on the stovetop.", "scene_description": "A white robotic arm is on the left of a white kitchen counter. The embedded stovetop has two white pots (one with a white lid, one with a black lid). To the stovetop's right, a cutting board holds brown mushrooms, green vegetables and a small clear cup, next to a silver kettle and brown woven basket.", "global_instruction_dense": "The right robotic gripper moves toward the brown mushroom on the cutting board right of the stovetop, grasps the mushroom, lifts it, moves it over the white pot with the black lid, and releases the mushroom into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 306, "tasks": ["place other"], "length": 319, "global_instruction": "Take a piece of green broccoli from the white pot and place it into the empty white bowl.", "scene_description": "A white round table holds a white pot with black interior, an empty white bowl, a silver spoon, a small clear cup, a white plate with a utensil, a red-handled long tool, and a gray vase with white flowers at the table's back. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white pot on the table, reaches into the pot to grasp a piece of green broccoli, lifts the broccoli out of the pot, moves it over the empty white bowl, lowers it into the bowl, releases the broccoli, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 307, "tasks": ["place other"], "length": 328, "global_instruction": "Place the hanging clear decorative sheet onto the white kitchen counter", "scene_description": "A small blue plastic bottle sits on a white kitchen counter, with assorted small items (a brown box, small bottles, a fabric pouch) at the counter's rear, white upper cabinets above the counter, and a stainless steel refrigerator with a Los Angeles themed sticker on the right, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves upward to grasp the out-of-frame hanging clear decorative sheet, lowers the sheet onto the kitchen counter (knocking over the small blue bottle on the counter during placement), adjusts the sheet's position on the counter, releases the sheet, and moves the gripper upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 308, "tasks": ["place other"], "length": 1132, "global_instruction": "Hang the countertop jewelry organizer onto the edge of the refrigerator.", "scene_description": "A white kitchen counter holds a wooden-rod jewelry organizer with earrings and an attached clear bag, small items like yellow tools, black circular objects, a brown box, and a small glass bottle. Upper open white cabinets are above the counter, and a stainless steel refrigerator with a Los Angeles themed sticker is on the right. A white robotic arm is positioned above the counter near the cabinets.", "global_instruction_dense": "The left robotic arm moves toward the jewelry organizer on the kitchen counter, grasps its hanging string, lifts it, moves it to the edge of the stainless steel refrigerator, hangs the organizer on the refrigerator edge, releases the string, and moves back to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 309, "tasks": ["place other"], "length": 603, "global_instruction": "Retrieve the hanging rack from the overhead cabinet and place it on the kitchen counter.", "scene_description": "A brown spray bottle rests on a white kitchen counter, an open overhead cabinet holding assorted items is positioned above the counter, a stainless steel refrigerator with a 'Los Angeles' decorative poster is to the counter's right, and two robotic arms are present in the space.", "global_instruction_dense": "The right robotic gripper moves into the open overhead cabinet, grasps the clear hanging rack with attached clips, pulls it out of the cabinet, lowers it to the white kitchen counter, sets it down, and releases it, after which the rack falls over onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 310, "tasks": ["place other"], "length": 305, "global_instruction": "Pick up the floral quilt and place it onto the pink blanket in the clear bin.", "scene_description": "A floral patterned quilt lies on a left work surface, a pink blanket with colorful cartoon prints rests in a clear plastic bin to the right of the quilt, in a lab workspace with desks, a whiteboard, and computer equipment in the background.", "global_instruction_dense": "The left robotic gripper grasps the floral quilt on the left work surface, lifts it upward, moves it rightward over the pink printed blanket in the clear bin, releases the quilt onto the pink blanket, then lifts upward away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 311, "tasks": ["place other"], "length": 449, "global_instruction": "Flip and reposition the pink bubble wrap sheet on the worktable.", "scene_description": "A light pink bubble wrap sheet lies flat on a dark black worktable. A white robotic arm is positioned at the upper left. The background has a wooden desk with a red bowl, white plush object, small brown box, monitor, and other lab office equipment.", "global_instruction_dense": "The left robotic arm moves down to the pink bubble wrap on the worktable, grasps and lifts it, flips it over, places it back on the table, presses it to adjust its position, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 312, "tasks": ["place other"], "length": 584, "global_instruction": "Reposition the pink bubble wrap sheet on the black worktable.", "scene_description": "A pink bubble wrap sheet rests on a black worktable in the foreground; a yellow table behind holds a red bowl of colorful items, a white plush with red accents, and office equipment including a monitor.", "global_instruction_dense": "The right robotic arm moves downward toward the pink bubble wrap sheet on the foreground worktable, grasps it, adjusts its position on the table, releases it, then moves back to its initial position above the workspace.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 313, "tasks": ["place other"], "length": 391, "global_instruction": "Place the pink bubble wrap sheet in a new position on the black worktable.", "scene_description": "A black worktable holds a pink bubble wrap sheet, a small beige paper scrap, and orange-handled tools. A white left robotic arm is positioned above the left of the worktable. A wooden office desk with a red bowl, white chicken decor, monitor and office supplies sits to the right of the worktable.", "global_instruction_dense": "The left robotic arm moves toward the pink bubble wrap on the worktable, grasps it with its gripper, lifts and moves it to a new position over the table, lowers and releases it, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 314, "tasks": ["place other"], "length": 286, "global_instruction": "Place the metal strainer from the counter into the copper-lined pot on the stovetop.", "scene_description": "A kitchen with light wood upper cabinets, a grey tiled backsplash, a black stovetop holding a copper-lined black pot and assorted kitchen containers, a counter with a grey coffee machine and utensil holder, and a white robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm reaches toward the metal strainer next to the coffee machine on the counter, grasps it, lifts it, moves it over the copper-lined pot on the stovetop, lowers it into the pot, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 315, "tasks": ["place other"], "length": 165, "global_instruction": "Pick up the black wallet on the table and place it back onto the table surface.", "scene_description": "A wooden table holds a black wallet, green bottle, gray mug, dark gray cup, green lid, stacks of white paper towels, and a dark gray bin. A robotic arm is positioned above the left side of the table, a California Republic flag hangs on the back wall, a white door is to the left, and a wooden chair is in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the black wallet on the table, grasps it with its gripper, lifts it briefly, then lowers the wallet and releases it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 316, "tasks": ["place other"], "length": 94, "global_instruction": "Place the small white robot at a target position on the wooden desk.", "scene_description": "A light brown wooden desk sits against a wall with a handwritten whiteboard behind it. On the desk are a black monitor, black mouse, white power adapter, folded white papers, and a clear plastic packaged item. A large white robotic arm with dark gray accents at the left desk edge holds a small white robot near the desk edge.", "global_instruction_dense": "The left robotic arm lifts the small white robot from the edge of the wooden desk, moves it rightward across the desk surface, and adjusts its position to the target placement spot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 317, "tasks": ["place other"], "length": 118, "global_instruction": "Position the robotic end effector at a target location over the wooden desk.", "scene_description": "A light brown wooden desk is against a white wall. On the desk: a black monitor, black mouse, white rectangular power adapter, folded white papers, a clear glass, and clear plastic packaged cable are arranged. A white robotic arm is positioned to the left of the desk.", "global_instruction_dense": "The left robotic arm lifts its end effector from its initial position near the desk edge, moves it horizontally over the desk, adjusts its position, and lowers it toward the right side of the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 318, "tasks": ["place other"], "length": 100, "global_instruction": "Pick up the round gray speaker and place it on top of the stacked books.", "scene_description": "A white countertop is below white wall-mounted cabinets. Stacked books, a round gray speaker, and a robotic arm are on the counter, with books on the far left, the speaker next to the books, and the arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the round gray speaker on the counter, grasps it with its gripper, lifts the speaker, moves it left over the stacked books, lowers it, and releases it on top of the books.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 319, "tasks": ["place other"], "length": 99, "global_instruction": "Pick up the metal portafilter next to the coffee machine and place it on the counter near the microwave.", "scene_description": "A dark stone kitchen counter holds a stainless steel microwave on its right, a coffee machine near its center, and a metal portafilter next to the coffee machine. An open drawer is below the counter, and two white robotic arms are positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal portafilter next to the coffee machine, grasps it with its gripper, lifts it, and moves it to place it on the counter closer to the microwave.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 320, "tasks": ["place other"], "length": 165, "global_instruction": "Pick up the metal portafilter from the espresso machine and place it on the kitchen counter", "scene_description": "A white dual-arm robot is positioned in front of a dark kitchen countertop. A stainless steel espresso machine sits on the counter in front of the robot, an open utensil drawer is below the counter, a microwave is at the right of the counter, and a toaster sits next to the microwave.", "global_instruction_dense": "The left robotic arm extends toward the metal portafilter attached to the espresso machine, grasps it, lifts it away from the machine, moves it rightward, and places it on the dark kitchen countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 321, "tasks": ["place other"], "length": 110, "global_instruction": "Remove the white cotton swab from the black cup with red interior and place it on the gray table.", "scene_description": "A gray table holds a black hard case, a blue book, a black cup with red interior holding a white cotton swab, and a dark blue folder with red scissors on top, with a blue trash bin in the background.", "global_instruction_dense": "The left robotic gripper moves toward the white cotton swab inside the black cup with red interior, grasps the swab, lifts it out of the cup, moves it to the empty table space between the blue book and the cup, then releases it onto the gray tabletop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 322, "tasks": ["place other"], "length": 114, "global_instruction": "Remove the white cotton swab from the black KMA mug and place it on the table.", "scene_description": "A light gray table holds a blue book with red scissors on it, a dark blue folder next to the book, a black KMA mug with red interior holding a white cotton swab, and a black hard case beside the mug, with a large blue trash bin and office cabinets in the background.", "global_instruction_dense": "Left robotic arm moves down toward the black KMA mug on the table, grasps the white cotton swab inside the mug, lifts the swab out of the mug, moves it leftward, and places it on the gray table surface between the dark blue folder and the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 323, "tasks": ["place other"], "length": 208, "global_instruction": "Pick up the toy hamburger and place it into the black tray on the table.", "scene_description": "A white table holds a cyan pot, small blue pan, black pot, orange cup, blue cup, green cup, toy hamburger, and a black tray on its right edge, with a robotic arm positioned above the table at the right.", "global_instruction_dense": "The right robotic gripper moves downward toward the toy hamburger on the white table, grasps the hamburger, lifts it, moves it over the black tray, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 324, "tasks": ["place other"], "length": 282, "global_instruction": "Place the round silver filter into the black coffee dripper.", "scene_description": "A white table holds a black coffee dripper, a round silver filter, a black laptop, and assorted cables. A red fire extinguisher is mounted on the wall behind the table, with white curtains and a door in the background. A robotic arm is positioned at the upper right outside the table area.", "global_instruction_dense": "The right robotic arm moves toward the table, grasps the black coffee dripper and moves it aside, grasps the silver round filter, places the filter into the dripper, then moves slightly away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 325, "tasks": ["place other"], "length": 202, "global_instruction": "Place the robotic arm's sensor payload behind the set of gray ribbed pipes.", "scene_description": "Multiple gray ribbed cylindrical pipes are in the left foreground, a white and black robotic arm with a sensor payload is on the right, and a wooden work table with tools sits in the background of an industrial workshop.", "global_instruction_dense": "The right robotic arm moves leftward from its starting position on the right side of the frame, passes the foreground gray ribbed pipes, and adjusts its orientation to position its sensor payload in the space behind the pipes.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 326, "tasks": ["place other"], "length": 474, "global_instruction": "Place the blue denim jeans onto the orange mesh office chair.", "scene_description": "An orange mesh office chair is in the lower foreground, a left robotic arm is positioned on the right, and the background is a lab office with desks, dark office chairs, and ceiling lighting fixtures.", "global_instruction_dense": "The left robotic arm moves toward the blue jeans, grasps them, lifts them, moves them over the orange mesh chair, adjusts their position, and releases them onto the chair.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 327, "tasks": ["place other"], "length": 179, "global_instruction": "Pick up the blue denim garment from the floor and place it back down.", "scene_description": "An indoor lab workspace with office desks, red-and-black office chairs, ceiling lights, and a blue denim garment lying on the floor near the right robotic arm in the foreground.", "global_instruction_dense": "The right robotic arm moves downward toward the blue denim garment on the floor, grasps the garment with its gripper, lifts it upward, then lowers the garment back to the floor and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 328, "tasks": ["place other"], "length": 172, "global_instruction": "Place the miniature hamburger toy on the table next to the light blue oven", "scene_description": "A light blue miniature oven with a metal top tray sits on a white table. A red bottle is to the oven's left, a black tray is to the oven's right, and a red checkered basket is at the far end of the table near small yellow and blue dish items.", "global_instruction_dense": "The right robotic gripper moves down toward the light blue oven, grasps a miniature hamburger toy, moves it to the open table space next to the oven's control panel, releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 329, "tasks": ["place other"], "length": 299, "global_instruction": "Pick yellow mango slices from the white plate and place them into the rear fruit basket", "scene_description": "A white table holds a light blue silver-fronted mini oven with a black cord at center left, a red spray bottle at far left, a white plate of yellow mango slices right of the oven, green/orange/blue cups behind the plate, and a fruit-filled basket at far back right.", "global_instruction_dense": "The right robotic arm moves down to the plate of yellow mango slices, grasps one slice, moves it to the rear fruit basket to drop it, returns to the plate to grasp a second slice, moves it to the basket to drop it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 330, "tasks": ["place other"], "length": 441, "global_instruction": "Place yellow slices from the plate into the green cup", "scene_description": "A white table holds a light blue small oven on the left, a red spray bottle at the far left edge, a plate with yellow slices to the right of the oven, a green cup on a black tray further right, an orange cup, a small blue cup, and an artificial fruit basket in the background, with a right robotic arm at the top right of the table.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the plate of yellow slices, grasps a yellow slice, transports it to the green cup, releases the slice into the cup, repeats this sequence three times, then returns to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 331, "tasks": ["place other"], "length": 309, "global_instruction": "Pick the yellow strips from the beige plate and place them into the green cup on the black tray.", "scene_description": "A white table holds a light blue toy appliance on the left, a toy hamburger next to it, a beige plate with two yellow strips, a black tray with a green cup, teal, black, orange, purple cups, and a red-white checkered fruit basket at the back, with camera equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the beige plate on the table, grasps a yellow strip from the plate, moves to the green cup on the black tray, drops the strip into the cup, repeats this process for the second yellow strip, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 332, "tasks": ["place other"], "length": 638, "global_instruction": "Place all yellow toy fries from the plate and table into the containers at the back of the table.", "scene_description": "A white table holds a light blue toy oven on the left, a toy hamburger next to the oven, a beige plate with two yellow toy fries at the center, assorted colorful cups, a fruit basket at the far back, and a black tray to the right of the plate.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, picks the first yellow fry from the beige plate and drops it into the orange cup, picks the second yellow fry from the plate and drops it into the yellow bowl, picks the third yellow fry from the table next to the toy hamburger and drops it into the yellow bowl, then moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 333, "tasks": ["place other"], "length": 165, "global_instruction": "Place the green toy avocado from the black tray into the red checkered basket", "scene_description": "A white table has a light blue toy oven on its left side, a black tray holding a green toy avocado on its right, assorted toy fruits including oranges, a red apple, two orange strawberries, and a purple item in the center, a yellow-based red checkered basket with toy fruit inside, a toy burger, and small toy kitchen items in the background.", "global_instruction_dense": "The right robotic gripper moves toward the green toy avocado in the black tray, grasps it, lifts it, moves it over the red checkered basket, releases it into the basket, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 334, "tasks": ["place other"], "length": 341, "global_instruction": "Place the blue plastic strip upright on the office tabletop.", "scene_description": "A light gray office table holds a pink tissue box, red water bottle, gray duct tape roll, black desk lamp, vertical blue plastic strip, orange plastic bag, calibration marker sheets, white cups, and a keyboard, with open office workspaces in the background.", "global_instruction_dense": "The right robotic gripper enters from the right side of the frame, grasps the vertical blue plastic strip on the table, adjusts its position and orientation, then releases it to stand upright on the table to the right of the desk lamp base.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 335, "tasks": ["place other"], "length": 273, "global_instruction": "Place the red ornament from the wooden stand onto the white table surface.", "scene_description": "A white table against a white wall holds a wooden stand with a red ornament, assorted small toys, black cables, a game controller, and a red button-shaped object, with a right robotic arm positioned at the table's right edge. The wall has mounted electrical boxes and connected wires.", "global_instruction_dense": "The right robotic arm moves toward the red ornament attached to the wooden stand on the table, grasps the ornament, lifts it off the stand, moves it to a clear section of the white table, releases the ornament onto the table, then retracts away from the placed object.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 336, "tasks": ["place other"], "length": 151, "global_instruction": "Move the orange pumpkin toy from the top of the black pot to the white table surface next to the blue cup.", "scene_description": "A light blue electric appliance, a blue cup, a small dark lid, a black pot with an orange pumpkin toy on top, a small burger toy, and a black grill plate are placed on a white table. The light blue appliance is on the left side of the table, the grill plate is on the right, and the pot with the pumpkin sits between the blue cup and the burger toy.", "global_instruction_dense": "The right robotic arm moves down from the upper right side of the frame toward the orange pumpkin toy resting on the black pot, grasps the pumpkin, lifts it upward, moves it left to the area beside the blue cup, lowers it onto the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 337, "tasks": ["place other"], "length": 180, "global_instruction": "Place a yellow fry piece into the red open fry container on the table.", "scene_description": "On a white table, a blue pot, dark teal pot lid, black small pot, purple fuzzy ball, red open fry container, several yellow fry pieces, black ridged tray, and small toy hamburger are arranged from left to right, with filming equipment and grey curtains in the background.", "global_instruction_dense": "The right robotic arm lowers toward the yellow fry pieces on the white table, grasps one yellow fry, lifts it, moves it over the red open fry container, and releases the fry into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 338, "tasks": ["place other"], "length": 189, "global_instruction": "Place a yellow fry into the red fries container on the table.", "scene_description": "A white table holds a teal pot, a small black pot, a black grill tray, a red fries container, a purple ball, several yellow toy fry pieces, and a small toy hamburger. A robotic arm base is visible to the right of the table, with curtains and lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves down from above the table, grasps a yellow fry, lifts it, moves it over the red fries container, releases the fry into the container, then moves upward away from the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 339, "tasks": ["place other"], "length": 205, "global_instruction": "Place a loose yellow fry into the red fry container on the table.", "scene_description": "A white table holds a teal pot, black pot lid, small black pot, purple fuzzy ball, red fry container with loose yellow fry pieces on the surface, black grill tray, and mini hamburger arranged left to right, with a robotic arm positioned above the far end of the table.", "global_instruction_dense": "The right robotic arm moves downward toward a loose yellow fry on the table, grasps the fry with its gripper, lifts the fry, moves it over the red fry container, and releases the fry into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 340, "tasks": ["place other"], "length": 184, "global_instruction": "Place a loose yellow fry from the table into the orange fry container", "scene_description": "A white table holds a teal pot, dark pot lid, black pot, purple ball, orange fry container, loose yellow fries, black ridged tray, and a mini toy hamburger. A robotic arm is positioned above the table outside the initial view.", "global_instruction_dense": "The right robotic arm moves downward toward a loose yellow fry next to the purple ball on the table, grasps the fry with its gripper, lifts the fry, moves it over the orange fry container, and releases the fry into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 341, "tasks": ["place other"], "length": 217, "global_instruction": "Place a loose yellow fry into the red fry container on the table.", "scene_description": "A white table holds a teal pot, dark blue pot lid, black pot, purple ball, red fry container with yellow fries, three loose yellow fries, black tray, and a small toy burger arranged left to right, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic arm descends toward the loose yellow fries on the white table, grasps one yellow fry, lifts it, moves over the red fry container, and releases the fry into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 342, "tasks": ["place other"], "length": 297, "global_instruction": "Place the loose yellow fry on the table into the orange fries container.", "scene_description": "A white table holds a teal pot, black pot lid with a silver handle, black pot, purple round plush, orange pineapple plush with green leaves, orange fries container, loose yellow fry, black ridged baking tray, and small toy burger from left to right; a light blue appliance sits at the table's left edge, and no robotic arm is visible initially.", "global_instruction_dense": "The right robotic gripper moves downward toward the loose yellow fry on the table, grasps it, lifts it, moves toward the orange fries container, and releases the fry into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 343, "tasks": ["place other"], "length": 256, "global_instruction": "Place a loose yellow french fry into the red french fry container.", "scene_description": "A white table holds a blue cooking pot, teal pot lid, black cooking pot, purple plush toy, orange plush pineapple, red french fry container with loose yellow fries, black grilling tray, and small toy burger arranged left to right, with a light blue appliance at the table's left edge.", "global_instruction_dense": "The right robotic arm moves into position above the table, lowers to grasp a loose yellow french fry, lifts and moves the fry over the red french fry container, then releases the fry into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 344, "tasks": ["place other"], "length": 308, "global_instruction": "Place the purple sphere into the beige shallow dish on the table.", "scene_description": "A white table holds a light blue mini oven on its left, plus a dark teal pot, small teal lid, black pot, purple sphere, beige shallow dish, black grill tray, light green bowl, small burger toy, red small lid, and blue small lid spread across its surface, with a robotic arm positioned in the upper background above the table.", "global_instruction_dense": "The right robotic gripper moves toward the purple sphere on the table, grasps it, places it into the beige shallow dish, lifts it out and sets it on the table, then re-grasps it and places it back into the beige shallow dish before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 345, "tasks": ["place other"], "length": 184, "global_instruction": "Take the purple sphere out of the beige bowl and place it on the white table.", "scene_description": "A light blue mini oven, a beige bowl holding a purple sphere, a small blue pot, a blue lid, a small black pot, a light green bowl, a mini burger model, and a black ridged tray are placed on a white table, with grey curtains and filming equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple sphere in the beige bowl, grasps the purple sphere, lifts it out of the bowl, moves it left above the table surface, lowers the sphere, and releases it onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 346, "tasks": ["place other"], "length": 136, "global_instruction": "Place the green funnel from the open drawer into the red checkered basket on the kitchen counter.", "scene_description": "A white kitchen counter has an open drawer containing a green funnel; on the counter surface are a red soda can, a white insulated tumbler, a red checkered basket, a blue food box, two white plates, a blue cup with a green lid, and a small white tube, with a robotic arm positioned above the open drawer.", "global_instruction_dense": "The right robotic gripper moves down toward the green funnel inside the open drawer, grasps the funnel, lifts it out of the drawer, moves it over the red checkered basket on the counter, releases the funnel into the basket, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 347, "tasks": ["place other"], "length": 342, "global_instruction": "Place the orange plush pumpkin into the red-and-white checkered basket.", "scene_description": "A white kitchen counter holds a red-and-white checkered basket, an orange plush pumpkin behind the basket, a blue printed box, an orange cup, a white plate with green, purple and yellow plush toys, a coral cloth, and a blue cup with a green rim.", "global_instruction_dense": "The right robotic arm moves toward the orange plush pumpkin behind the checkered basket, grasps it with its gripper, lifts the pumpkin, moves it over the checkered basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 348, "tasks": ["place other"], "length": 177, "global_instruction": "Pick up the orange pumpkin-shaped toy from the black container and place it on the white table.", "scene_description": "A white table holds a teal cooking pot, black pan lids, a black container with an orange pumpkin-shaped toy, a green cup, an orange L-shaped toy, a small red bottle, a blue flat disc, a light green bowl, and a folded dark blue cloth at the back, with a robotic arm in the upper right background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange pumpkin-shaped toy in the black container, grasps it with its gripper, lifts it, moves it leftward to the lower left area of the table, releases it onto the table surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 349, "tasks": ["place other"], "length": 650, "global_instruction": "Place all scattered yellow strip-shaped objects on the table onto the white plate.", "scene_description": "A white table holds scattered yellow strip-shaped objects, a white plate at the lower center, teal and black pots with lids, a small red bottle, a green cup, folded blue fabric, and a green bowl containing a toy watermelon and orange; a robotic arm is at the upper right of the view.", "global_instruction_dense": "The right robotic gripper moves from the upper right toward the scattered yellow strips on the table, grasps each yellow strip sequentially (with one failed grasp attempt), places each successfully grasped yellow strip onto the white plate, then moves away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 350, "tasks": ["place other"], "length": 489, "global_instruction": "Place the black slotted turner on the table into the clear pen holder", "scene_description": "A white table holds a clear acrylic pen holder filled with stationery, a small silver spoon, a white-handled silver spoon, and a black slotted turner, with a robotic arm at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves toward the black slotted turner on the white table, grasps it with its gripper, lifts it, moves it over the clear pen holder, lowers and releases it into the holder, then moves back upward away from the holder.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 351, "tasks": ["place other"], "length": 489, "global_instruction": "Pick up the brown coin on the table and place it into the clear tray behind the scattered chips.", "scene_description": "A white table holds a metal utensil holder with tongs and spoons on the left, scattered green and white circular chips and a brown coin in the center, glass jars on a clear tray behind the chips, and a grey divided plastic tray in the back left. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right of the table toward the brown coin in the table center, grasps the coin, lifts it, moves it to the clear tray holding glass jars behind the chips, and releases the coin into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 352, "tasks": ["place other"], "length": 259, "global_instruction": "Pick up a white circular chip from the table and place it into the small clear container.", "scene_description": "A white table holds metal kitchen utensils on its left, scattered green and white circular chips at its center, a small clear container, and a grey multi-compartment tray at its rear, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its starting position right of the table toward the scattered chips, grasps a white circular chip with its gripper, lifts the chip, moves it over the small clear container, and releases the chip into the container before pulling back.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 353, "tasks": ["place other"], "length": 266, "global_instruction": "Place the green round chips from the table into the clear plastic container", "scene_description": "A white table holds metal utensils in a holder on the left, scattered green and white round chips at the center, a clear plastic container next to the chips, a grey multi-compartment tray at the back, and a white robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the scattered green chips on the table, grasps a green chip, lifts it, moves it over the clear plastic container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 354, "tasks": ["place other"], "length": 346, "global_instruction": "Pick up the black rectangular mat and place it onto the clear container with a blue cap.", "scene_description": "A brown woven basket, metallic water faucet, black rectangular mat, stacked blue cloths, clear container with a blue cap, and clear bottle with a red cap are arranged on a white lab countertop; a robotic arm is located at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black rectangular mat on the counter, grasps the mat, lifts it, transports it to the position above the clear container with a blue cap, lowers it, and releases the mat onto the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 355, "tasks": ["place other"], "length": 162, "global_instruction": "Pick up the black scraper tool and place it on the counter to the left of its original position.", "scene_description": "A brown wicker basket, silver countertop faucet, yellow warning sign, yellow-green 'Clean after use!' poster, blue folded cloth, clear plastic container with blue cap, and black scraper tool are arranged on a white countertop. A white robotic arm is positioned at the right side of the counter near the scraper.", "global_instruction_dense": "The right robotic arm moves toward the black scraper tool resting next to the clear container with a blue cap, grasps the scraper, lifts it, moves it leftward across the counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 356, "tasks": ["place other"], "length": 379, "global_instruction": "Fold the blue cloth on the counter, then place the black scrubber from the white tray onto the folded blue cloth.", "scene_description": "A tan woven basket, a chrome water faucet, a folded blue cloth, and a white tray holding a black flat scrubber are placed on a white lab countertop. A white robotic arm is positioned at the right side of the counter, with instructional signs including a yellow caution sign and green 'Clean after use!' sign on the wall behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the blue cloth on the counter, grasps and folds it neatly, releases the cloth, moves to the white tray with the black scrubber, grasps the scrubber, lifts it, moves it over the folded blue cloth, lowers and releases the scrubber onto the cloth, then retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 357, "tasks": ["place other"], "length": 209, "global_instruction": "Take the black coat from the coat rack and place it onto the green chair.", "scene_description": "A black coat rack holding dark gray and black coats stands in an office area, with a white robotic arm to its right, a white table with colorful chairs nearby, and a long office corridor in the background.", "global_instruction_dense": "The right robotic arm moves toward the black coat hanging on the coat rack, grasps it, lifts it off the rack, lowers it over the green chair below, and releases it onto the chair.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 358, "tasks": ["place other"], "length": 192, "global_instruction": "Remove the dark gray coat from the coat rack and place it into the green chair below the rack.", "scene_description": "A black coat rack holding a dark gray coat and a black coat stands in an indoor office corridor, with a white robotic arm positioned to the right of the rack, a green chair below the rack, a white table with red, yellow, and purple chairs to the right, and white cabinets in the background behind the rack.", "global_instruction_dense": "The right robotic arm moves toward the dark gray coat hanging on the coat rack, grasps the coat, pulls it off the rack, moves it downward over the green chair below, and releases it to drop into the chair.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 359, "tasks": ["place other"], "length": 323, "global_instruction": "Remove the black coat from the coat hanger and place it into the green bin", "scene_description": "A black coat hangs on a black metal coat hanger. A white robotic arm is positioned to the right of the hanger. A white table with red, yellow, and purple chairs sits in the right foreground, with a green chair and grey bin below the hanger. A white kitchenette with cabinets is behind the hanger, and a long carpeted corridor extends to the left.", "global_instruction_dense": "The right robotic arm moves toward the black coat hanging on the coat hanger, grasps the coat, pulls it off the hanger, lowers it toward the green bin in the foreground, and releases the coat into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 360, "tasks": ["place other"], "length": 877, "global_instruction": "Transfer the black coat from the coat rack to the green chair and adjust the remaining coat on the rack.", "scene_description": "A black coat hangs on a dark metal coat rack, a green chair is positioned in front of the coat rack, a white table with red, yellow, and purple chairs sits to the right, a white robotic arm is on the right side, and a long office hallway with a white cabinet kitchenette is in the background.", "global_instruction_dense": "The right robotic arm moves toward the black coat on the coat rack, grasps and lifts it off the rack, moves it over the green chair and releases it onto the chair, then adjusts the remaining dark coat on the coat rack before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 361, "tasks": ["place other"], "length": 671, "global_instruction": "Take the black coat off the coat rack and place it onto the green chair.", "scene_description": "In an office common area, a black coat hangs on a dark metal coat rack, a green chair with dark clothing on its seat sits next to the rack, a white table with red, yellow, and purple chairs is to the right, a white robotic arm is positioned near the table, and a white cabinet kitchenette and long carpeted corridor are in the background.", "global_instruction_dense": "The right robotic arm moves toward the coat rack, adjusts the rack's hooks to access the black coat, grasps and pulls the coat free from the rack, carries it over to the adjacent green chair, releases it onto the chair, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 362, "tasks": ["place other"], "length": 447, "global_instruction": "Pick the dark grey coat from the coat rack and place it on the green chair", "scene_description": "A brown coat rack holding a dark grey coat and a black coat stands in a grey carpeted office corridor. To the right of the coat rack is a white robotic arm, a white table with colorful (green, red, yellow, purple) chairs sits nearby, and a white cabinet kitchenette with a microwave is in the background, with a patterned glass wall along the left side of the corridor.", "global_instruction_dense": "The right robotic arm moves toward the dark grey coat hanging on the brown coat rack, grasps the coat, lifts it off the rack, moves it over the nearby green chair, lowers the coat, releases it onto the chair, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 363, "tasks": ["place other"], "length": 658, "global_instruction": "Pick a black coat from the coat rack and place it on the green chair.", "scene_description": "A brown coat rack holding two black coats stands in an office corridor, a white robotic arm is to the right of the rack, a white table with red, green, and yellow chairs is adjacent to the rack, and white cabinets with a microwave are in the background.", "global_instruction_dense": "The right robotic arm extends toward the coat rack, grasps the hanger holding a black coat, lifts it off the rack, moves it toward the green chair beside the table, lowers the coat onto the chair, releases it, and moves back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 364, "tasks": ["place other"], "length": 322, "global_instruction": "Take the black coat from the coat rack and place it on the green chair.", "scene_description": "A brown coat rack with a hanging black coat sits between a gray-carpeted office hallway on the left and a white table with red, green, yellow, and purple chairs on the right, with a white kitchen counter with cabinets and a microwave behind the table, and a white robotic arm positioned near the counter.", "global_instruction_dense": "The right robotic arm moves toward the black coat on the coat rack, grasps it, lifts it off the rack, moves it over the green chair next to the table, releases the coat onto the chair, then retracts toward the kitchen counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 365, "tasks": ["place other"], "length": 991, "global_instruction": "Take the black coat from the coat rack and place it on the chair next to the table.", "scene_description": "A black coat hangs on a dark metal coat rack in an office workspace, with a white robotic arm to the right of the rack, a white table with colorful chairs, a long corridor, and white kitchen cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the black coat hanging on the dark metal coat rack, grasps the coat, lifts it off the hook, moves it over to the chair next to the white table, and releases the coat onto the chair.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 366, "tasks": ["place other"], "length": 354, "global_instruction": "Move the fork and knife from the white plate onto the adjacent white table surface.", "scene_description": "A white round table in a lab space holds a red cube, grey mug, green book, black remote, small colorful blocks, pink strip, black placemat with a white plate holding a fork and knife, and a yellow mug to the right of the placemat. A right robotic arm is at the upper right, with tripods and other lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the white plate on the black placemat, grasps the fork on the plate, lifts and moves it to the white table left of the placemat to set it down, then returns to the plate to grasp the knife.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 367, "tasks": ["place other"], "length": 445, "global_instruction": "Remove the dark green coat from the coat rack and place it into the grey plastic bin below the rack.", "scene_description": "A dark green coat hangs on a dark metal coat rack in the foreground, a grey plastic bin sits below the coat rack, a white robotic arm is positioned on the right side of the scene, office desks are in the background, and a wooden door with a keyboard table next to it is on the left.", "global_instruction_dense": "The right robotic arm moves toward the dark green coat hanging on the coat rack, grasps the coat, lifts it off the rack, moves it over the grey plastic bin below, releases the coat into the bin, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 368, "tasks": ["place other"], "length": 423, "global_instruction": "Hang a green coat onto the metallic coat rack", "scene_description": "A metallic coat rack with two dark black coats hanging on it is placed in an office, a white robotic arm is positioned on the right side of the coat rack, with a wooden door, white office desks, and grey carpet visible in the background.", "global_instruction_dense": "The right robotic arm holds a green coat, moves toward the metallic coat rack, positions and releases the coat onto an empty hook of the rack, then adjusts the coat slightly before moving away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 369, "tasks": ["place other"], "length": 359, "global_instruction": "Pick the black coat from the coat rack and place it into the grey bin below the rack.", "scene_description": "A dark metal coat rack with a black coat and a dark green coat hanging on it stands in an office room, a grey plastic bin is below the rack, a wooden door is on the left, office desks are in the background, and a white robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the black coat hanging on the coat rack, grasps the coat, lifts it off the rack, moves it over the grey bin below, releases the coat into the bin, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 370, "tasks": ["place other"], "length": 303, "global_instruction": "Pick the black coat from the coat rack and place it into the gray bin below.", "scene_description": "A metal coat rack with two black hanging coats is in the foreground, a wooden door is to the left, a white desk with a keyboard sits adjacent to the door, a white robotic arm is positioned to the right of the coat rack, and office desks with equipment are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the black coat on the right side of the coat rack, grasps the coat, lifts it off the hook, moves it over the gray bin below the rack, and releases the coat to drop it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 371, "tasks": ["place other"], "length": 960, "global_instruction": "Place all small objects on the white round table into the open white box on the table.", "scene_description": "A white round table holds an open white rectangular box, with multiple small objects including silver-ringed tape, a blue-capped item, a black curved item, and small dark items placed next to the box. A white robotic arm is positioned to the right of the table, a red robotic arm is on the left, a purple chair sits behind the table, and office workstations are in the background.", "global_instruction_dense": "The right robotic arm moves to each small object on the white round table next to the open white box in sequence, grasps each object, lifts it, moves it over the box, releases it into the box, and repeats until all objects are stored inside the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 372, "tasks": ["place other"], "length": 164, "global_instruction": "Pick up the silver-black flashlight and place it into the silver metal pot on the wooden table.", "scene_description": "A brown wooden table in a lab workspace holds a silver metal pot and a silver-black flashlight, with a cardboard panel positioned behind the table.", "global_instruction_dense": "The left robotic arm moves toward the silver-black flashlight on the wooden table, grasps the flashlight, lifts it, moves it over the silver metal pot, and releases the flashlight into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 373, "tasks": ["place other"], "length": 153, "global_instruction": "Pick up the white-and-black sushi from the yellow plate and place it on the folded blue cloth.", "scene_description": "A brown wooden table holds a yellow plate with a white-and-black sushi, a green-handled spoon, a folded blue cloth, and a small metal pot with a marker inside; additional robotic equipment and a seated person are in the background.", "global_instruction_dense": "The right robotic arm moves toward the sushi on the yellow plate, grasps it, lifts it, moves it over the folded blue cloth, lowers it, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 374, "tasks": ["place other"], "length": 155, "global_instruction": "Pick up the green-handled peeler and place it next to the white egg on the wooden table.", "scene_description": "A brown wooden table in a robotics lab holds a yellow round plate, a small white egg, a green-handled peeler, a folded blue towel, and a metal bowl with a marker inside, with robotic arms positioned around the table.", "global_instruction_dense": "The right robotic gripper moves down toward the green-handled peeler on the brown wooden table, grasps the peeler, lifts it, moves it left to the area beside the white egg, lowers the peeler, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 375, "tasks": ["place other"], "length": 175, "global_instruction": "Pick up the green-handled peeler and place it at a new position on the wooden table.", "scene_description": "A wooden table in a robotics lab holds a stainless steel pot (with a black marker inside), a yellow oval plate, a green-handled peeler, a black-and-white ball, and a folded blue cloth.", "global_instruction_dense": "The right robotic arm moves downward toward the green-handled peeler on the wooden table, grasps the peeler with its gripper, lifts it, moves it rightward across the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 376, "tasks": ["place other"], "length": 207, "global_instruction": "Move the green-handled peeler on the table to the left near the folded light blue cloth.", "scene_description": "A brown wooden tabletop holds a stainless steel bowl with a black and white marker inside, a bright yellow oval plate, a black and white spherical ball, a green-handled peeler, and a folded light blue cloth, arranged from the front to the back of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the green-handled peeler on the wooden table, grasps the peeler with its gripper, drags the peeler left across the table to a position near the folded light blue cloth, then releases the peeler and lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 377, "tasks": ["place other"], "length": 92, "global_instruction": "Place the white sphere on the brown table onto the yellow plate.", "scene_description": "A brown wooden table in a lab holds a white sphere, a green-handled spoon, a round yellow plate, a folded blue cloth, and a stainless steel pot with a marker inside at the front edge. A robotic arm is positioned above the left side of the table, with lab equipment and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the white sphere on the brown table, grasps it, lifts it, moves it over the yellow plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 378, "tasks": ["place other"], "length": 178, "global_instruction": "Move the green-handled peeler on the table to the right edge of the table.", "scene_description": "A brown wooden table holds a yellow plate with a white ball, a green-handled peeler, a folded blue cloth, and a metal pot, with lab equipment and other robotic arms in the background.", "global_instruction_dense": "The right robotic arm moves toward the green-handled peeler on the table, grasps it, lifts it, transports it to the right edge of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 379, "tasks": ["place other"], "length": 173, "global_instruction": "Place the orange peeler near the small stainless steel pot on the brown table.", "scene_description": "A brown table holds a folded light blue cloth, an orange peeler, a pink fuzzy object, a large white bowl, and a small stainless steel pot, with robotic lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange peeler on the upper section of the brown table, grasps it with its gripper, lifts it, moves it to the area near the small stainless steel pot, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 380, "tasks": ["place other"], "length": 148, "global_instruction": "Pick up the orange-handled peeler and place it next to the small pink round object on the brown table.", "scene_description": "A brown wooden table holds a folded light blue cloth, an orange-handled peeler, a small double-handled stainless steel pot, a large white bowl, and a small pink round object, with robotics lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves into the workspace above the brown table, lowers toward the orange-handled peeler, grasps it, lifts and moves it rightward near the small pink round object, lowers it onto the table, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 381, "tasks": ["place other"], "length": 158, "global_instruction": "Place the yellow croissant on the right side of the table into the orange bowl.", "scene_description": "An orange bowl, three yellow crescent-shaped croissant models, a small orange carrot-shaped tool, and a yellow notepad are placed on a wooden table, with a cardboard board propped at the back of the table.", "global_instruction_dense": "The right robotic gripper descends toward the yellow croissant on the right side of the wooden table, grasps it, lifts it, moves left above the orange bowl, releases the croissant into the bowl, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 382, "tasks": ["place other"], "length": 261, "global_instruction": "Pick up the yellow mango and place it into the silver bowl on the countertop.", "scene_description": "A wooden countertop holds a yellow mango, light blue cup, silver lid, light blue cloth, and silver bowl. An open drawer below holds a yellow banana and green cloth, next to a sink with a gray faucet and blue bins with fake red radishes.", "global_instruction_dense": "The left robotic arm descends toward the yellow mango on the wooden countertop, grasps it with its gripper, lifts it, moves it rightward over the silver bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 383, "tasks": ["place other"], "length": 117, "global_instruction": "Move the white toy mushroom from the red plate onto the adjacent wooden countertop.", "scene_description": "A wooden kitchen counter holds a red plate with a yellow toy carrot and a white toy mushroom, a white sink with gray faucet is to the right of the plate, and a gray office chair sits left of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white mushroom on the red plate, grasps it, lifts it, moves it left to the empty wooden counter surface, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 384, "tasks": ["place other"], "length": 114, "global_instruction": "Place the white toy mushroom from the cutting board onto the red plate", "scene_description": "A wooden cutting board sits on a kitchen countertop, holding a yellow toy carrot, a red plate, and a white toy mushroom. A white sink with a grey faucet is to the right of the board, with teal planters of toy radishes behind the sink, a grey office chair to the left of the board, and a stove section to the far right.", "global_instruction_dense": "The left robotic arm moves toward the white toy mushroom on the cutting board, grasps it with its gripper, lifts it, moves it over the red plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 385, "tasks": ["place other"], "length": 84, "global_instruction": "Pick the white mushroom from the red plate and place it on the adjacent wooden countertop.", "scene_description": "A wooden kitchen countertop has a red plate with a white mushroom on it, a small yellow cube next to the plate, a white sink with a grey faucet to the plate's right, and a gas stove to the sink's right; a grey office chair is left of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white mushroom on the red plate, grasps the mushroom, lifts it, moves it left off the plate, and releases it onto the wooden countertop next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 386, "tasks": ["place other"], "length": 114, "global_instruction": "Place the beige mushroom-shaped object into the orange plate on the wooden counter", "scene_description": "A wooden countertop holds a yellow small cube, a beige mushroom-shaped object, and a round orange plate. A white sink with a gray faucet is to the right of the counter, two teal planters with red radish decorations are behind the sink, a gray office chair is on the left of the counter, and a gas stove is on the far right.", "global_instruction_dense": "The right robotic arm moves into the scene, approaches the beige mushroom-shaped object on the counter, grasps and lifts it, moves it right over the orange plate, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 387, "tasks": ["place other"], "length": 101, "global_instruction": "Place the white mushroom-shaped object onto the orange round plate.", "scene_description": "A wooden cutting board on a kitchen countertop holds a yellow cubic block, an orange round plate, and a white mushroom-shaped object. A white sink with a gray faucet is to the right of the cutting board, with blue bins with red radish decorations and office workspaces in the background.", "global_instruction_dense": "The left robotic arm moves down toward the white mushroom-shaped object on the wooden cutting board, grasps it, lifts it, moves it over the orange round plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 388, "tasks": ["place other"], "length": 104, "global_instruction": "Position the robotic sensor over the gray sink faucet", "scene_description": "A wooden sink countertop with a gray faucet is next to a black workbench holding coiled gray cable and a black power tool with an orange handle, a gray office chair sits behind the workbench with a glass partition separating the counter from the background workshop space.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, lowers its attached sensor to position it over the gray sink faucet, then lifts slightly upward away from the faucet.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 389, "tasks": ["place other"], "length": 145, "global_instruction": "Place the yellow pastry on the table into the open wooden drawer.", "scene_description": "A brown wooden table holds a yellow pastry, a folded green cloth, an open light wooden drawer with orange contents, a beige slotted box, and an orange plush object, with an office environment in the background.", "global_instruction_dense": "The left robotic arm moves toward the yellow pastry on the table, grasps it with its gripper, lifts it, moves it over the open wooden drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 390, "tasks": ["place other"], "length": 203, "global_instruction": "Place the silver round base on the brown table into the transparent glass cup.", "scene_description": "A brown table holds a silver round base, transparent glass cup with green contents, green cloth, blue-and-white milk carton, yellow bread-shaped object, and cream storage box with a red drawer.", "global_instruction_dense": "The left robotic gripper moves down toward the silver round base on the brown table, grasps the base, lifts it, moves it to the transparent glass cup, lowers it into the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 391, "tasks": ["place other"], "length": 236, "global_instruction": "Move the green object from the silver bowl to the green cloth, then place the silver metal base into the silver bowl.", "scene_description": "A brown wooden table in an office holds a silver bowl with a green round object, a bright green cloth, a silver round metal base, an open red-front wooden box, and a beige slotted wooden box, with office chairs around the table.", "global_instruction_dense": "The left robotic gripper moves toward the silver bowl, grasps the green round object inside it, lifts and places the object on the green cloth, then moves to the silver metal base on the table, grasps it, lifts and places it into the silver bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 392, "tasks": ["place other"], "length": 127, "global_instruction": "Take the light brown scrubber out of the silver bowl and place it on the wooden table.", "scene_description": "A brown wooden table holds a folded blue cloth, a round silver lid, a small yellow and green container, a silver bowl with a light brown scrubber inside, and a roll of masking tape on its rear rail, with office boxes and people working in the background.", "global_instruction_dense": "The left robotic arm moves down toward the silver bowl on the brown table, grasps the light brown scrubber inside the bowl, lifts it out, moves leftward, and places the scrubber on the table surface next to the silver lid.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 393, "tasks": ["place other"], "length": 183, "global_instruction": "Pick up the spherical beige wooden object and place it behind the cylindrical wooden block on the table.", "scene_description": "A brown wooden table holds two light beige wooden objects: a spherical knob piece and a cylindrical block on a notched base, with a robotic arm above the left side of the scene.", "global_instruction_dense": "The left robotic arm moves down toward the spherical beige wooden object on the left of the table, grasps it with its gripper, lifts it, moves it rightward behind the cylindrical wooden block on the notched base, lowers it, releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 394, "tasks": ["place other"], "length": 116, "global_instruction": "Pick up the light wooden goblet from its base and place it on the left side of the table.", "scene_description": "A dark brown wooden table holds a light wooden goblet mounted on a small matching wooden base. A white robotic arm is positioned above the rear of the table, with gray office chairs and workshop equipment visible in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the light wooden goblet on its base, grasps the goblet, lifts it, moves it leftward, and places it on the left area of the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 395, "tasks": ["place other"], "length": 822, "global_instruction": "Place the gray plush toy into the wooden box, the yellow striped ball on the cabinet top, and the orange silicone mat on the lower table.", "scene_description": "A light wooden open box, gray plush toy, and small orange block are positioned on a white cabinet. An orange grid-patterned silicone mat rests on the front edge of the cabinet. A green spherical ball, gray faucet-shaped object, and pink rectangular tray sit on the lower white foreground table, with black mechanical equipment and gray cables on the table's left side.", "global_instruction_dense": "The right robotic gripper first moves to the gray plush toy on the white cabinet, grasps it, drops it into the adjacent light wooden box, then grasps the yellow ball with black stripes, places it on the cabinet next to the small orange block, then grasps the orange grid-patterned silicone mat on the cabinet edge, moves it downward, and places it on the lower foreground table near the green ball.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 396, "tasks": ["place other"], "length": 399, "global_instruction": "Lift the red grid pad from the metal bucket, move it over the sponge, then place it back onto the bucket.", "scene_description": "A red grid-patterned pad with orange trim sits on a metal bucket, next to a yellow-and-brown striped sponge, pink ball, green ball, and orange block on a white cabinet. A gray toy sink with faucet is on a white table in the foreground, with office chairs and desks in the background.", "global_instruction_dense": "The right robotic arm grasps the red grid-patterned pad on the metal bucket, lifts it, moves it over the striped sponge, then lowers and places it back onto the metal bucket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 397, "tasks": ["place other"], "length": 206, "global_instruction": "Place the white tag with attached balls from the blue basket onto the wire shelf.", "scene_description": "A metal wire shelf holds a blue plastic basket (with an orange ball, yellow ball, and white tag on top), a white open bag with a blue item inside, a white bowl with teal handles, a pink bowl with green and purple objects, and stacked gray and translucent storage bins above the basket. A robotic gripper is at the top left of the frame.", "global_instruction_dense": "The left robotic gripper moves downward toward the white tag in the blue basket, grasps the tag with attached orange and yellow balls, lifts the items out of the basket, moves them over the wire shelf, and releases them to drop onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 398, "tasks": ["place other"], "length": 269, "global_instruction": "Place the pink heart-shaped object into the blue storage bin on the shelf.", "scene_description": "A metal wire shelf in a robotics lab holds a blue rectangular storage bin, yellow, orange, and blue sponge balls, a white teal-rimmed bowl, and a white box containing a green plate and a pink heart-shaped object. Larger plastic storage boxes are stacked above the blue bin.", "global_instruction_dense": "The right robotic gripper moves toward the pink heart-shaped object in the white box on the right side of the shelf, grasps the heart, lifts it, moves left to position it over the blue storage bin, releases the heart into the bin, then moves back upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 399, "tasks": ["place other"], "length": 260, "global_instruction": "Knock the small black bottle into the white bowl, then place the yellow dotted cookie into the open red wooden box.", "scene_description": "A metal wire shelf in an office lab holds a blue detergent bottle on its left, a white bowl with small colorful items at the center, a small black bottle, a yellow round pastry, and a yellow dotted cookie on a light wooden platform right of the bowl, with an open red wooden box below the platform, a large grey storage bin behind these objects, and a robotic arm at the top left of the view.", "global_instruction_dense": "The right robotic arm moves from the top left toward the small black bottle on the wooden platform, knocks it into the adjacent white bowl, grasps the yellow dotted cookie on the platform, lifts it, moves it over the open red wooden box below, releases the cookie into the box, then retracts back to the top left area.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 400, "tasks": ["place other"], "length": 449, "global_instruction": "Pick up the white and orange bar soap from the light green bowl and place it into the white bowl with blue trim on the metal shelf.", "scene_description": "A metal wire shelf in a lab workspace holds a light green bowl with a white-and-orange bar soap, a red wooden drawer with a green ball inside, a yellow round sponge on a light wood box, a white bowl with blue trim holding assorted items, a blue detergent bottle, and a large grey BRUTE storage bin in the background, with office monitors and equipment further back.", "global_instruction_dense": "The right robotic arm moves into the frame from above, lowers toward the light green bowl on the metal shelf, grasps the white-and-orange bar soap inside it, lifts the soap, moves it over the adjacent white bowl with blue trim, releases the soap into that bowl, then lifts and moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 401, "tasks": ["place other"], "length": 140, "global_instruction": "Pick up the black burner grate from the toy kitchen stovetop and place it on the counter next to the sink.", "scene_description": "A wooden toy kitchen set with a stovetop, microwave and sink is in a workspace. A yellow ball is in the sink, two orange scoops sit on the sink-adjacent counter, and coiled grey cable is on equipment left of the kitchen set.", "global_instruction_dense": "The right robotic arm moves above the black burner grate on the toy kitchen stovetop, grasps it, lifts it, moves it rightward to the counter next to the sink, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 402, "tasks": ["place other"], "length": 178, "global_instruction": "Pick the light wooden goblet from its cylindrical base and place it onto the small holed wooden square block.", "scene_description": "A brown wooden table holds four light wooden objects: a goblet stacked on a cylindrical base at the back, a small holed square block, a plain square cube, and a rectangular block, with a cardboard sign behind the table.", "global_instruction_dense": "The left robotic gripper moves toward the light wooden goblet stacked on the cylindrical base at the back of the table, grasps the goblet, lifts it, moves it leftward over the small holed square wooden block, lowers it to place it on the block, then releases the goblet and retracts.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 403, "tasks": ["place other"], "length": 446, "global_instruction": "Disassemble the assembled wooden structure and place each component separately on the table.", "scene_description": "A brown wooden table holds a fully assembled wooden structure (wooden ring on a wooden goblet mounted on a cylindrical post fixed to a cross-shaped base) at its rear, with workshop equipment and chairs around the table.", "global_instruction_dense": "The right robotic gripper sequentially removes the wooden ring, wooden goblet, cylindrical post, and cross base from the assembled structure, placing each component separately on the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 404, "tasks": ["place other"], "length": 152, "global_instruction": "Place the light beige goblet-shaped wooden object on top of the circular wooden ring on the table.", "scene_description": "A brown wooden table holds five light beige wooden items: a flat circular ring, a goblet-shaped piece, a tall solid cylinder, a small square cube, and a long rectangular block. A cardboard panel is behind the table, with robotic equipment and office furniture around.", "global_instruction_dense": "The left robotic gripper moves downward toward the goblet-shaped wooden object at the back of the table, grasps it, lifts it, moves it left above the circular wooden ring, lowers it to rest on the ring, releases the object, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 405, "tasks": ["place other"], "length": 147, "global_instruction": "Move the light wooden goblet from the left side of the table to the right side of the table", "scene_description": "A brown wooden table holds a light wooden goblet on the left, a light arched wooden block at center, and a small light wooden cube at the right rear, with a cardboard sheet behind the table.", "global_instruction_dense": "The left robotic gripper moves above the light wooden goblet on the left of the table, grasps and lifts it, moves it rightward across the table, lowers it to the right side of the table, then releases it and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 406, "tasks": ["place other"], "length": 155, "global_instruction": "Place the beige goblet on top of the stacked wooden block tower", "scene_description": "A brown wooden table holds a light stacked wooden block tower on its left half and a beige goblet on its right half, with workspace equipment and a cardboard box in the background.", "global_instruction_dense": "The right robotic gripper moves toward the beige goblet on the right of the wooden table, grasps it, lifts it, moves it left above the stacked wooden block tower, lowers it, and releases it to place it on top of the tower.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 407, "tasks": ["place other"], "length": 149, "global_instruction": "Remove the beige goblet from the top of the stacked structure and place it on the left area of the wooden table.", "scene_description": "A brown wooden table holds a beige stacked block structure topped with a beige goblet, with workshop equipment and a cardboard box in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the beige goblet on top of the stacked block structure, grasps the goblet, lifts it, moves it leftward above the table, and places it on the empty left area of the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 408, "tasks": ["place other"], "length": 129, "global_instruction": "Move the light beige wooden goblet from the left side of the table to a position closer to the small wooden cube.", "scene_description": "A brown wooden table holds a light beige wooden goblet on its left, a small light wooden cube, a light wooden arched block, and a cross-shaped light wooden block on its right, with office furniture and a cardboard box in the background.", "global_instruction_dense": "The right robotic gripper moves toward the light beige wooden goblet on the left of the table, grasps it, lifts it, moves it rightward to a spot near the small wooden cube, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 409, "tasks": ["place other"], "length": 152, "global_instruction": "Move the goblet-shaped wooden cup from the back of the table to the right of the cross-shaped block", "scene_description": "A brown wooden table holds four light wood objects: a small cube, an arch-shaped block, a cross-shaped block, and a goblet-shaped cup at the table's back, with a cardboard panel behind the table.", "global_instruction_dense": "The right robotic gripper descends toward the goblet-shaped wooden cup at the back of the table, grasps it, lifts it, moves it rightward over the table, lowers it to the right of the cross-shaped block, releases it, and retracts.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 410, "tasks": ["place other"], "length": 123, "global_instruction": "Pick up the tall thin brown cone on the table and place it closer to the leftmost brown pawn.", "scene_description": "Six brown wooden geometric objects (two pawns, two cones, one cylinder, one teardrop shape) are arranged on a light brown wooden table in a lab workspace, with a cardboard box and lab equipment in the background.", "global_instruction_dense": "The left robotic gripper moves toward the tall thin brown cone on the table, grasps it, lifts it, moves it a short distance leftward, lowers it, and releases it in its new position on the table between the left pawn and the shorter cone.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 411, "tasks": ["place other"], "length": 123, "global_instruction": "Place the brown rectangular wooden prism on top of the left pointed brown wooden cone on the table.", "scene_description": "Six reddish-brown wooden objects (two rounded figurines, two pointed cones, one rectangular prism, one gourd-shaped figurine) are arranged on a light brown wooden table, with a printed cardboard box positioned behind the table.", "global_instruction_dense": "The right robotic gripper descends toward the brown rectangular wooden prism at the back center of the table, grasps it, lifts it, moves left to the position above the left pointed brown wooden cone, and places the prism on top of the cone.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 412, "tasks": ["place other"], "length": 133, "global_instruction": "Lift the conical wooden object from the table and place it back on the table surface.", "scene_description": "Five reddish-brown wooden geometric objects of varied shapes are arranged on a light brown wooden table, with lab equipment and furniture in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the cone on the table, grasps it, lifts it briefly, lowers it back to the table, releases it, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 413, "tasks": ["place other"], "length": 98, "global_instruction": "Move the brown rounded-top wooden pawn from the right side of the table to a position further left on the table.", "scene_description": "Six brown wooden objects of varying geometric shapes are arranged on a light brown wooden table, with a cardboard box positioned behind the table.", "global_instruction_dense": "The right robotic gripper descends toward the brown rounded-top wooden pawn on the right portion of the table, grasps it, lifts it, moves it left to a position between the conical wooden object and pointed wooden cone, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 414, "tasks": ["place other"], "length": 114, "global_instruction": "Move the brown conical wooden object stacked atop another wooden piece to a new position on the table.", "scene_description": "Six brown wooden objects of varied shapes are arranged on a light brown wooden table, with workshop equipment and shelves visible in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the brown conical wooden object stacked on a rounded wooden piece, grasps the cone, lifts it, moves it leftward to an empty spot on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 415, "tasks": ["place other"], "length": 104, "global_instruction": "Place the brown conical wooden object on the right side of the table next to the rightmost small knob-shaped wooden object.", "scene_description": "Five brown wooden objects of different shapes (a wide knob, a cylinder, two cones, a narrow pin, a small knob) are arranged left to right on a light brown wooden table, with a cardboard box behind the table and office equipment in the surrounding area.", "global_instruction_dense": "The right robotic gripper moves toward the taller brown conical wooden object on the left half of the table, grasps it, lifts it, moves it to the right side of the table adjacent to the rightmost small knob-shaped wooden object, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 416, "tasks": ["place other"], "length": 125, "global_instruction": "Move the tall dark brown cone to the right side of the wooden table.", "scene_description": "A wooden table holds six objects: a yellow rectangular block, an orange arch block, a short dark brown cone, a green cube, an orange cube, and a tall dark brown cone arranged from left to right on the table surface.", "global_instruction_dense": "The right robotic gripper moves down toward the tall dark brown cone at the rear of the table, grasps it, lifts it, moves it horizontally to the right edge of the table, lowers and releases it, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 417, "tasks": ["place other"], "length": 106, "global_instruction": "Move the short dark brown cone from the middle of the table to the position between the green cube and the tall dark brown cone.", "scene_description": "A wooden table holds six geometric objects: a yellow rectangular block, an orange arched block, a short dark brown cone, a green cube, an orange cube, and a tall dark brown cone arranged left to right on the table, with a cardboard panel and lab equipment in the background.", "global_instruction_dense": "The left robotic gripper moves toward the short dark brown cone in the middle of the table, grasps and lifts it, moves it rightward, places it on the table between the green cube and the tall dark brown cone, then releases it and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 418, "tasks": ["place other"], "length": 91, "global_instruction": "Remove the dark red conical block from the top of the block stack and place it on the wooden table.", "scene_description": "A brown wooden table holds a stack of colorful blocks: from bottom to top, an orange arched block, yellow cubic block, green cubic block, orange cubic block, and a dark red conical block at the top.", "global_instruction_dense": "The right robotic gripper moves toward the dark red conical block on top of the block stack, grasps the cone, lifts it off the stack, moves it rightward over the empty table surface, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 419, "tasks": ["place other"], "length": 113, "global_instruction": "Place the green pyramid from the top of the stacked block tower onto the table near the blue cube.", "scene_description": "A brown wooden table holds multiple colorful building blocks: a yellow cube, a green triangular block, a long yellow rectangular block, a green arched block on the left half, a stacked block tower (blue arched base, green block, red arched block, blue cylinder, green pyramid top) on the upper right half, and a blue cube at the middle right, with robotic equipment positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the green pyramid on top of the stacked block tower, grasps and lifts it away from the tower, moves it down to the empty space between the long yellow block and the blue cube, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 420, "tasks": ["place other"], "length": 228, "global_instruction": "Pick up the brown cookie and place it leftward on the wooden countertop.", "scene_description": "A wooden countertop holds a blue crumpled object, a small white figurine, and a brown cookie, adjacent to a sink with a gray faucet, with an office chair to the left in an office workspace.", "global_instruction_dense": "The right robotic gripper enters the frame, lowers toward the brown cookie at the right edge of the wooden countertop, grasps and lifts it, moves left across the counter, and places the cookie down near the blue crumpled object.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 421, "tasks": ["place other"], "length": 129, "global_instruction": "Move the round brown cookie on the wooden counter to a new position on the counter.", "scene_description": "A wooden counter holds three small items: a blue crumpled object, a white small figurine, and a round brown cookie. A grey faucet, teal container, and office workspace with desks and a grey chair are in the background.", "global_instruction_dense": "The right robotic arm lowers toward the round brown cookie on the wooden counter, grasps it, lifts and moves it rightward across the counter, then releases it at the new position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 422, "tasks": ["place other"], "length": 130, "global_instruction": "Place the yellow long squash on the wooden table into the silver stainless steel pot.", "scene_description": "A brown wooden table holds an orange transparent bowl with a yellow bell pepper inside, a yellow long squash, and a silver stainless steel pot arranged left to right, with a cardboard panel behind the table items in a lab workspace.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow long squash on the table, grasps it with its gripper, lifts the squash and moves it right over the silver stainless steel pot, releases the squash into the pot, then lifts upward away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 423, "tasks": ["place other"], "length": 147, "global_instruction": "Place the yellow elongated squash into the orange transparent container on the table.", "scene_description": "A brown wooden table in a lab workspace holds a silver metal pot, yellow bell pepper, yellow elongated squash, and orange transparent container from left to right.", "global_instruction_dense": "The right robotic gripper moves toward the yellow squash on the table, grasps it, lifts it, moves it over the orange transparent container, and releases the squash into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 424, "tasks": ["place other"], "length": 145, "global_instruction": "Place the yellow squash on the wooden table into the stainless steel pot.", "scene_description": "A brown wooden table holds a stainless steel pot on its left, a yellow elongated squash near the center, an orange container with a yellow bell pepper to the squash's right, and two gray plush toys at the far right of the table in a lab setting.", "global_instruction_dense": "The right robotic arm descends toward the yellow squash on the table, grasps it, lifts and moves it left over the stainless steel pot, then releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 425, "tasks": ["place other"], "length": 101, "global_instruction": "Place the teal cucumber between the yellow corn and the orange container holding the yellow bell pepper.", "scene_description": "A wooden table in a lab workspace holds a yellow corn, a silver metal pot, an orange container with a yellow bell pepper, a teal cucumber, and a yellow-green tin can, with a cardboard sheet behind the objects.", "global_instruction_dense": "The right robotic arm moves down toward the teal cucumber on the right half of the wooden table, grasps it, lifts it, moves leftward, and places it between the yellow corn and the orange container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 426, "tasks": ["place other"], "length": 110, "global_instruction": "Place the pink rabbit plush onto the rear right section of the wooden table.", "scene_description": "A brown wooden table holds a white pot with teal accents at front center, an orange bowl left of the pot, yellow pepper toys beside the bowl, a yellow cylinder behind the pot, a pink rabbit plush right of the pot, a yellow banana toy at the far right, with a cardboard sheet behind all objects in an office environment.", "global_instruction_dense": "The right robotic gripper moves downward toward the pink rabbit plush right of the white pot, grasps the plush, lifts it, moves it to the rear right area of the table, then lowers and releases the plush onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 427, "tasks": ["place other"], "length": 135, "global_instruction": "Pick up the teal cucumber-shaped object and place it on the left side of the wooden table.", "scene_description": "A brown wooden table holds a yellow cylinder at the left, an orange pan with a yellow bell pepper inside, a small pink toy behind the pan, a white pot with a blue rim to the pan's right, a teal cucumber-shaped object at the center front, and a yellow banana and purple ball at the right. A cardboard partition sits behind the table, with an office workspace in the background.", "global_instruction_dense": "The robotic gripper lowers toward the teal cucumber-shaped object at the center of the table, grasps it, lifts it, moves it left to the area adjacent to the yellow cylinder, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 428, "tasks": ["place other"], "length": 110, "global_instruction": "Move the green toy cucumber on the desk to the area between the white pot and purple ball.", "scene_description": "A wooden office desk holds a pink stuffed octopus toy, an orange bowl with a yellow bell pepper inside, a yellow toy corn, a white pot with blue trim holding a yellow block, a purple ball, and a yellow-green tin can, with a cardboard panel positioned behind the desk in an open office workspace.", "global_instruction_dense": "The right robotic gripper descends toward the green toy cucumber at the center of the wooden desk, grasps it, lifts it, moves it rightward to the space between the white pot and purple ball, lowers and releases the cucumber onto the desk, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 429, "tasks": ["place other"], "length": 120, "global_instruction": "Move the pink stuffed bunny to the area in front of the orange bowl on the table.", "scene_description": "A brown wooden table holds an orange bowl with a yellow bell pepper inside, a yellow toy zucchini, a white pot with blue rim, a pink stuffed bunny, a purple fuzzy ball, and a yellow-green tin can, with a robotic arm above the table in an office space.", "global_instruction_dense": "The left robotic arm moves downward to grasp the pink stuffed bunny on the right side of the table, lifts it, moves it leftward to the area in front of the orange bowl, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 430, "tasks": ["place other"], "length": 117, "global_instruction": "Move the white shaker from the left side of the table to the area between the tin can and metal bowl.", "scene_description": "A wooden table holds a white shaker with silver top, an orange tin can, a small blue cube, and a silver metal bowl arranged left to right, in a workspace with chairs and lab equipment, with a robotic gripper above the table.", "global_instruction_dense": "The right robotic gripper moves down toward the white shaker next to the orange tin can, grasps the shaker, lifts it, moves rightward to the space between the tin can and metal bowl, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 431, "tasks": ["place other"], "length": 100, "global_instruction": "Place the white rectangular weight from the center of the brown table onto the right edge of the table.", "scene_description": "A small brown wooden table holds a blue cubic block, a silver metal bowl, and a white rectangular weight with a silver knob, in a lab workspace with office chairs and testing equipment around.", "global_instruction_dense": "The right robotic gripper descends toward the white rectangular weight on the brown table, grasps it, lifts it, moves it rightward to the right edge of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 432, "tasks": ["place other"], "length": 107, "global_instruction": "Remove the silver weight from the metal bowl and place it on the wooden table surface.", "scene_description": "A small brown wooden table holds a silver metal bowl containing a silver rectangular weight, with a small blue cube to the right of the bowl, and office chairs and workbenches in the background.", "global_instruction_dense": "The right robotic arm moves down toward the metal bowl on the wooden table, grasps the silver weight inside the bowl, lifts the weight out of the bowl, moves it rightward to the empty table area next to the bowl, and releases the weight onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 433, "tasks": ["place other"], "length": 116, "global_instruction": "Place the white salt shaker into the silver metal bowl on the wooden table.", "scene_description": "A brown wooden table holds a white salt shaker, blue cube, silver metal bowl, orange toy pepper, and yellow toy corn from back to front. Grey office chairs are left of the table, with a black workbench with cables and a yellow emergency stop button in the foreground.", "global_instruction_dense": "The right robotic arm moves downward toward the white salt shaker at the back of the wooden table, grasps it, lifts it, moves rightward over the silver metal bowl, and releases the salt shaker into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 434, "tasks": ["place other"], "length": 120, "global_instruction": "Move the white salt shaker from the center of the wooden table to the right side of the table near the green object.", "scene_description": "A brown wooden table holds an orange pepper-shaped object, yellow elongated item, cyan cup, silver metal bowl, white salt shaker with silver top, small green elongated object, and purple sphere. A cardboard panel sits behind the table, gray office chairs are to the left, and a black workbench with cables and a yellow emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic arm moves into the frame from above, lowers to grasp the white salt shaker on the center of the wooden table, lifts the shaker, moves it rightward, places it next to the green elongated object on the right of the table, then releases the shaker and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 435, "tasks": ["place other"], "length": 102, "global_instruction": "Pick up the white salt shaker and place it into the silver metal bowl on the table.", "scene_description": "A wooden table holds an orange pepper, yellow banana toy, light blue cup, white salt shaker, silver metal bowl, purple ball, and orange can arranged on its surface, with office furniture and equipment in the surrounding area.", "global_instruction_dense": "The right robotic gripper moves down toward the white salt shaker on the wooden table, grasps it, lifts it, moves it over the silver metal bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 436, "tasks": ["place other"], "length": 111, "global_instruction": "Pick up the white salt shaker and place it into the stainless steel bowl on the table.", "scene_description": "A small wooden table holds an open tin can, white salt shaker, stainless steel bowl, red toy pepper, and purple fuzzy ball. Office chairs and equipment workbenches surround the table, with a cardboard partition behind the table.", "global_instruction_dense": "The right robotic arm moves toward the white salt shaker on the wooden table, grasps it, lifts and moves it over the stainless steel bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 437, "tasks": ["place other"], "length": 101, "global_instruction": "Place the white salt shaker into the silver metal bowl on the wooden table.", "scene_description": "A brown wooden table holds a small silver tin can, a white salt shaker with a metallic top, a round silver metal bowl, a purple plush ball, and an orange pepper-shaped object. Office chairs, other work tables, and electronic equipment including cables and a yellow emergency stop button are visible in the surrounding workspace.", "global_instruction_dense": "The right robotic arm moves down toward the white salt shaker on the brown table, grasps it with its gripper, lifts it, moves it over the silver metal bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 438, "tasks": ["place other"], "length": 123, "global_instruction": "Place the white salt shaker into the silver metal bowl on the wooden table.", "scene_description": "A wooden tabletop holds a cyan plastic cup, purple foam ball, yellow toy corn, orange bell pepper, silver metal bowl, white salt shaker, and small metal can. A robotic gripper is positioned above the table, with an equipment workbench with cables and office chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white salt shaker on the wooden table, grasps it, lifts it, moves it over the silver metal bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 439, "tasks": ["place other"], "length": 87, "global_instruction": "Move the white salt shaker to a new position on the brown table.", "scene_description": "A brown wooden table holds a yellow toy squash, white salt shaker, metal bowl with a cyan cup, orange toy pepper, and purple plush ball, with lab work equipment and office chairs around the table.", "global_instruction_dense": "The right robotic gripper moves toward the white salt shaker on the brown table, grasps it, lifts it, moves it slightly forward, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 440, "tasks": ["place other"], "length": 116, "global_instruction": "Remove the silver-topped white shaker from the white teal-handled pot and place it on the wooden table.", "scene_description": "A brown wooden table holds a light blue plastic cup on the left, a purple round ball to the right of the cup, and a white pot with teal handles and a silver lid at the right edge, with lab equipment and a grey office chair surrounding the table.", "global_instruction_dense": "The right robotic gripper moves toward the white teal-handled pot at the right of the wooden table, grasps the silver-topped white shaker inside the pot, lifts the shaker out of the pot, moves leftward over the table, lowers the shaker, and releases it onto the table between the light blue cup and the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 441, "tasks": ["place other"], "length": 109, "global_instruction": "Pick up the small white salt shaker and place it into the white bowl with teal handles", "scene_description": "A small white salt shaker with a silver top, a white bowl with teal handles, and a purple fuzzy ball are placed on a brown wooden table. The salt shaker is on the left side of the table, the bowl is to its right, and the purple ball sits next to the bowl, with a cardboard panel behind the table.", "global_instruction_dense": "The right robotic gripper moves toward the small white salt shaker on the left of the wooden table, grasps the shaker, lifts it, moves it rightward over the white teal-handled bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 442, "tasks": ["place other"], "length": 119, "global_instruction": "Place the white salt shaker on the brown table into the white teal-handled bowl on the table's right side.", "scene_description": "A small brown wooden table holds a blue cube at its left side, a white salt shaker with a silver top at its middle rear, and a white bowl with teal handles at its right side; assorted tools and an orange towel are in the foreground, with a lab workspace background.", "global_instruction_dense": "The right robotic gripper moves toward the white salt shaker on the middle rear of the brown table, grasps it, lifts it, moves rightward over the white teal-handled bowl at the table's right side, and releases the salt shaker into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 443, "tasks": ["place other"], "length": 123, "global_instruction": "Take the silver-capped white shaker out of the white pot and place it on the wooden table", "scene_description": "A wooden table holds a small blue cube on its left side and a white pot with blue trim on its right side. A lower foreground work surface has an orange towel, metal containers, a plush orange toy with purple and yellow attachments, and a yellow block with an orange knob.", "global_instruction_dense": "The right robotic arm moves toward the white pot on the right of the wooden table, grasps the silver-capped white shaker inside the pot, lifts the shaker out of the pot, moves it to the center of the wooden table between the blue cube and the pot, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 444, "tasks": ["place other"], "length": 94, "global_instruction": "Place the silver-topped white salt shaker into the white bowl with turquoise handles on the brown table.", "scene_description": "A brown table holds a blue cube, a silver-topped white salt shaker, and a white bowl with turquoise handles from left to right; an orange towel, toy food and tools are on a lower front work surface, with a gray office chair to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the silver-topped white salt shaker on the brown table, grasps it, lifts it, moves it right over the white bowl with turquoise handles, lowers it into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 445, "tasks": ["place other"], "length": 107, "global_instruction": "Pick up the white salt shaker on the brown table and reposition it on the same table.", "scene_description": "A small brown table holds a silver-topped white salt shaker, a small blue cube, and a white bowl with teal handles; a workbench with assorted tools and toys is below the table, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the silver-topped white salt shaker on the brown table, grasps it, lifts it briefly, lowers it back onto the table surface, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 446, "tasks": ["place other"], "length": 95, "global_instruction": "Place the white salt shaker into the white bowl on the brown table", "scene_description": "A small brown table holds a white salt shaker with a silver top, a small blue block, and a white bowl with teal handles from left to right. A gray office chair is to the left of the table, and tools plus colorful objects including an orange towel are on a lower left foreground surface, with workbenches in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white salt shaker on the brown table, grasps it, lifts it, moves it right over the white bowl with teal handles, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 447, "tasks": ["place other"], "length": 108, "global_instruction": "Place the orange pumpkin-shaped object on the left side of the brown table.", "scene_description": "A small brown table holds a blue cubic block, an orange pumpkin-shaped object, and a white teal-rimmed pot. A foreground work surface holds an orange towel, assorted toys and tools, with office chairs and other worktables in the background.", "global_instruction_dense": "The right robotic arm descends toward the orange pumpkin-shaped object on the brown table, grasps it, lifts it, moves it leftward across the table, lowers it, and releases it onto the left side of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 448, "tasks": ["place other"], "length": 124, "global_instruction": "Place the white salt shaker into the white bowl with teal handles on the brown table.", "scene_description": "A small brown table holds an orange apple-shaped toy, a blue cubic block, a white salt shaker with a silver lid, and a white bowl with teal handles. An orange towel and assorted toy items rest on a lower surface to the left of the table, with office furniture and workstations in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the white salt shaker on the brown table, grasps it, lifts it, moves it over the white bowl with teal handles, releases the shaker into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 449, "tasks": ["place other"], "length": 105, "global_instruction": "Place the silver-capped white shaker into the white bowl with blue trim on the small brown table.", "scene_description": "A small brown wooden table holds an orange pumpkin-shaped toy, a blue star-shaped block, a silver-capped white shaker, and a white bowl with blue trim from left to right. A grey office chair is to the left of the table, with assorted tools and toy items on a lower surface below the table, and a work desk with a cardboard partition in the background.", "global_instruction_dense": "The right robotic gripper enters from the upper right of the frame, moves to the silver-capped white shaker on the small brown table, grasps the shaker, lifts it, moves it over the adjacent white bowl with blue trim, and releases the shaker into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 450, "tasks": ["place other"], "length": 112, "global_instruction": "Place the green cucumber-shaped object into the red bowl on the brown table.", "scene_description": "A brown table sits in the workspace, holding a yellow bread-shaped object, a yellow cube, a green cucumber-shaped object, and a red bowl. The red bowl is at the right end of the table, the green cucumber is left of the bowl, the yellow cube is left of the cucumber, and the yellow bread-shaped object is at the left end of the table.", "global_instruction_dense": "The right robotic gripper moves toward the green cucumber-shaped object on the brown table, grasps it, lifts it, moves it over the red bowl, lowers it, and releases it into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 451, "tasks": ["place other"], "length": 133, "global_instruction": "Place the white salt shaker into the white pot with teal handles", "scene_description": "A brown wooden table holds an orange cloth, a small green-yellow tin can, a blue square block, a white salt shaker with a silver top, a pink round object, and a white pot with teal handles. A lower black workbench in the foreground holds a colorful printed cube, a yellow wedge, a pencil, and a yellow base with an orange knob.", "global_instruction_dense": "The right robotic gripper moves into view above the brown table, descends to grasp the white salt shaker with a silver top, lifts the shaker, moves it rightward over the white pot with teal handles, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 452, "tasks": ["place other"], "length": 136, "global_instruction": "Take the silver-capped white shaker out of the white teal-handled pot and place it on the wooden table.", "scene_description": "A brown wooden table holds a folded orange cloth, small blue cube, yellow-green can, white pot with teal handles, small pink round object, and gray cylinder. A black workbench in the foreground holds a colorful cartoon-printed cube, yellow semicircular plate, yellow block with an orange knob, and tools in a workshop environment.", "global_instruction_dense": "The right robotic gripper approaches the white teal-handled pot on the wooden table, grasps the silver-capped white shaker inside the pot, lifts it out, moves left across the table, and places the shaker on the wooden table surface near the yellow-green can.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 453, "tasks": ["place other"], "length": 114, "global_instruction": "Place the white shaker with the silver top into the white pot with teal handles.", "scene_description": "A brown wooden table holds an orange cloth on its left, a yellow-green can, gray cylinder, white shaker with a silver top, small pink object, and a white pot with teal handles on its right, with a black workbench holding tools and a colorful cube in the foreground.", "global_instruction_dense": "The right robotic arm moves toward the white shaker on the brown table, grasps it with its gripper, lifts it, moves it over the white teal-handled pot, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 454, "tasks": ["place other"], "length": 118, "global_instruction": "Place the white silver-topped salt shaker into the white bowl with blue handles", "scene_description": "A brown wooden table holds an orange cloth, a yellow-green tin can, a gray cylinder, a white silver-topped salt shaker, a pink cupcake, and a white bowl with blue handles. A black workbench with tools and a colorful printed cube sits in front of the table.", "global_instruction_dense": "The right robotic arm enters the frame from above, moves down to grasp the white silver-topped salt shaker on the wooden table, lifts the shaker, moves it rightward over the white bowl with blue handles, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 455, "tasks": ["place other"], "length": 122, "global_instruction": "Place the white salt shaker into the white bowl with blue handles", "scene_description": "A brown wooden table holds an orange folded cloth, a green and yellow tin can, a white salt shaker with a silver cap, a pink cupcake, a white bowl with blue handles, and a gray cylinder. A black workbench below holds a colorful printed cube, a yellow block with an orange button, and assorted tools, with a robotic arm positioned near the table.", "global_instruction_dense": "The right robotic arm moves toward the white salt shaker on the wooden table, grasps it, lifts it, moves it over the white bowl with blue handles, lowers it into the bowl, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 456, "tasks": ["place other"], "length": 111, "global_instruction": "Place the white salt shaker on the wooden table into the white cooking pot with blue rim.", "scene_description": "A brown wooden table holds an orange folded cloth on its left, a yellow and dark green round can at its back left, a yellow corn-shaped object at its center, a white salt shaker with silver lid, a small grey cylinder, and a white cooking pot with blue rim and handles on its right. A black workbench with tools, a colorful printed foam cube, and a yellow base with an orange button sits in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the white salt shaker on the right side of the wooden table, grasps the salt shaker, lifts it upward, moves it over the adjacent white cooking pot with blue rim, lowers the salt shaker into the pot, and releases it to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 457, "tasks": ["place other"], "length": 130, "global_instruction": "Take the silver shaker out of the white pot and place it on the brown table.", "scene_description": "A brown wooden table holds an orange folded cloth, a yellow elongated object, a teal elongated object, a white pot with teal handles containing a silver shaker, and a small yellow-green can at its back, with a cardboard partition behind the table and a black workbench with tools and a colorful printed cube below the table.", "global_instruction_dense": "The right robotic gripper moves toward the white pot on the right side of the brown table, grasps the silver shaker inside the pot, lifts it out, moves it leftward over the table, places it on the table between the orange cloth and yellow elongated object, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 458, "tasks": ["place other"], "length": 93, "global_instruction": "Move the white salt shaker to the left edge of the brown wooden table.", "scene_description": "A brown wooden tabletop holds a dark green and yellow tin, a white square salt shaker with a silver top, a white bowl with a teal rim, a yellow oblong object, and a teal oblong object, in a workshop space with boxes and equipment in the background.", "global_instruction_dense": "The right robotic gripper lowers toward the white salt shaker in the middle of the brown table, grasps it, lifts and moves it left to the table's left edge, places it down, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 459, "tasks": ["place other"], "length": 81, "global_instruction": "Place the yellow-green striped gourd into the stainless steel bowl on the wooden table.", "scene_description": "A small brown wooden table holds a folded orange cloth, a stainless steel double-handled bowl, and a yellow-green striped gourd. A cardboard panel stands behind the table, a black workbench with cables and a yellow emergency stop with an orange button sits in the foreground, and a white machine with an orange tray and green ball is to the left of the wooden table.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves toward the yellow-green striped gourd on the right side of the wooden table, grasps it with its gripper, lifts it, moves it over the adjacent stainless steel bowl, and releases the gourd into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 460, "tasks": ["place other"], "length": 74, "global_instruction": "Reposition the cream-colored striped gourd on the brown table closer to the small metal bowl.", "scene_description": "A small brown wooden table holds a folded orange cloth, a small metal bowl with a yellow cube inside, and a cream-colored dark brown striped gourd on its right side. A cardboard sheet stands behind the table. To the left of the table is a white machine topped with an orange tray holding a green ball. A black workbench with cables, orange-handled clamps, and a yellow emergency stop button with an orange cap is in the foreground, with office chairs and lab equipment in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the upper right, descends toward the cream-colored striped gourd on the right of the brown table, grasps the gourd, lifts it slightly, moves it leftward across the table, and places it closer to the small metal bowl holding a yellow cube.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 461, "tasks": ["place other"], "length": 82, "global_instruction": "Place the yellow and black striped melon into the silver metal bowl on the wooden table.", "scene_description": "A brown wooden table holds an orange folded cloth, a yellow-black striped melon, a small silver metal bowl, a gray cylinder, and a small yellow cube. A cardboard sheet stands behind the table, a white machine with an orange plate holding a green ball is to the left of the table, and a black workbench with cables, clamps, and a yellow emergency stop box with an orange button is in the foreground.", "global_instruction_dense": "The left robotic gripper descends toward the yellow and black striped melon on the wooden table, grasps it, lifts it, moves it over the adjacent silver metal bowl, and lowers it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 462, "tasks": ["place other"], "length": 98, "global_instruction": "Move the yellow-black striped melon to a new position on the brown table.", "scene_description": "A brown wooden table holds an orange folded cloth, a small stainless steel pot, a gray cylinder, a small yellow cube, and a yellow-black striped oval melon. A black workbench with cables, clamps, and an orange emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic arm descends toward the yellow-black striped melon on the brown table, grasps it, lifts and moves it leftward, then lowers and releases it onto the table at a new position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 463, "tasks": ["place other"], "length": 106, "global_instruction": "Place the orange triangular pizza-slice toy onto the orange plate on the wooden table.", "scene_description": "A brown wooden table holds an orange plate with a small brown item, a turquoise round ball, and an orange triangular pizza-slice toy. A black workbench with cables, clamps and a yellow emergency stop button sits in front of the table, with a white machine to the table's left.", "global_instruction_dense": "The right robotic arm moves downward toward the orange pizza-slice toy on the wooden table, grasps the toy, lifts it, and moves it left toward the orange plate on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 464, "tasks": ["place other"], "length": 98, "global_instruction": "Move the yellow-orange triangular pizza slice on the wooden table to the left side of the table.", "scene_description": "A small brown wooden table holds an orange plate with a green spherical object, a small round brown object, and a yellow-orange triangular pizza slice object in left-to-right order. A cardboard sheet stands behind the table, and a black workbench with tools, cables, and a yellow emergency stop button sits in front of the table.", "global_instruction_dense": "The right robotic arm moves down from above the scene toward the yellow-orange triangular pizza slice on the right of the wooden table, grasps it with its gripper, lifts it, moves it leftward across the table, and places it down near the small round brown object.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 465, "tasks": ["place other"], "length": 146, "global_instruction": "Take the brown spherical object from the toy kitchen sink recess and place it on the countertop next to the green ball", "scene_description": "A white toy kitchen countertop has a brown spherical object in its left sink recess, a green ball on a gray left burner, a pink strawberry-shaped object, a green clover-shaped object, and an empty gray right burner, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic arm enters the frame, descends to the toy kitchen's sink recess, grasps the brown spherical object, lifts it out of the sink, moves it to the counter space next to the green ball, lowers it onto the counter, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 466, "tasks": ["place other"], "length": 117, "global_instruction": "Place the brown sphere from its metal stand onto the adjacent flat white table surface.", "scene_description": "A white tabletop holds a small sink fixture, a blue plastic bottle, a brown sphere on a metal stand, an orange cylindrical object on another metal stand; a blue bin with a red lid rests on a small side table in the background, surrounded by gray office chairs.", "global_instruction_dense": "The right robotic gripper moves into the frame, lowers toward the brown sphere positioned on a metal stand on the tabletop, grasps the sphere, lifts it, moves it horizontally to the adjacent flat section of the white table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 467, "tasks": ["place other"], "length": 119, "global_instruction": "Reposition the brown croissant inside the plastic bin to a new location within the bin.", "scene_description": "A translucent plastic bin rests on a metal wire shelf. Inside the bin are a brown croissant, a red plate, and a small yellow object. A robotic arm is partially visible on the left, with office chairs and a wall-mounted fire extinguisher in the background.", "global_instruction_dense": "The left robotic arm moves down into the plastic bin, grasps the brown croissant, lifts it, moves it to a different spot inside the bin, and releases it to complete the repositioning.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 468, "tasks": ["place other"], "length": 118, "global_instruction": "Place the strainer into the small stainless steel pot on the metal wire rack.", "scene_description": "A metal wire rack holds a blue plastic bin, a silver pot lid, a small stainless steel pot, a light blue cup, and a small strainer, with office chairs, cardboard boxes, and lab equipment in the surrounding lab space.", "global_instruction_dense": "The left robotic arm moves toward the strainer on the metal wire rack, grasps it with its gripper, lifts it, moves it over the small stainless steel pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 469, "tasks": ["place other"], "length": 105, "global_instruction": "Remove the perforated metal insert from the silver bowl and place it on the wire storage rack.", "scene_description": "A metal wire storage rack holds a silver bowl with a perforated metal insert inside, a silver lid, a colorful stacking toy, a brown bread slice, a blue plastic bin mounted on its left edge, and cardboard boxes on its right side.", "global_instruction_dense": "The right robotic arm moves downward toward the perforated metal insert inside the silver bowl on the rack, grasps the insert, lifts it out of the bowl, moves it to an empty spot on the rack next to the bowl, lowers it, and releases it onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 470, "tasks": ["place other"], "length": 120, "global_instruction": "Place the dark brown work boot onto the top of the orange tool cabinet.", "scene_description": "An orange multi-drawer tool cabinet sits next to a white plastic cooler, a black perforated workbench holding grey coiled cables and clamps is in the foreground, and black tripod stands are in the left background of a workshop. A partial black robotic gripper is visible at the top edge of the frame.", "global_instruction_dense": "The right robotic gripper holds a dark brown work boot, moves downward toward the top of the orange multi-drawer tool cabinet, lowers the boot onto the cabinet's top surface, and releases the boot to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 471, "tasks": ["place other"], "length": 107, "global_instruction": "Move the small black fixture from the left of the countertop to the right next to the clear plastic bin.", "scene_description": "A dark speckled office countertop holds colorful plastic blocks, stacked yellow folders, a small black fixture, a yellow pencil, a black electronic device, and a clear plastic storage bin from left to right; an open cabinet below the counter holds a roll of blue tape and white papers.", "global_instruction_dense": "The left robotic gripper moves toward the small black fixture on the left of the countertop, grasps and lifts it, moves it horizontally rightward across the counter, and places it adjacent to the clear plastic storage bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 472, "tasks": ["place other"], "length": 103, "global_instruction": "Place the black fixture on the countertop next to the small white box.", "scene_description": "A dark speckled countertop holds a yellow pencil, small white rectangular box, clear supply container, and small office items. A dark cabinet under the counter has an open door, a robotic arm fixture is to the left of the counter, and a white office printer stands in the background on grey carpet.", "global_instruction_dense": "The left robotic arm holds a black fixture, lowers it toward the countertop, moves it over the small white box on the counter, and places it on the counter surface to the right of the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 473, "tasks": ["place other"], "length": 102, "global_instruction": "Pick up the white notepad from the right side of the countertop and place it on the left side of the countertop.", "scene_description": "A dark speckled countertop with dark lower cabinets holds a multicolored block stack, small black cube, tiny brown item, yellow pencil, white notepad, black coffee maker, stapler, and a transparent item-filled container on the right. A white filing cabinet is in the background, and a holed workbench with an orange-handled tool sits to the left.", "global_instruction_dense": "The right robotic gripper moves toward the white notepad on the right edge of the countertop, grasps it, lifts it, moves left over the counter surface, and places the notepad on the left section of the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 474, "tasks": ["place other"], "length": 84, "global_instruction": "Move the black-and-white case on the center of the counter to the left side of the counter.", "scene_description": "A dark speckled office counter has a black-and-white case, small red object, yellow pencil, clear battery container, multicolored lego block, notebooks, and staplers on its surface, with dark cabinets below and a white printer to the left of the counter.", "global_instruction_dense": "The right robotic gripper descends to grasp the black-and-white case on the counter center, lifts it, moves it leftward across the counter, and places it near the staplers at the counter's left side.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 475, "tasks": ["place other"], "length": 390, "global_instruction": "Pick the golden chain toy from the open sink drawer and place it on the left wooden countertop.", "scene_description": "A toy kitchen setup has a left wooden countertop holding a stainless steel pot with a yellow cube inside, a green cube, and an orange figurine; a central white sink with a gray faucet above an open drawer filled with assorted colorful toy items; a right toy stove with a white pot with teal trim on its burner, set in an office environment background.", "global_instruction_dense": "The left robotic arm enters the frame, moves down into the open sink drawer, rummages through the toys to grasp a golden chain, lifts the chain out of the drawer, moves it over the left wooden countertop, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 476, "tasks": ["place other"], "length": 247, "global_instruction": "Remove the brown mushroom-shaped object from the metal cup and place it on the adjacent wooden counter.", "scene_description": "A toy kitchen counter setup in an office: the left wooden section holds a green ball, yellow ball, and a small metal cup with a brown mushroom-shaped object inside; a white sink with colorful toys sits below the counter, and a toy stove with a pot is on the right.", "global_instruction_dense": "The right robotic arm lowers into the scene, reaches into the small metal cup on the left wooden counter, grasps the brown mushroom-shaped object inside, lifts it out of the cup, moves it right onto the adjacent wooden counter surface, releases it, and lifts slightly away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 477, "tasks": ["place other"], "length": 135, "global_instruction": "Move the yellow sphere from the right side of the white toy kitchen top to its left side.", "scene_description": "A white toy kitchen unit is positioned in front of a black workbench. On the kitchen's top surface, a yellow sphere rests on a green cylinder at the right, and a small yellow object sits at the left. The workbench holds a yellow cube, orange emergency stop button, orange pepper-shaped toy, purple cylinder, clamps, and coiled cables, with office chairs, desks, and boxes in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow sphere on the green cylinder on the right of the white toy kitchen top, grasps it, lifts it, moves it leftward to the left side of the kitchen top, and releases it next to the small yellow object.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 478, "tasks": ["place other"], "length": 135, "global_instruction": "Pick up the small orange-white slice toy and place it on top of the multicolored cube.", "scene_description": "A metal wire shelf holds a small orange-white slice toy, a green ball, a pink shallow bowl, a multicolored cube with a blue top, and a yellow banana toy, with an office workspace in the background.", "global_instruction_dense": "The right robotic gripper descends to grasp the small orange-white slice toy on the wire shelf, lifts it, moves it rightward over the multicolored cube, lowers it, and releases it to rest on the cube's top.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 479, "tasks": ["place other"], "length": 136, "global_instruction": "Place the yellow dumbbell behind the white bowl into the white bowl", "scene_description": "A white plastic bowl sits on a brown wooden table, a yellow dumbbell-shaped object is positioned behind the left side of the bowl, with a workshop space containing desks and chairs in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow dumbbell behind the white bowl, grasps the dumbbell, lifts it, moves it over the bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 480, "tasks": ["place other"], "length": 147, "global_instruction": "Place the purple toy grape into the white bowl on the table", "scene_description": "A white plastic bowl and a purple toy grape are placed on a reddish-brown wooden table, with the bowl on the left and the grape on the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the purple toy grape on the right side of the wooden table, grasps the grape, lifts it, moves it leftward above the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 481, "tasks": ["place other"], "length": 178, "global_instruction": "Place the purple toy grape on the table into the white plastic bowl.", "scene_description": "A white round plastic bowl and a purple toy grape are placed on a reddish-brown small wooden table. The bowl is on the left side of the table, and the grape is on the right side, with a lab office environment with other workstations in the background.", "global_instruction_dense": "The right robotic gripper enters the frame from above, moves toward the table, shifts right to approach the purple grape, closes to grasp it, lifts it, moves left over the white bowl, and releases the grape into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 482, "tasks": ["place other"], "length": 150, "global_instruction": "Pick up the purple toy grape and place it into the white bowl", "scene_description": "A white bowl and a purple toy grape are placed on a brown wooden table. The bowl is on the left of the table, the grape is on the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the purple toy grape on the right of the wooden table, grasps it with the gripper, lifts it, moves it leftward over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 483, "tasks": ["place other"], "length": 112, "global_instruction": "Place the purple grape toy into the white bowl on the wooden table.", "scene_description": "A brown wooden table holds a white bowl and a purple grape-shaped toy, with the grape to the left of the bowl. The background is a lab space with equipment, boxes, and a chair with a blue-and-white jacket draped over it.", "global_instruction_dense": "The left robotic gripper moves toward the purple grape toy on the left of the wooden table, grasps it, lifts it, moves it right over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 484, "tasks": ["place other"], "length": 97, "global_instruction": "Place the purple grape into the white bowl on the table", "scene_description": "A white bowl and a purple toy grape are placed on a brown wooden table. The bowl is on the left side of the table, and the grape is on the right.", "global_instruction_dense": "The right robotic arm moves toward the purple grape on the right of the table, grasps it with the gripper, lifts it, moves left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 485, "tasks": ["place other"], "length": 180, "global_instruction": "Place the purple grape on the wooden table into the white bowl", "scene_description": "A wooden table holds a white empty bowl on its left part and a purple grape model on its right part, located in an office workspace.", "global_instruction_dense": "The right robotic gripper moves toward the purple grape on the right side of the wooden table, grasps it, lifts it, moves it left over the white bowl, and releases the grape into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 486, "tasks": ["place other"], "length": 129, "global_instruction": "Place the purple grapes on the brown wooden table into the white bowl.", "scene_description": "A white empty plastic bowl and a purple bunch of grapes are placed on a brown wooden table, the grapes are to the left of the bowl in an office workspace.", "global_instruction_dense": "The left robotic gripper moves toward the purple grapes left of the white bowl on the table, grasps the grapes, lifts them, moves them over the white bowl, then releases the grapes into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 487, "tasks": ["place other"], "length": 132, "global_instruction": "Place the purple grape toy into the white bowl on the wooden table.", "scene_description": "A small wooden table holds a white bowl on its left and a purple grape toy on its right, in an office lab workspace.", "global_instruction_dense": "The right robotic gripper moves toward the purple grape on the right side of the table, grasps it, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 488, "tasks": ["place other"], "length": 157, "global_instruction": "Pick up the green scrubber on the toy kitchen stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A wooden toy kitchen set is visible, with a silver microwave above a stovetop with four black burners, a silver sink containing a stainless steel bowl, and a small green scrubber placed on the left stovetop surface.", "global_instruction_dense": "The left robotic arm extends downward toward the green scrubber on the toy kitchen stovetop, grasps it, lifts it and moves it right over the stainless steel bowl in the sink, then releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 489, "tasks": ["place other"], "length": 132, "global_instruction": "Pick up the golden ornament on the toy kitchen stove burners and place it into the silver pot in the toy sink.", "scene_description": "A wooden toy kitchen playset is in a workshop space, with a silver toy microwave on its upper shelf, four black toy burners on its white countertop, a small silver pot in its sink, lab equipment in the foreground, and a person seated to the left of the playset.", "global_instruction_dense": "The right robotic arm moves toward the golden ornament on the toy kitchen stove, grasps the ornament, lifts it, moves it over the silver pot in the toy sink, and releases the ornament into the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 490, "tasks": ["place other"], "length": 108, "global_instruction": "Pick up the golden grains on the toy kitchen stovetop and place them into the metal bowl in the toy sink.", "scene_description": "A wooden toy play kitchen set is on a work surface, with a four-burner stovetop, toy microwave above the stovetop, and toy sink holding a metal bowl to the stovetop's right. A pile of golden grains sits on the stovetop, with equipment and a partially visible person in the background.", "global_instruction_dense": "The left robotic arm moves down toward the pile of golden grains on the play kitchen stovetop, grasps the grains, lifts them, moves right over the metal bowl in the toy sink, and releases the grains into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 491, "tasks": ["place other"], "length": 192, "global_instruction": "Place the golden ornament from the toy kitchen stove into the metal bowl in the sink", "scene_description": "A wooden toy kitchen set with a silver microwave, four black stovetop burners, and a silver sink holding a metal bowl is placed on a work surface. A workbench with cables and tools is in the left foreground, with a person seated left of the toy kitchen.", "global_instruction_dense": "The left robotic arm descends into the frame, moves toward the golden ornament on the left toy kitchen stove, grasps the ornament, lifts and moves it over the metal bowl in the sink, then releases the ornament into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 492, "tasks": ["place other"], "length": 130, "global_instruction": "Place the pile of golden dry goods on the toy kitchen counter into the metal bowl in the sink.", "scene_description": "A light wooden toy play kitchen is in the center, with a silver microwave, four black stove burners, a silver sink holding a metal bowl, and a small pile of golden dry goods on the counter next to the lower right stove burner. A workbench with tools and cables sits to the left of the kitchen.", "global_instruction_dense": "The left robotic arm extends downward from the upper left of the frame, moves toward the pile of golden dry goods on the toy kitchen counter, grasps the dry goods, lifts them, moves rightward over the metal bowl in the sink, then releases the dry goods into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 493, "tasks": ["place other"], "length": 124, "global_instruction": "Place the golden scrubber on the toy kitchen stovetop into the stainless steel bowl in the sink.", "scene_description": "A wooden toy kitchen set is on a work surface, with a golden scrubber on its stovetop counter, a stainless steel bowl in its sink, and a toy microwave on its upper shelf.", "global_instruction_dense": "The left robotic arm moves from off-screen down to the toy kitchen stovetop, grasps the golden scrubber on the counter, lifts it, moves it rightward over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 494, "tasks": ["place other"], "length": 101, "global_instruction": "Pick up the golden scrubber on the play kitchen stovetop and place it into the metal bowl in the sink.", "scene_description": "A toy wooden play kitchen set is visible, with a white stovetop holding a golden scrubber, a sink containing a silver metal bowl, and lab equipment in the background.", "global_instruction_dense": "The left robotic arm moves down toward the golden scrubber on the play kitchen stovetop, grasps it, lifts it, moves it over the silver metal bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 495, "tasks": ["place other"], "length": 285, "global_instruction": "Reposition the black cylindrical speaker to a new position on the white desk.", "scene_description": "A white office desk holds a black cylindrical speaker, silver keyboard, white mug, yellow emergency stop button, and monitor stands with cables. Office chairs are to the left of the desk.", "global_instruction_dense": "The left robotic arm moves toward the black cylindrical speaker on the white desk, grasps it, lifts it, moves it slightly toward the right side of the desk, sets it upright in a new position, then releases it and moves upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 496, "tasks": ["place other"], "length": 276, "global_instruction": "Grasp the black cylindrical speaker on the desk and place it on its side next to the cable docking station.", "scene_description": "A white office desk holds a black cylindrical speaker, a white checkered keyboard, an orange pencil, multiple computer monitors with black cables, and a robotic gripper is positioned to the upper left of the speaker.", "global_instruction_dense": "The left robotic gripper moves toward the black cylindrical speaker on the desk, grasps and lifts it, rotates it to rest on its side, moves it rightward next to the cable docking station, lowers it to the desk, releases it, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 497, "tasks": ["place other"], "length": 215, "global_instruction": "Place the teal lip balm into the gray mug on the white tray", "scene_description": "A white round table holds a white tray with a gray mug, a teal lip balm, and a wooden busy board toy. A desk with a monitor and stacked boxes sits to the left of the table.", "global_instruction_dense": "The right robotic arm moves down toward the teal lip balm on the tray, grasps it, lifts it, moves it over the gray mug, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 498, "tasks": ["place other"], "length": 175, "global_instruction": "Place the small white salt shaker into the red cup on the white tray.", "scene_description": "A white round table holds a white tray. On the tray: a red cup, a gray cup with a red spoon inside, a red bowl of dark food, a small white salt shaker, a small silver lidded container, and a folded white cloth. Off the tray: a red plate with utensils and a paper napkin, a small green bottle, three brown eggs, a clear container with a red lid, a metal spoon, a small gray shaker, and a wooden activity board. A robotic arm is positioned above the top left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the small white salt shaker on the tray, grasps it, lifts it, moves it over the red cup, lowers it, releases it into the red cup, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 499, "tasks": ["place other"], "length": 188, "global_instruction": "Place the light pink bubble wrap from the tray into the blue trash bin", "scene_description": "A white round table holds a white tray with a red plate of white napkins, a light pink bubble wrap piece, a red-handled tool, and a large blue trash bin lined with a black garbage bag is adjacent to the tray. A glass door and small whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves down toward the light pink bubble wrap on the white tray, grasps it, lifts it, moves it over the adjacent blue trash bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 500, "tasks": ["place other"], "length": 177, "global_instruction": "Pick up the gray seasoning shaker and place it into the white mug.", "scene_description": "A white round table holds a small gray seasoning shaker, a yellow egg, a single-handle small metal dish, a white mug, a red-handled fork, a cylindrical metal pot, and a double-handle round metal dish. A robotic arm is positioned to the left of the table, with a person in a blue shirt behind the arm, a closed door in the background, and a whiteboard leaning against the right wall.", "global_instruction_dense": "The right robotic arm moves toward the gray seasoning shaker on the left of the table, grasps it, lifts it, moves it over the white mug, lowers it into the mug, and releases it inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 501, "tasks": ["place other"], "length": 175, "global_instruction": "Pick up the small gray shaker and place it near the white cup on the table.", "scene_description": "A white round table holds a red bowl, a beige egg, a red-handled fork, a small gray shaker, three stainless steel pots of varying sizes, and a white cup. The red bowl is positioned on the left side of the table, with the rest of the objects arranged to its right.", "global_instruction_dense": "The left robotic arm lowers toward the small gray shaker on the white table, grasps the shaker with its gripper, lifts it, moves it right to the area near the white cup, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 502, "tasks": ["place other"], "length": 144, "global_instruction": "Place the green broccoli-shaped object from the front red bowl onto the checkered tabletop.", "scene_description": "A round table with a red and black checkered tablecloth holds a front red bowl with a green broccoli-shaped object, a silver metal bowl behind it, three eggs in a clear tray, a green bottle, and a right red bowl with a plastic bag. A Franka Emika robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the green object in the front red bowl, grasps it with its gripper, lifts it, moves it over the table surface, and releases it onto the table between the red bowl and silver metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 503, "tasks": ["place other"], "length": 186, "global_instruction": "Place the small green broccoli toy into the front red empty bowl.", "scene_description": "A round table covered with a red and black checkered tablecloth sits in front of a Franka robotic arm base. On the table, there is a small green broccoli toy, a front red empty bowl, a silver metal bowl, several brown eggs, a green bottle, small containers, and a back right red bowl with plastic items.", "global_instruction_dense": "The left robotic gripper lowers from above the table toward the small green broccoli toy, grasps it, lifts it, moves it over the front red empty bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 504, "tasks": ["place other"], "length": 177, "global_instruction": "Pick the green broccoli-shaped object from the red bowl and place it on the table.", "scene_description": "A round table with an orange and black checkered tablecloth holds a silver metal bowl, four light brown eggs, a red tomato, a red bowl containing a green broccoli-shaped object, a white mug, a distant red bowl with plastic items, and small bottles. A robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the front red bowl on the table, grasps the green broccoli-shaped object inside the bowl, lifts the object up, moves it to an empty area of the checkered tablecloth, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 505, "tasks": ["place other"], "length": 197, "global_instruction": "Place the small white salt shaker into the red mug on the white tray.", "scene_description": "A white round table holds a white tray with a small white salt shaker, red mug, folded white napkin, red bowl of dark food, and red-handled spoon; eggs, a wooden control panel, and a red plate with napkins sit beside the tray, with a closed door in the background.", "global_instruction_dense": "The left robotic arm moves toward the small white salt shaker on the white tray, grasps it, lifts it, moves it over the red mug, lowers it into the mug, and releases it inside the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 506, "tasks": ["place other"], "length": 697, "global_instruction": "Place the small white shaker and small gray shaker into the red cup, and stir the red bowl's contents with the red spoon.", "scene_description": "A white round table holds a white rectangular tray. On the tray: a small white shaker, small gray shaker, red plastic cup, white napkin with red stripes, red bowl filled with dark contents, small metal strainer, gray mug with a red spoon inside. Additional table items include a red plate with napkins, green small bottle, several eggs, metal pot lid, wooden control panel, and clear measuring cup. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm first moves to grasp the small white shaker on the tray, lifts and places it into the red cup, then moves to grasp the red spoon from the gray mug, stirs the dark contents of the red bowl repeatedly, returns the red spoon to the gray mug, then moves to grasp the small gray shaker, lifts and places it into the red cup before moving away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 507, "tasks": ["place other"], "length": 138, "global_instruction": "Pick up the black coat from the chair and place it on the checkered table", "scene_description": "A black coat is draped over a grey chair beside a table covered with a blue-and-white checkered tablecloth. A robotic arm is positioned above, a whiteboard with written notes is in the background, and a black suitcase and folded white towel with red stripes are near the table.", "global_instruction_dense": "Left robotic arm moves downward toward the black coat on the grey chair, grasps the coat, lifts it, moves it over the blue-and-white checkered table, lowers and releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 508, "tasks": ["place other"], "length": 938, "global_instruction": "Place dark beans from the red bowl into the silver bowl and adjust the position of the red mug on the table.", "scene_description": "A white round table holds a black cooking spoon, a silver metal bowl, a red bowl filled with dark beans, a red mug, metal food tongs, a black slotted spatula, and a lidded black cooking pot. A right robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm first moves to the red mug, adjusts its position on the table, then grasps dark beans from the red bowl twice, moving each bean to the silver metal bowl and releasing it, before adjusting the red mug's position again and lifting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 509, "tasks": ["place other"], "length": 474, "global_instruction": "Place the white and gray kitchen appliance into the open drawer under the counter.", "scene_description": "A gray kitchen counter holds a silver toaster, silver electric kettle, dark frying pan, red lid, white utensil mug, red travel mug, patterned dish soap bottle, clear drinking glasses, black coffee maker, black spray bottle, white plates, yellow sponge, and metal dish drainer. An open white drawer sits below the counter, with a robotic arm at the left edge of the frame.", "global_instruction_dense": "The left robotic arm grasps the white and gray kitchen appliance on the left of the counter, moves it over the open drawer, lowers it into the drawer, adjusts its position, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 510, "tasks": ["place other"], "length": 303, "global_instruction": "Place the white small kitchen appliance onto the left section of the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a stainless steel sink with a black faucet on the right, a silver toaster, black coffee maker, purple pan, red and white cups, glassware on a wooden rack, under light grey overhead cabinets with black handles; a white small kitchen appliance is held above the left counter area in the first frame.", "global_instruction_dense": "The left robotic gripper holds the white small kitchen appliance, lowers it toward the left section of the kitchen counter, adjusts its placement position on the counter, then releases the appliance and retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 511, "tasks": ["place other"], "length": 1264, "global_instruction": "Place all plastic cups onto the round gray tray and all soda cans onto the oval purple tray.", "scene_description": "A light wooden table holds a green plastic cup, a purple plastic cup, an orange plastic cup, a silver soda can, a green Sprite soda can, an orange Fanta soda can, a round light gray tray, an oval purple tray, and a folded brown cloth. The purple tray is left of the gray tray, with cups and cans scattered to the right of the trays. A wooden glass-front cabinet is to the table's left, two stainless steel refrigerators are in the background, dark gray chairs surround the table, and a single robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the green plastic cup and places it on the round gray tray, grasps the orange Fanta can and places it on the oval purple tray, grasps the purple plastic cup and places it on the round gray tray, grasps the orange plastic cup and places it on the round gray tray, grasps the silver soda can and places it on the oval purple tray, grasps the green Sprite can and places it on the oval purple tray, then moves to a resting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 512, "tasks": ["place other"], "length": 293, "global_instruction": "Pick up the small green rectangular pack from the kitchen counter and place it into the open upper cabinet.", "scene_description": "A white kitchen counter holds a silver and black coffee maker on the left, a small green rectangular pack in the center, a purple plastic cup near the white tiled backsplash, and a stainless steel sink with yellow dish soap on the right, with an open upper cabinet mounted above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the small green rectangular pack on the counter, grasps it, lifts it upward into the open upper cabinet, places it on the cabinet shelf, then retracts back toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 513, "tasks": ["place other"], "length": 158, "global_instruction": "Place the red fish-shaped ornament into the stainless steel sink.", "scene_description": "A light gray kitchen countertop holds a stainless steel sink on the right, three fish-shaped ornaments (red, orange, yellow) to the left of the sink, an orange wall with white shelves behind the counter, and a white robotic arm above the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the red fish ornament left of the sink, grasps it, lifts it, moves it right over the sink, releases it into the sink, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 514, "tasks": ["place other"], "length": 209, "global_instruction": "Place the purple toothpaste package from the counter into the stainless steel sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a green plastic cup, and a purple toothpaste package to the left of the sink, with an orange wall and white shelf in the background, and a robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the purple toothpaste on the counter, grasps it, lifts it, moves it over the stainless steel sink, and releases it to drop into the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 515, "tasks": ["place other"], "length": 254, "global_instruction": "Place the green-and-white rectangular pack into the small black bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver coffee machine on the far left, a pink plastic cup, a small black bowl, and a green-and-white rectangular pack from left to right, with a double stainless steel sink, wall-mounted soap dispenser, and white tile backsplash to the right of the objects.", "global_instruction_dense": "The left robotic arm moves downward from above the counter, grasps the green-and-white rectangular pack, lifts it, moves it over the small black bowl, releases it into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 516, "tasks": ["place other"], "length": 194, "global_instruction": "Place the yellow bar on the left of the counter into the black bowl.", "scene_description": "A white kitchen countertop has a yellow bar on the left, a small black bowl, a pink cup with white interior to the right of the bowl, a double stainless steel sink at the far right, a soap dispenser on the tiled wall behind, a coffee maker on the far left, and a left robotic arm above the left counter.", "global_instruction_dense": "The left robotic gripper moves down toward the yellow bar on the left counter, grasps it, lifts it, moves right over the black bowl, lowers it, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 517, "tasks": ["place other"], "length": 225, "global_instruction": "Place the small yellow-white bar on the counter into the clear plastic bowl.", "scene_description": "A white kitchen counter holds a black coffee machine with a silver kettle, a blue packaged wipe, a small yellow-white bar, a green-yellow sponge, and a clear plastic bowl next to a double stainless steel sink; blue upper cabinets and a white tiled wall with a soap dispenser are in the background, with a robotic arm at the top left.", "global_instruction_dense": "The left robotic arm moves down toward the small yellow-white bar on the kitchen counter, grasps it, lifts it, moves it over the clear plastic bowl, releases the bar into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 518, "tasks": ["place other"], "length": 288, "global_instruction": "Place a small label onto the blue marked region of the white table.", "scene_description": "A white table with blue taped rectangular borders holds an open brown cardboard box, a light blue plastic bowl, a red packaged item, and small paper boxes, with a Franka robotic arm base mounted to the right edge of the table.", "global_instruction_dense": "The right robotic arm extends from its base mounted on the right of the table, moves downward and leftward over the table surface, lowers its gripper holding a small label to the blue taped rectangular area, places the label onto the table, then releases the label and lifts slightly away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 519, "tasks": ["place other"], "length": 261, "global_instruction": "Pick up the white dice with black dots and place it on the table near the patterned paper cup next to the orange bowl.", "scene_description": "A white table holds an orange bowl filled with multicolored beads, a beige open wooden box, yellow, red, green, blue blocks, a white dice, and a white robotic arm at the right side of the table, with office chairs and workstations in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the white dice on the table, closes to grasp the dice, lifts and moves it leftward to a spot near the patterned paper cup beside the orange bowl, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 520, "tasks": ["place other"], "length": 231, "global_instruction": "Remove the brown lip balm from the dark gray cup and place it on the white table.", "scene_description": "A dark gray cup containing a brown lip balm tube sits on a white table, with a robotic gripper positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the dark gray cup, grasps the brown lip balm inside the cup, lifts the lip balm out of the cup, moves it next to the cup, lowers it onto the table surface, and releases the lip balm.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 521, "tasks": ["place other"], "length": 191, "global_instruction": "Remove the white pill from the dark mug and place it on the white table.", "scene_description": "A dark blue mug containing a small white pill is placed at the center of a plain white table.", "global_instruction_dense": "The right robotic gripper moves down toward the dark blue mug on the white table, lowers into the mug to grasp the white pill inside, lifts the pill out of the mug, moves it to the right of the mug, and releases it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 522, "tasks": ["place other"], "length": 192, "global_instruction": "Remove the small white pill from the dark blue cup and place it on the white table.", "scene_description": "A dark blue cylindrical cup holding a small white pill sits on a white table, with a robotic gripper positioned above the table.", "global_instruction_dense": "The left robotic gripper moves downward toward the dark blue cup, lowers into the cup to grasp the small white pill, lifts the pill out of the cup, moves it to the side of the cup, and releases it onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 523, "tasks": ["place other"], "length": 146, "global_instruction": "Remove a pill from the dark teal mug and place it on the white table.", "scene_description": "A dark teal mug containing small pills is placed on a white table, with a robotic arm positioned near windows with closed blinds to the left of the table.", "global_instruction_dense": "The right robotic arm moves down toward the dark teal mug on the white table, lowers its gripper into the mug to grasp a pill, lifts the pill out of the mug, moves it next to the mug, and places it on the white table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 524, "tasks": ["place other"], "length": 171, "global_instruction": "Remove the small white tablet from the dark blue mug and place it on the white table.", "scene_description": "A dark blue handled mug containing a small white round tablet sits on a white table, with a right robotic gripper positioned above the table near the window.", "global_instruction_dense": "The right robotic gripper moves downward toward the dark blue mug on the white table, lowers into the mug to grasp the small white tablet, lifts the tablet out of the mug, moves it to the side of the mug, then lowers and releases the tablet onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 525, "tasks": ["place other"], "length": 223, "global_instruction": "Place the green crayon with the other crayons on the white countertop.", "scene_description": "A white countertop adjacent to a window with white blinds has several colored crayons, a green-and-yellow pen holder, two small pink cups, two small yellow cups, two green balls, a black pen, and four small black candle holders near the window edge; a robotic arm is at the top right of the initial frame.", "global_instruction_dense": "The right robotic arm moves toward the area near the small black candle holders on the counter, grasps a green crayon, moves it to the group of existing crayons on the lower counter, and releases it to join the other crayons.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 526, "tasks": ["place other"], "length": 357, "global_instruction": "Place a green crayon from the table into the green pen holder.", "scene_description": "A white table below a window with white horizontal blinds holds scattered multi-colored crayons, two small pink cups, two small yellow cups, and a green pen holder at the back, with a robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves left toward the table, grasps a green crayon from the scattered crayons on the table, lifts the crayon, moves back toward the green pen holder at the back of the table, adjusts the angle of the crayon, inserts it into the pen holder, then releases the crayon and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 527, "tasks": ["place other"], "length": 261, "global_instruction": "Move the small white roll on the kitchen counter to a spot near the striped tissue box.", "scene_description": "A white tiled kitchen counter holds a black analog clock on the far left, a striped gray-blue-white tissue box, a small white cylindrical roll, a white cloth, and a small green item. A person stands in the background doorway, with a robotic arm positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm extends leftward over the kitchen counter, grasps the small white roll, moves it left toward the striped tissue box, lowers it to place it on the counter, releases the roll, then lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 528, "tasks": ["place other"], "length": 235, "global_instruction": "Place the small white shaker into the blue cup on the kitchen counter", "scene_description": "A white tiled kitchen countertop holds a green box, black analog clock, white bowl, small white shaker, white plate with a thin utensil, and blue cup from left to right. An open upper cabinet holds stacked white plates, and two robotic arms are positioned near the counter.", "global_instruction_dense": "The left robotic gripper lowers toward the small white shaker on the counter, grasps and lifts it, moves it over the blue cup, releases the shaker into the cup, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 529, "tasks": ["place other"], "length": 681, "global_instruction": "Place the black slotted strainer on the counter while pushing the orange toy car onto its side.", "scene_description": "A white countertop sits in front of windows showing outdoor trees. On the counter: a black table clamp, a yellow-green tennis ball, a small purple bowl, a small yellow bowl, an upright orange toy car, and a small brown wooden dish, with a white robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward above the counter, attaches a black slotted strainer to its end effector, adjusts the strainer's position, lowers it to push the upright orange toy car onto its side, places the strainer leaning against the overturned car, then lifts its empty gripper upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 530, "tasks": ["place other"], "length": 436, "global_instruction": "Place the horizontally lying black funnel-shaped metal object in an upright position on the countertop.", "scene_description": "A white countertop next to windows holds a horizontally lying black funnel-shaped metal object, an orange toy car with green base, a brown faceted block, two small white cylindrical rolls, a purple bowl and yellow bowl on the windowsill, and a yellow tennis ball at the far left.", "global_instruction_dense": "The left robotic gripper moves down to grasp the horizontally lying black funnel, lifts it, rotates it to upright orientation, places it on the counter, briefly re-grasps and re-positions it upright, then taps the orange toy car before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 531, "tasks": ["place other"], "length": 213, "global_instruction": "Grasp the small green plant from the clear glass, adjust its position, and place it back into the glass.", "scene_description": "A white countertop next to large windows holds a black candlestick, brown faceted wooden block, orange toy car with a green base, and a clear glass with a small green plant, with a robotic arm at the counter's right end.", "global_instruction_dense": "The right robotic arm moves down toward the clear glass on the counter, grasps the small green plant inside it, lifts and adjusts the plant's position, lowers it back into the glass, then releases the plant and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 532, "tasks": ["place other"], "length": 250, "global_instruction": "Pick up the magazine on the sofa armrest and place it onto the table behind the sofa.", "scene_description": "A light gray fabric sofa with a black cylindrical pillow and yellow cushion is in the foreground, a printed magazine rests on the sofa's right armrest, a white robotic arm is positioned to the right of the sofa, and a black monitor, clear water bottle sit on a table behind the sofa next to a window with white blinds.", "global_instruction_dense": "The right robotic arm moves toward the printed magazine on the sofa's right armrest, grasps the magazine with its gripper, lifts it, moves it over the table behind the sofa, lowers and releases the magazine onto the table, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 533, "tasks": ["place other"], "length": 264, "global_instruction": "Pick up the magazine from the sofa armrest and place it on the small table near the dark chair.", "scene_description": "A gray fabric sofa with a yellow cushion, pink cushion, and dark rolled item on its seat, and a paper magazine on its right armrest, sits in front of a window. A white Franka robotic arm is mounted on a stand to the right of the sofa, with a dark chair, monitor, and small table in the background near the window.", "global_instruction_dense": "The right robotic arm moves toward the magazine on the gray sofa's armrest, grasps the magazine, lifts and carries it to the small table near the dark chair, releases the magazine onto the table, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 534, "tasks": ["place other"], "length": 264, "global_instruction": "Grasp the magazine from the sofa arm, lift it, then place it back onto the sofa arm.", "scene_description": "A gray sofa with yellow, pink, and dark blue cushions sits near a bright window. A magazine rests on the sofa's right arm, adjacent to a black monitor, clear water bottle, and dark chair, with a white robotic arm positioned on a wooden table to the right of the sofa.", "global_instruction_dense": "The right robotic arm moves toward the magazine on the gray sofa's arm, grasps it with its gripper, lifts and rotates the magazine, then lowers it back to the sofa arm, releases it, and returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 535, "tasks": ["place other"], "length": 6, "global_instruction": "Move the round red mat to a suitable position on the kitchen counter", "scene_description": "A stainless steel microwave is on the left of a white kitchen counter, a round red mat is on the counter in front of the microwave. A large white basin sits on top of the microwave, a black microphone on an articulated arm and a white door are visible in the background.", "global_instruction_dense": "The robotic arm approaches the round red mat on the counter, grasps it, lifts it, and moves it to the target position on the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 536, "tasks": ["place other"], "length": 377, "global_instruction": "Pick up the magazine from the coffee table and place it on the beige couch.", "scene_description": "A beige couch is in the foreground, a glass coffee table holding a black monitor, a water bottle, a remote control, plastic bags, and a magazine sits behind the couch, wooden chairs and a window with white blinds are in the background, and a robotic arm base is on the right side of the scene.", "global_instruction_dense": "The right robotic arm extends from its base on the right, moves to the coffee table, grasps the magazine, lifts it, carries it to the beige couch, places it on the couch, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 537, "tasks": ["place other"], "length": 222, "global_instruction": "Pick up the illustrated magazine from the sofa and place it onto the glass coffee table", "scene_description": "A light gray sofa is on the left with an illustrated magazine on its edge. A glass coffee table next to the sofa holds a clear water bottle and a black remote control. A black monitor on a silver stand is in front of a window with white blinds, a wooden chair with a blue cushion is right of the table, and a Franka robotic arm base is on the far right.", "global_instruction_dense": "The right robotic arm moves into the scene, lowers to grasp the magazine on the sofa edge, lifts the magazine, moves it over the glass coffee table, lowers and releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 538, "tasks": ["place other"], "length": 208, "global_instruction": "Place the crumpled plastic trash from the coffee table into the silver trash bin near the window.", "scene_description": "A glass coffee table holds a clear water bottle, magazines, and crumpled plastic trash. A silver trash bin sits near the window with white blinds to the table's left, a wooden chair with a blue cushion is behind the table, a brown sofa with a television remote on its arm is in the foreground, and a white Franka robotic arm is positioned to the table's right.", "global_instruction_dense": "The right robotic arm moves down toward the crumpled plastic trash on the glass coffee table, grasps the trash, lifts it, moves it over the silver trash bin near the window, releases the trash into the bin, then lifts away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 539, "tasks": ["place other"], "length": 167, "global_instruction": "Move the black rectangular case from the center of the table to the left side of the table.", "scene_description": "A table near a window with horizontal blinds holds a black rectangular case, a black remote, white cloths, an orange fruit, and a clear glass bottle. A wooden chair rests against the wall to the right of the window, a robotic arm base with green lights is at the far right of the frame, and a children's book lies in the foreground.", "global_instruction_dense": "The right robotic arm extends from the top right of the frame, grasps the black rectangular case at the center of the table, lifts it, moves it leftward, places it on the left side of the table, then retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 540, "tasks": ["place other"], "length": 342, "global_instruction": "Pick up the black tablet from the table, adjust its orientation, then place it back on the table surface.", "scene_description": "A wooden table near louvered windows holds a remote control, a magazine, a black tablet, a clear plastic bottle, small orange objects, and a white cloth. A wooden chair is behind the table, a street with buildings and parked cars is visible outside, and a white robotic arm is partially visible at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the black tablet on the table, grasps it with its gripper, lifts and tilts the tablet to adjust its orientation, lowers it back onto the table, releases the tablet, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 541, "tasks": ["place other"], "length": 474, "global_instruction": "Pick up the black USB flash drive on the white towel and place it into the black tray on the desk.", "scene_description": "A wooden desk has a white towel holding a purple small packet, metal spoon, and black USB flash drive; a black tray is behind the towel, a striped bed is in the background bedroom, and a robotic arm is at the upper right.", "global_instruction_dense": "The right robotic arm moves from the upper right of the scene toward the black USB flash drive on the white towel, grasps the USB, lifts it, moves it left over the black tray, releases the USB into the tray, then moves upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 542, "tasks": ["place other"], "length": 190, "global_instruction": "Pick up the grey fleece from the white shelf and place it onto the dark table left of the shelf.", "scene_description": "A white three-tier shelf stands against a light wall, with a grey fleece draped over its top edge. A dark table is to the left of the shelf with stacked books on it, a light switch is on the wall right of the shelf, and a right robotic arm is near the upper right doorway.", "global_instruction_dense": "The right robotic arm moves from the upper right toward the grey fleece on the white shelf, grasps the fleece, lifts it, moves it leftward over the dark table, releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 543, "tasks": ["place other"], "length": 202, "global_instruction": "Move the blue saucer (with a blue cup on it) from the white plate to the adjacent kitchen countertop.", "scene_description": "A white tiled kitchen countertop holds a large white plate with a blue saucer (holding a blue cup) on top, a floral mug, a black handled small pot, dish soap, and a lemon near the sink with white cabinets above.", "global_instruction_dense": "The right robotic arm moves downward toward the blue saucer holding a blue cup on the white plate, grasps the saucer edge, lifts it, moves it left onto the counter next to the plate, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 544, "tasks": ["place other"], "length": 369, "global_instruction": "Retrieve dark cookware from the open toaster oven and place them onto the white plate on the counter.", "scene_description": "A white kitchen counter holds an open white toaster oven (with a red circular container on its top), a white dish rack to the left of the oven, a red-handled metal spatula, a white plate, green cleaning cloths, a black table clock, and a right robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm grasps the red-handled spatula on the kitchen counter, uses the spatula to retrieve dark cookware from inside the open toaster oven one by one, and places each piece of retrieved cookware onto the white plate on the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 545, "tasks": ["place other"], "length": 254, "global_instruction": "Lift the black clock to tilt the adjacent white plate, then place the clock back on the counter.", "scene_description": "A white kitchen counter has a red container on a white left-side appliance, a black analog clock, two small black cups, a white plate with a green package, two additional green packages, a red-handled utensil, a wooden rolling pin, and a robotic arm to the counter's right.", "global_instruction_dense": "The right robotic arm moves left toward the black countertop clock, grasps it, lifts and shifts it to tilt the nearby white plate holding a green package, then places the clock back on the counter and returns to its initial raised position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 546, "tasks": ["place other"], "length": 816, "global_instruction": "Place the white coffee filter into the coffee maker's upper brew compartment.", "scene_description": "A white drip coffee maker with a glass carafe sits on a light tiled kitchen counter next to a white gas stove. A white coffee filter rests near the coffee maker, a robotic arm is at the upper right, and knives plus a small black pot are on the stove.", "global_instruction_dense": "The right robotic arm moves toward the white coffee filter near the coffee maker, grasps the filter, lifts and positions it over the coffee maker's upper brew basket, inserts the filter into the basket, then retracts its gripper upward away from the coffee maker.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 547, "tasks": ["place other"], "length": 579, "global_instruction": "Pick silverware from the black tray and a small glass container from the table, then place all items onto the white plate.", "scene_description": "A wooden dining table holds a black mug, a small green packet, a white empty plate on a white placemat, and a black tray with assorted silverware; a white multi-drawer dresser and wooden chair are to the left of the table, with a white robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the black silverware tray, grasps individual silverware pieces one by one, moves each over the white plate and releases them, then grasps a small glass container from the table surface, moves it over the plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 548, "tasks": ["place other"], "length": 685, "global_instruction": "Reposition the long black metal bracket on the wooden tabletop", "scene_description": "A wooden dining table holds a long black metal bracket, a white ceramic plate, an open wooden tray, glass cups, and small miscellaneous items, with a robotic arm positioned on the right side above the table.", "global_instruction_dense": "The right robotic arm lowers toward the long black metal bracket on the wooden table, grasps it, repeatedly rotates and adjusts its position across the table surface, then releases it and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 549, "tasks": ["place other"], "length": 397, "global_instruction": "Pick the red mat from the microwave top and place it on the red mat on the kitchen counter.", "scene_description": "A silver microwave sits on a white kitchen counter, with a red circular mat on its top, another red circular mat on the counter in front of it, and a small red bowl next to the microwave, with a robotic arm to the right of the microwave.", "global_instruction_dense": "The right robotic arm moves toward the red mat on top of the microwave, grasps its edge, lifts it, moves it down to the red mat on the counter, places it stacked on top of that mat, then releases the gripper and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 550, "tasks": ["place other"], "length": 647, "global_instruction": "Place the red silicone mat from the kitchen counter onto the red pan atop the microwave.", "scene_description": "White upper cabinets are above a silver microwave on a white kitchen counter. A large red silicone mat rests on the counter in front of the microwave, a small red bowl sits next to the microwave, a red pizza pan is on top of the microwave, and a robotic arm is on the right side of the scene.", "global_instruction_dense": "The right robotic gripper moves toward the large red silicone mat on the kitchen counter, grasps its edge, lifts the mat, carries it over the microwave, lowers and adjusts it to lay flat on the red pizza pan atop the microwave, then releases the mat and retracts.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 551, "tasks": ["place other"], "length": 183, "global_instruction": "Pick up the silver shaker on the table and place it next to the green container.", "scene_description": "A table with a blue lemon-patterned tablecloth is in the center, holding a water bottle, a plate with a red object, silver aluminum cans, a small frying pan, a silver shaker, a coffee maker, and wooden utensils, with a robotic arm at the right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the silver shaker on the right part of the table, grasps it, lifts and moves it leftward to the area next to the green container, lowers it, releases it onto the table, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 552, "tasks": ["place other"], "length": 461, "global_instruction": "Take a silver spice shaker from the light green cloth basket and place it upright on the patterned table.", "scene_description": "A kitchen table with a blue and yellow leaf-patterned tablecloth holds a light green cloth basket, a brown carton, two silver cans, a clear water bottle, a white plate with a red bowl on it, a white coffee maker, a small silver spice shaker, a small pan with a black handle, and a wooden spoon. A white robotic arm is positioned at the top right, two yellow chairs are behind the table, and windows with floral curtains and two framed pictures are on the wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the light green cloth basket on the table, opens its gripper to grasp the silver spice shaker inside the basket, adjusts its grip on the shaker, lifts it out of the basket, moves it over the table, lowers it into an upright position next to another silver spice shaker on the table, releases the shaker, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 553, "tasks": ["place other"], "length": 218, "global_instruction": "Move the robotic arm end effector from its initial raised position to the lower left workbench area.", "scene_description": "A white Franka Emika robotic arm is mounted on a wooden workbench to the right, a gray tower fan stands in the center foreground, a wooden chair with a blue cushion is on the left, and a white door with an arched window is at the back, with yellow posts holding black-yellow caution tape in front of the door.", "global_instruction_dense": "The right robotic arm moves its end effector downward and leftward from its initial raised upper position, lowers it to the lower left area of the workbench, makes small position adjustments, and stops in the final position with its base green indicator lights turning off.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 554, "tasks": ["place other"], "length": 404, "global_instruction": "Throw the two seasoning shakers from the coffee maker into the trash bin, then close the trash bin lid.", "scene_description": "A table covered in a lemon-patterned tablecloth holds a white coffee maker with a silver seasoning shaker and a brown seasoning shaker on top, an open green trash bin behind the coffee maker, a white plate with a red bowl, two silver soda cans, a clear water bottle, and a carton. Floral-curtained windows and framed art hang on the wall behind the table, and a right robotic gripper is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic gripper grasps the brown seasoning shaker atop the coffee maker, moves it over the open green trash bin and drops it inside, then grasps the silver seasoning shaker atop the coffee maker, moves it over the trash bin and drops it inside, then closes the green trash bin lid before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 555, "tasks": ["place other"], "length": 312, "global_instruction": "Place a silver foil pack from the table into the open trash bin, then close the trash bin's green lid.", "scene_description": "A kitchen table covered with a blue tablecloth printed with yellow lemons and green leaves holds a white drip coffee maker, two silver beverage cans, a white bowl with a red inner dish, a white trash bin with an open green lid, several silver and copper cylindrical objects, a light tan carton, and small miscellaneous items. A right robotic arm is positioned above the right section of the table. The background has three windows with floral curtains, two framed artworks on the gray wall, and two yellow patterned chairs behind the table.", "global_instruction_dense": "The right robotic arm moves toward the silver foil pack on the table, grasps it, lifts and moves it over the open trash bin to release it inside, then moves to the green trash bin lid, grasps it, and lowers it to close the trash bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 556, "tasks": ["place other"], "length": 494, "global_instruction": "Place the brown pastry on the table into the light green trash bin and close the trash bin lid.", "scene_description": "A table covered in a lemon-patterned tablecloth holds a white drip coffee maker, a light green open-lidded trash bin, a brown pastry, a white paper sheet, drink cans, and other small items, with a right-side robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm descends to grasp the white paper sheet on the table, wraps the paper around the brown pastry, lifts the wrapped pastry, moves it over the open light green trash bin, drops the pastry into the bin, pushes the trash bin's green lid closed, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 557, "tasks": ["place other"], "length": 235, "global_instruction": "Place the black coffee filter holder onto the white stand of the glass coffee carafe.", "scene_description": "A white tiled kitchen counter with a double sink, floral curtains above the sink, a blue cloth, white paper towel roll, purple dish soap bottle, glass coffee carafe with a white stand, green sponge, metal pan on a gray mat, and a robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black coffee filter holder, grasps it, lifts it, moves it left to the glass coffee carafe's white stand, lowers the holder onto the stand, and releases it before moving slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 558, "tasks": ["place other"], "length": 537, "global_instruction": "Place the black pour-over coffee dripper onto the clear glass coffee carafe.", "scene_description": "A white tiled kitchen counter holds a double sink, a metal pan in front of the sink, a small black bowl with a green sponge next to the pan, a black pour-over coffee dripper on a stand next to a clear glass carafe to the sink's left, a purple soap bottle beside the dripper, a blue cloth on the far left, white cabinets above and below the counter, floral curtains over the sink window, and a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves leftward from its starting position over the counter toward the coffee dripper, adjusts its position to align with the dripper, grasps the dripper, lowers and seats it properly onto the clear glass carafe, then releases the dripper and moves slightly away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 559, "tasks": ["place other"], "length": 161, "global_instruction": "Place a white coffee filter onto the black keyboard on the wooden desk.", "scene_description": "A wooden desk has an open white small oven on its left, a black keyboard at the center, a brown hat, stacked white coffee filters and other small items at the back. A white Franka robotic arm is mounted on the right edge of the desk, with a living room with a grey sofa visible in the far background.", "global_instruction_dense": "The right robotic arm moves left toward the white coffee filter at the back of the desk, grasps it with its gripper, lifts it, moves it over the black keyboard, and releases it to rest on the keyboard.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 560, "tasks": ["place other"], "length": 995, "global_instruction": "Place the red-and-black peeler from the kitchen counter into the open utensil drawer.", "scene_description": "A white tiled kitchen counter holds a red container, white clothes hanger, green-labeled toothpaste tube, black utensils, a red-and-black peeler, silver fork, green cloth, white paper towel roll, black analog clock, and green-lidded plastic container. An open drawer with assorted utensils sits below the counter, and a white robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right white robotic arm moves toward the red-and-black peeler on the kitchen counter, grasps it, lifts it, moves it over the open lower utensil drawer, lowers it into the drawer, releases it, adjusts the positions of nearby items, then moves back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 561, "tasks": ["place other"], "length": 1059, "global_instruction": "Unfold the folded black tripod and place it on the wooden desk.", "scene_description": "A wooden desk holds a black keyboard, a white printer-like device on the left, a beige circular donut-shaped container in the center, a folded black tripod leaning against the white device, and miscellaneous small items in the background, with a fixed white robotic arm on the right side of the desk and a movable left robotic arm above the desk.", "global_instruction_dense": "The left robotic arm moves toward the folded black tripod leaning against the white device on the left of the wooden desk, grasps the tripod, lifts it, unfolds its legs, adjusts its position across the desk surface, and places the fully assembled tripod on the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 562, "tasks": ["place other"], "length": 698, "global_instruction": "Adjust the position of the metal bracket adjacent to the white printer on the wooden table.", "scene_description": "A dark brown wooden table has a black keyboard at its lower left, a white printer on the left edge, a beige hollow round woven object in the center, and small dishware items along its far edge; a white Franka robotic arm is mounted on a wooden workbench to the right of the table, with green indicator lights at its base, and the arm's end effector is initially out of view.", "global_instruction_dense": "The right robotic arm mounted on the right workbench extends its end effector leftward over the table, lowers to grasp the metal bracket next to the white printer, repeatedly adjusts the bracket's position, then releases it, lifts the end effector, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 563, "tasks": ["place other"], "length": 364, "global_instruction": "Place the metal cooling rack from the wooden table onto the white microwave.", "scene_description": "A wooden table holds a white microwave, metal cooling rack, black keyboard, straw hat, white VR headsets, and small tools, with a white Franka robotic arm base on a side table to the right.", "global_instruction_dense": "The right robotic gripper extends toward the metal cooling rack on the wooden table, grasps it, lifts it, moves it over the white microwave, lowers it, and releases it onto the microwave surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 564, "tasks": ["place other"], "length": 670, "global_instruction": "Place the small white hook from the stove onto the white clothes hanger under the cabinets.", "scene_description": "Light gray wall cabinets are above a white tiled kitchen countertop and gas stove. A white clothes hanger hangs from two cabinet knobs. On the counter: a white mug with blue floral prints, clear plastic water bottle, striped napkin holder, small black cup, and green cloth. A blue folded cloth sits on the stove burners, a dark green kettle rests on the far right of the stove, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves down to the blue cloth on the stove, adjusts the cloth to grasp the small white hook beneath it, lifts the hook, moves left toward the white hanger hanging from the cabinet knobs, positions the hook to attach to the hanger, then moves away from the hanger toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 565, "tasks": ["place other"], "length": 369, "global_instruction": "Hang a white metal rack on the knob of the upper white cabinet door.", "scene_description": "A white tiled kitchen counter adjacent to a white gas stove holds a small black pan, white mug, striped tissue holder, clear plastic water bottle, and green-and-white cleaning cloth; white upper cabinets are above the counter, a white refrigerator is on the right, and a white robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm grasps a white metal rack from the gas stove, lifts it, moves it upward to the upper white cabinet door, hangs the rack on the cabinet's metal knob, then releases the rack and moves back toward the stove.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 566, "tasks": ["place other"], "length": 386, "global_instruction": "Place clear rulers from the glass shelf onto the left side of the wooden table.", "scene_description": "A wooden table holds a crumpled white cloth, a white ruler, and a green ruler on its surface, with a keyboard at the left edge of the table. A glass shelf with assorted items sits behind the table, a moveable left robotic arm is above the shelf, and a stationary right robotic arm with a glowing green base is to the right of the table, with a living room in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves to the glass shelf behind the table, grasps a clear ruler, transports it to the left side of the wooden table, and releases the ruler onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 567, "tasks": ["place other"], "length": 214, "global_instruction": "Flip photos from the stack next to the keyboard and place them on the table left of the red bowl.", "scene_description": "A brown table holds a lit black keyboard on a white base to the left, a red bowl at the center, a green long strip to the bowl's right, and a white robotic arm with green lights on the right table edge; a stack of photos sits next to the keyboard, with a dim room with windows in the background.", "global_instruction_dense": "The left robotic arm moves toward the stack of photos beside the lit keyboard, grasps and flips a photo, places it on the table left of the red bowl, repeats the grasp, flip and place action for a second photo, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 568, "tasks": ["place other"], "length": 181, "global_instruction": "Pick up the plastic sheet on the middle of the work table and place it next to the backlit keyboard.", "scene_description": "A brown work table has a glowing backlit keyboard on its left side, a white robotic arm with a green-lit base on its right side, a left robotic arm positioned at the upper middle of the frame, and scattered small items including white cloths and containers on the table surface, with windows in the far background.", "global_instruction_dense": "The left robotic arm moves downward toward the plastic sheet on the middle of the work table, grasps it with its gripper, lifts the sheet, moves it left to the area beside the backlit keyboard, lowers and places the sheet there, releases its grip, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 569, "tasks": ["place other"], "length": 438, "global_instruction": "Pick up the orange-handled slotted turner and place it upright on the wooden table.", "scene_description": "A wooden table holds an open white microwave with a black mug on its top, a grey vertical stand with a black top left of the microwave, a red bowl, silver computer mouse, black keyboard, orange-handled slotted turner, white cloth, and scissors in the foreground; a doorway leading to a dim living area is in the background, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves from the background doorway toward the orange-handled slotted turner lying flat on the wooden table, grasps the turner, lifts and rotates it to an upright position, lowers it onto the table to stand stably, releases the turner, then moves back toward the background.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 570, "tasks": ["place other"], "length": 635, "global_instruction": "Move the black square baking pan to the front-left stove burner, then move the lidded silver pot to the front-right stove burner.", "scene_description": "A kitchen gas stove has a black square baking pan on the front-right burner, a silver pot with a loose lid on the rear-right burner, a wooden knife block with knives at the rear of the stove, a white tiled backsplash with a power outlet on the left, and cloths on the left counter beside the stove, with a robotic arm positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves down to grasp the black square baking pan on the front-right stove burner, lifts and moves it to place it on the front-left burner, then moves to the silver pot on the rear-right burner, adjusts to secure the pot's lid, grasps the lidded pot, lifts and moves it to place it on the now empty front-right burner, then lifts away and returns to its initial upper-right position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 571, "tasks": ["place other"], "length": 213, "global_instruction": "Pick up a white VR controller and place it on the tan table cloth.", "scene_description": "A wooden table is partially covered with a tan cloth. On the cloth, there are a black keyboard, two white VR controllers, and a small black case. On the exposed wooden surface, there are a pink-and-white striped cloth, a yellow tennis ball, a purple mug, a small red bowl, blue tape, a white paper tray, a green tube, and a silver frame with a hanging blue ball. A white cabinet with glass doors and drawers sits by a window in the background, with a robotic arm at the right frame edge.", "global_instruction_dense": "The right robotic arm moves from the right table edge toward the white VR controller on the tan cloth, grasps it with its gripper, lifts and moves it slightly across the cloth, lowers it, releases it onto the cloth, then moves away from the placed controller.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 572, "tasks": ["place other"], "length": 217, "global_instruction": "Pick up the white ring-shaped VR controller near the keyboard and place it next to the other white VR controller on the tan towel.", "scene_description": "A brown table holds a black keyboard on a tan towel, a white ring-shaped VR controller near the keyboard top, another white VR controller at the towel lower edge, a green tennis ball, striped cloth, red bowl, purple mug, and small tools. A robotic gripper is above the table right side, with white cabinets and a sink in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the white ring-shaped VR controller near the keyboard, grasps it, lifts it, moves left to the area next to the other white VR controller on the tan towel, releases it, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 573, "tasks": ["place other"], "length": 449, "global_instruction": "Pick up the white VR controller on the towel and place it next to the two white controller cradles on the towel.", "scene_description": "A wooden table is partially covered with a light brown towel. On the towel: a black keyboard, a white VR controller at the lower left of the keyboard, a black square case, a small green tennis ball, two white ring-shaped controller cradles at the right of the keyboard. On the uncovered wooden section of the table: a pink-and-white striped cloth, a roll of white paper, a dark purple mug, a small red bowl, a roll of blue tape, a green long strip object, a white paper bowl, and small miscellaneous items. A white right robotic arm is positioned at the upper right of the frame, with white cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the white VR controller on the light brown towel near the keyboard, grasps the controller, lifts it, moves it rightward toward the two white ring-shaped controller cradles, lowers and releases the controller to place it next to the two existing cradles, then retracts away from the placed controller.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 574, "tasks": ["place other"], "length": 501, "global_instruction": "Rearrange the white U-shaped controller and small clear bottle on the cluttered wooden table.", "scene_description": "A cluttered wooden table holds a black keyboard, black computer mouse, red plastic bowl, white over-ear headphones, pink-and-white striped cloth, green packaged item, yellow tennis ball, small metallic parts, and a white U-shaped controller near a roll of blue tape. A white toaster oven sits at the left rear of the table, with white cabinets, a striped cushion wooden chair, and windows behind the table. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters from the top right, grasps the white U-shaped controller near the blue tape, moves it left to place it next to the white over-ear headphones, then grasps the small clear plastic bottle, moves it right, and places it on the beige cloth covering part of the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 575, "tasks": ["place other"], "length": 621, "global_instruction": "Position the red funnel on the clear glass, move the green object aside, then place the white coffee filter into the red funnel.", "scene_description": "A wooden tabletop holds a red plastic funnel, green flat object, white coffee filter, dark brown mug, small black pan, white headphones, yellow tennis ball, blue tape roll, black keyboard, and assorted small items, with a white toaster oven and white cabinetry in the background.", "global_instruction_dense": "The right robotic arm first grasps the red funnel on the table, lifts and moves it to rest on top of the clear glass on the table, then grasps the green flat object next to the funnel, moves and drops it to the left side of the table, then grasps the white coffee filter, moves it over the red funnel, and releases it to place it inside the funnel.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 576, "tasks": ["place other"], "length": 393, "global_instruction": "Remove a cylindrical metal part from the gray table fixture, place it at the rear of the table, and grasp a new small cylindrical part.", "scene_description": "A wooden table holds a black keyboard, black electronic device, green packaged item, pink striped cloth, white over-ear headphones, blank white paper, a vertical gray metal fixture centered on the table, a book, red bowl with a white paper liner, metal spoon, small black cup, and assorted small items including a yellow tennis ball at the table rear. A white robotic arm is in the upper right, a white toaster oven sits against the back wall next to a white multi-drawer cabinet.", "global_instruction_dense": "The right robotic arm moves leftward and lowers to the gray metal fixture on the table, grasps a cylindrical metal part from the fixture, lifts it, moves it to the rear of the table, releases it onto the table, then grasps another small cylindrical object from the table and lifts it upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 577, "tasks": ["place other"], "length": 858, "global_instruction": "Place the white photo frame upright between the pair of blue-silver sneakers on the desk.", "scene_description": "A wooden desk holds an orange tape roll, a white hanger, a pair of blue-silver sneakers, an orange toy car, a small black item, a small silver item, and a flat white photo frame. A framed picture hangs on the wall above the desk, a checkered bed is to the right, and a robotic arm is positioned at the upper right of the desk.", "global_instruction_dense": "The right robotic arm moves toward the flat white photo frame on the wooden desk, adjusts its position to grasp the frame, rotates the frame to an upright orientation, moves it to the gap between the two blue-silver sneakers, lowers it into place, and releases it before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 578, "tasks": ["place other"], "length": 237, "global_instruction": "Pick up the photo frame from the upper desk shelf and place it on the lower desk surface.", "scene_description": "A wooden desk with an open yellow Crayola box, white hanger, remote on a book, black mouse, yellow tennis ball, papers, and small orange toy is shown. A wooden chair sits in front of the desk, a bed is on the right, and a photo frame rests on the desk's upper shelf.", "global_instruction_dense": "The right robotic arm moves toward the photo frame on the upper wooden desk shelf, grasps it, lowers it onto the lower desk surface, releases it, then lifts away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 579, "tasks": ["place other"], "length": 586, "global_instruction": "Place an orange crayon from the desk's white paper into the open crayon box", "scene_description": "A wooden desk holds a light yellow wide-brimmed hat, an open box of colorful crayons, stacked books, a small orange toy car, and a red round object resting on white paper. A white robotic arm is positioned to the right of the desk, with a bed and hallway visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the orange crayon on the desk's white paper, grasps it, lifts it, moves it leftward above the open crayon box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 580, "tasks": ["place other"], "length": 615, "global_instruction": "Pick each item sequentially from the top of the left stack and place them on the table.", "scene_description": "A dark brown table holds a stack of four items on its left: from bottom to top, a striped brown-white tissue box, a black-white checkered tissue box, a beige book, and a gray sneaker with blue accents. A white robotic arm is on the right of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the gray sneaker, beige book, black-white checkered tissue box, and striped tissue box from the top of the left stack, lifts each item, moves it to a spot on the table, and releases it to place it down, with the striped box placed on top of the checkered box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 581, "tasks": ["place other"], "length": 409, "global_instruction": "Place the standing dark blue connect four grid flat onto the wooden table.", "scene_description": "A light brown wooden table holds a standing dark blue connect four grid, a silver stapler, yellow and red round game tokens, a white paper cup, and a long white paper strip next to a window with closed white blinds, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the standing dark blue connect four grid on the table, grasps its upper edge, lifts and rotates it to a horizontal orientation, lowers it to lay flat on the table, then releases the grid and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 582, "tasks": ["place other"], "length": 474, "global_instruction": "Stand the flat dark blue Connect 4 board upright on the table.", "scene_description": "A light wooden table holds a flat dark blue Connect 4 board on its left, yellow, red, and black round game chips, a beige stapler, a white paper cup, and a long white strip to the board's right, with a white robotic arm at the upper right near a window with closed white blinds.", "global_instruction_dense": "The right robotic arm moves toward the flat dark blue Connect 4 board on the left of the table, grasps it, lifts and rotates it to a vertical upright position, places it on the table near the game chips, releases it, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 583, "tasks": ["place other"], "length": 947, "global_instruction": "Take laundry sheets from the smaller orange package and place them into the washing machine.", "scene_description": "A light green cup with a red-topped object sits on a left white washing machine, an orange Tide detergent box and a smaller orange package rest on a right white washing machine, a robotic arm is on the right side, with windows showing outdoor greenery in the background.", "global_instruction_dense": "The right robotic arm first grips and tilts the orange Tide detergent box to open its top, then opens the smaller orange laundry sheet package, repeatedly grasps individual white laundry sheets from the smaller package, and drops each sheet into the washing machine.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 584, "tasks": ["place other"], "length": 186, "global_instruction": "Pick up the long white strip on the table and place it behind the blue rack on the table.", "scene_description": "A wooden table holds a long white strip, a blue perforated rack, a white cloth bag, a dark-covered book, and a white spotted cup. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the long white strip on the wooden table, grasps it, lifts it, moves it leftward to the area behind the blue perforated rack, lowers it, releases it to rest behind the rack, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 585, "tasks": ["place other"], "length": 358, "global_instruction": "Lift the blue Connect Four grid to empty its tokens onto the table, then place the grid back on the table surface.", "scene_description": "A light wooden table holds a blue perforated Connect Four grid, a white patterned paper cup, an open illustrated book, a white napkin, yellow and red circular tokens, two metal spoons, and a white rectangular stand. A white chair with a fuzzy white cover sits in front of the table, a window with white horizontal blinds is behind the table, and a black desk lamp is mounted to the left of the window.", "global_instruction_dense": "The right robotic arm moves toward the blue Connect Four grid on the table, grasps and lifts it, shakes the grid to release its embedded yellow and red tokens onto the table, then lowers the grid back to the table and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 586, "tasks": ["place other"], "length": 853, "global_instruction": "Place the scattered red and yellow game chips on the table into the white paper cup", "scene_description": "A light brown wooden table is positioned in front of a window with white blinds. On the table: a blue vertical Connect 4 game stand near the window, scattered red and yellow round game chips, a white book with an illustrated cover, a folded white napkin, several metal spoons, a sideways white dotted paper cup, and a yellow banana near the window. A white chair with a fluffy white seat cover sits in front of the table, a black adjustable desk lamp is mounted on the left wall above the table, and a white robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm first moves toward the sideways white paper cup on the table, grasps it and adjusts it to stand upright on the table, then moves to a scattered yellow game chip, picks up the yellow chip, moves it to the upright cup and drops it inside, then moves to a scattered red game chip, picks up the red chip, moves it to the cup and drops it inside.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 587, "tasks": ["place other"], "length": 427, "global_instruction": "Reorient the blue Connect 4 board to stand vertically on the table, then push over and move the white speckled cup left across the table.", "scene_description": "A wooden table in front of a window with white blinds holds a blue Connect 4 game board facing the camera, a white speckled cup, red and yellow game discs, a book, paper napkins, metal spoons, with a white chair (draped in a white towel) beside it and lab equipment on the table's right side.", "global_instruction_dense": "The right robotic arm enters from the top right, grasps the blue Connect 4 board, lifts and reorients it to stand vertically on its edge on the table, then moves to the white speckled cup, pushes it over, and slides it to the left side of the table near the window.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 588, "tasks": ["place other"], "length": 356, "global_instruction": "Place the flat blue connect 4 grid upright on the table.", "scene_description": "A light wooden table by a window with white blinds holds a flat blue connect 4 grid, yellow banana plush, white cloth, printed book, metal spoon, and stapler, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the flat blue connect 4 grid on the table, grasps its edge, lifts and rotates it 90 degrees to vertical, places it upright on the table, then releases the grid and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 589, "tasks": ["place other"], "length": 250, "global_instruction": "Pick up the gray rectangular strip from the table and place it onto the small white cloth on the table", "scene_description": "A wooden table is near a window with white blinds. On the table, there is a banana on a folded gray towel, a white patterned cup, a black-and-white coloring sheet, red, yellow, black small circular buttons, multiple white cloths, a metal spoon, a blue bottle, a small metal thimble, and a gray rectangular strip. To the right of the table, a white coat rack holds a beige shirt on a wooden hanger, and a white robotic arm is at the far right.", "global_instruction_dense": "The right robotic arm moves from the far right toward the wooden table, grasps the gray rectangular strip on the table, lifts it, moves it over the small white cloth on the table, and places it onto the white cloth.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 590, "tasks": ["place other"], "length": 271, "global_instruction": "Place white square tiles from the yellow bowl onto the pile of white tiles on the black table.", "scene_description": "A black table holds a yellow bowl, a white paper cup, a metal fork, and a small pile of white square tiles. A white robotic arm is positioned to the right of the table, with orange seating to the left of the table, and white chairs near a window in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow bowl on the black table, repeatedly grasps white tiles from the bowl, transports them to the pile of white tiles on the table, and releases them onto the pile.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 591, "tasks": ["place other"], "length": 532, "global_instruction": "Place the small white tiles on the black table into the paper cup.", "scene_description": "A black table sits beside orange upholstered seating and a right white robotic arm. On the table are a yellow banana, a light patterned paper cup, and multiple small white square tiles near the cup.", "global_instruction_dense": "The right robotic arm repeatedly grasps individual small white tiles from the black table, lifts each tile, moves it over the paper cup on the table, and releases the tile into the cup to collect the tiles.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 592, "tasks": ["place other"], "length": 153, "global_instruction": "Move the white slotted colander to the left side of the wooden table", "scene_description": "A light brown wooden table next to a window with white horizontal blinds holds a white slotted colander filled with letter blocks, multiple white cloths, a floral cutout stencil, small black circular items, and papers. A robotic gripper is positioned above the right side of the table, with a metal shelf and black-yellow warning tape in the background.", "global_instruction_dense": "The left robotic gripper lowers toward the white slotted colander on the right of the wooden table, grasps its edge, lifts it, moves it leftward across the table, sets it down on the left side, releases the edge, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 593, "tasks": ["place other"], "length": 266, "global_instruction": "Place a white flexible hose onto the sink edge and move the left robotic arm toward the sink faucet.", "scene_description": "A white kitchen sink with a clear plastic bottle inside, a chrome wall-mounted faucet above the sink, a window with blinds above the faucet, a left robotic arm at the top of the frame, and a stationary white right robotic gripper on the right side.", "global_instruction_dense": "The left robotic arm first moves upward out of view, retrieves a white flexible hose, lowers it to place the hose on the kitchen sink edge, then moves toward the chrome sink faucet.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 594, "tasks": ["place other"], "length": 270, "global_instruction": "Move the white plastic colander to the left side of the table closer to the window.", "scene_description": "A wooden table next to a window with horizontal blinds holds a white plastic colander, a black remote control, a yellow cleaning pad, a coiled metal chain, a white cloth, and a striped notepad. The colander is near the window on the left section of the table.", "global_instruction_dense": "The right robotic arm moves toward the white colander on the table, grasps it with its gripper, lifts the colander, moves it leftward near the window, lowers it, and releases it to place it in the new position on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 595, "tasks": ["place other"], "length": 474, "global_instruction": "Pick up scattered coins from the table and place them into the yellow container", "scene_description": "A light wooden table next to a window with white blinds holds a large white bowl with a black-handled ladle inside, an open yellow container, scattered small coins, papers, white cloths, and a brown paper bag, with a robotic arm at the upper right of the table.", "global_instruction_dense": "The Right robotic arm repeatedly moves to scattered coins on the table, grasps each coin, moves over the yellow container, and releases the coin into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 596, "tasks": ["place other"], "length": 316, "global_instruction": "Place the small white cylindrical roll into the clear glass on the kitchen countertop.", "scene_description": "A clear glass, small white cylindrical roll, and small items are on a white kitchen countertop. A white microwave sits under open wall cabinets, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small white cylindrical roll on the counter, grasps it, lifts and moves it over the clear glass, releases the roll into the glass, then moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 597, "tasks": ["place other"], "length": 367, "global_instruction": "Reposition the small white countertop appliance on the sink counter near the faucet.", "scene_description": "A kitchen sink counter with a white sink below a window with white horizontal blinds. A silver faucet is mounted above the sink, with an orange-labeled soap dispenser, a white soap dispenser, a metal dish rack, and a wall-mounted white paper towel roll to its right. A Franka Emika robotic arm is positioned above the dish rack on the right.", "global_instruction_dense": "The right robotic arm moves toward the small white countertop appliance, grasps and lifts it, moves it across the area above the sink, then moves it back to the faucet area and places it onto the sink counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 598, "tasks": ["place other"], "length": 222, "global_instruction": "Move the large white colander to a new position on the wooden table.", "scene_description": "A light wooden table has a large white colander on its left, a white ceramic mug, a yellow pouch of wooden letter tiles, a small light blue bowl, silver utensils, scattered square letter tiles, and a decorative metal frame next to white horizontal blinds, with a door in the background right.", "global_instruction_dense": "The left robotic arm moves toward the large white colander on the left of the table, grasps its edge, lifts it, moves it slightly right to a new table position, lowers it, releases it, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 599, "tasks": ["place other"], "length": 137, "global_instruction": "Move the white colander from the left edge of the table to the center of the table", "scene_description": "A wooden table holds a large white colander on its left edge, a black remote, yellow banana-shaped pouch, scattered white letter tiles, small blue bowl, white mug, metal knife and fork, and papers near a large window; a door with black-yellow caution tape sits to the right of the window.", "global_instruction_dense": "The right robotic arm descends from above the table, moves left to grasp the white colander at the table's left edge, lifts it, moves it right to the table center, and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 600, "tasks": ["place other"], "length": 454, "global_instruction": "Stand the flat blue Connect Four game board upright on the wooden table.", "scene_description": "A wooden table holds a flat blue Connect Four game board, a gray marker, a wooden mallet, a stapler, letter tiles, and colored discs. A white chair is behind the table, a window with blinds is to the left, a TV on a white shelf is to the right, and a robotic arm is positioned above the table's right side.", "global_instruction_dense": "The right robotic arm moves down to grasp the flat blue Connect Four board on the table, lifts and rotates it to an upright orientation, sets it stably on the table, releases it, briefly adjusts its position, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 601, "tasks": ["place other"], "length": 380, "global_instruction": "Rearrange the stainless steel pot and black frying pan to different burners on the gas stove.", "scene_description": "A white gas stove holds a black nonstick frying pan on its left front burner, a stainless steel pot with a spoon inside on its front middle burner, and a silver kettle on its back right burner. A robotic arm is positioned to the right of the stove in a kitchen with white cabinetry and a wooden floor.", "global_instruction_dense": "The right robotic arm grasps the stainless steel pot on the front middle burner, lifts it, places it on the right rear burner next to the silver kettle, then moves to grasp the black frying pan on the left front burner, lifts it, places it on the left rear burner, then releases the pan and moves away from the stove.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 602, "tasks": ["place other"], "length": 420, "global_instruction": "Move the small stainless steel pot and black frying pan to new positions on the kitchen stovetop.", "scene_description": "A white refrigerator stands to the left of a white gas stovetop. The stovetop has a small stainless steel pot on the front left burner, a silver kettle on the back right burner, a black frying pan on the back left burner, and an empty front right burner. A robotic arm is positioned above the front right burner.", "global_instruction_dense": "The right robotic arm first moves to the small stainless steel pot on the front left stovetop burner, grasps and lifts it, moves it to the empty front right burner and places it down, then moves to the black frying pan on the back left burner, grasps and lifts it, moves it to the now-empty front left burner and places it down.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 603, "tasks": ["place other"], "length": 259, "global_instruction": "Place the black gas burner grate over the stainless steel bowl on the stovetop.", "scene_description": "Three metal spice racks holding assorted spice jars are mounted on a white paneled kitchen wall above a white gas stovetop. A stainless steel bowl, a small spice bottle, and a black gas burner grate are placed on the stovetop, with a robotic arm positioned on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the black gas burner grate on the stovetop, grasps the grate, lifts it, moves it over the stainless steel bowl on the stovetop, lowers it to position the grate over the bowl, then releases the grate and retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 604, "tasks": ["place other"], "length": 337, "global_instruction": "Reposition the front gas stove burner grate holding the blue cloth on the stovetop.", "scene_description": "Three tiered metal spice racks filled with assorted spice jars are mounted on a pale wood-panelled wall above a white gas stove, a blue cloth rests on the stove's front burner grate, and a white robotic arm is positioned to the right of the stove.", "global_instruction_dense": "The right robotic arm moves downward toward the front burner grate of the white stove, grasps the grate holding the blue cloth, lifts and shifts it to a new position on the stovetop, then releases the grate and moves slightly away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 605, "tasks": ["place other"], "length": 328, "global_instruction": "Adjust the position of the black stove burner grate on the white stovetop.", "scene_description": "A kitchen with white paneled walls, three wall-mounted metal spice racks holding various spice jars, hanging pans above the racks, a white stove with a metal bowl topped with a purple lid on its surface, and a white robotic arm positioned on the right near a window with white blinds.", "global_instruction_dense": "The right robotic arm moves left toward the white stove, grasps the black burner grate, lifts and rotates it to adjust its position, then places it back onto the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 606, "tasks": ["place other"], "length": 502, "global_instruction": "Place the blue cloth into the metal bowl and set the stove grate onto the gas stove.", "scene_description": "A kitchen with a white gas stove, a metal bowl holding a purple container sits on the stove, a blue cloth rests on the right stove edge, hanging cookware and wall-mounted spice racks are on the back wall, and a right robotic arm is positioned above the stove near the bowl.", "global_instruction_dense": "The right robotic arm moves toward the blue cloth on the stove edge, grasps and lifts it, moves it over the metal bowl and releases it into the bowl, then moves to the nearby stove grate, grasps and lifts it, moves it over the stove burners, and places it in position on the stove.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 607, "tasks": ["place other"], "length": 295, "global_instruction": "Throw a piece of trash into the green-lidded trash bin and close the bin's lid.", "scene_description": "A light wooden worktable holds a white trash bin with an open green lid (lined with clear plastic) at its center. To the bin's left is a smaller dark wood side table holding a red Coca-Cola can, black insulated tumbler, and small packaged items. A right robotic arm is positioned to the right of the trash bin.", "global_instruction_dense": "The right robotic arm grasps a piece of trash, moves it over the open green-lidded trash bin, releases the trash into the bin, then pushes the bin's green lid closed before retracting.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 608, "tasks": ["place other"], "length": 373, "global_instruction": "Pick up a metal grater from under the table and place it on the wooden kitchen table", "scene_description": "A light wooden kitchen table on the left holds a blue checkered cloth, a gray spatula, black-handled tongs, a black-handled knife, and a wooden cutting board. A white bucket with a green lid sits behind the table, stacked containers are on a rear shelf, and a white robotic arm is on the right.", "global_instruction_dense": "The left robotic gripper lowers into the storage space under the table, grasps a silver metal grater, lifts it upward, moves it over the wooden table, and places it on the table surface near the tongs.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 609, "tasks": ["place other"], "length": 233, "global_instruction": "Pick up the black rake-shaped kitchen utensil and place it on the wooden kitchen counter.", "scene_description": "A light wooden kitchen counter holds multiple kitchen utensils including knives, spatulas, and a blue cloth, a white bucket with a green lid sits at the back of the counter, a right robotic arm is positioned on the right above an open drawer with green and striped cloths inside, and metal containers are placed on a rear shelf near a dark door.", "global_instruction_dense": "The right robotic arm moves downward into the open drawer, grasps the black rake-shaped kitchen utensil, lifts it, moves it leftward over the wooden counter, then lowers the utensil and places it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 610, "tasks": ["place other"], "length": 297, "global_instruction": "Pick the black and silver tong from the wall hook and hang it back on the same hook.", "scene_description": "A black and silver food tong hangs on a hook attached to a light yellow wall. To the right of the wall is a white refrigerator, below the hook is a white surface holding a gray glove and a blue cloth, a robotic arm is positioned to the right of the tong, and a kitchen stove is visible in the far background.", "global_instruction_dense": "The right robotic arm moves toward the black and silver tong hanging on the wall hook, grasps it, lifts it off the hook, adjusts its position, hangs it back onto the same hook, then releases the tong and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 611, "tasks": ["place other"], "length": 202, "global_instruction": "Pick up the sink drain strainer and place it back into the kitchen sink drain.", "scene_description": "A white kitchen sink holds a silver kettle, metal fork, two black rings, and a green-red sponge. A yellow rubber glove sits on the tiled counter left of the sink, a brown soap bottle is on the window sill above the sink, a dark dish rack with a yellow sponge is on the counter right of the sink, and a robotic arm is positioned above the sink faucet.", "global_instruction_dense": "The right robotic arm moves down from above the sink faucet toward the sink drain, grasps the metal drain strainer, lifts and moves it briefly above the sink, then lowers it back into the drain and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 612, "tasks": ["place other"], "length": 482, "global_instruction": "Pick up the white tag on the pillow and place it on the edge of the bed.", "scene_description": "A white pillow rests on a wooden bed next to a frosted glass window, with a small white tag attached to the pillow, and a robotic arm positioned above the pillow.", "global_instruction_dense": "The right robotic arm moves down onto the pillow, manipulates the pillow to access the attached white tag, grasps the tag, lifts and moves it to the edge of the bed, then releases it onto the bed edge.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 613, "tasks": ["place other"], "length": 375, "global_instruction": "Take the light bulb from the trash bin and place it on the wooden bed railing.", "scene_description": "A light gray cylindrical trash bin sits next to a window, a wooden bed with light purple bedding is to the bin's right, and a white robotic arm is positioned above the bed.", "global_instruction_dense": "The right robotic arm moves down toward the light bulb in the light gray trash bin, grasps the bulb, lifts it out of the bin, moves it to the wooden bed railing, places the bulb on the railing and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 614, "tasks": ["place other"], "length": 373, "global_instruction": "Place a red game chip into the purple vertical grid game board on the bed.", "scene_description": "The lower bunk of a wooden bunk bed with light yellow bed sheets holds a purple vertical grid game board, four red circular game chips, and a dark gray cube box, with a robotic arm positioned at the right edge of the bed.", "global_instruction_dense": "The right robotic arm moves down toward the red game chips on the lower bunk bed, grasps one red chip, lifts it, moves it over the purple grid game board, releases the chip to drop it into a grid slot, then moves back to its starting position at the bed edge.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 615, "tasks": ["place other"], "length": 121, "global_instruction": "Pick up the black square mat on the table, move it, and place it back onto the table surface.", "scene_description": "A wooden tabletop holds a clear pump bottle on its left edge, brown paper bags, a light blue measuring spoon, a white-and-green striped towel at the lower center, a black square mat, a small clear water bottle, a white mug, a white colander with a metal pot stacked on top sitting in an aluminum tray on the raised left section of the table, and a black stand with a blue top near the right of the table, with a robotic arm positioned on the far right of the scene.", "global_instruction_dense": "The right robotic arm moves downward toward the black square mat on the table, grasps and lifts it, moves it slightly leftward above the table, lowers it to place it back on the table, then moves upward to return to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 616, "tasks": ["place other"], "length": 441, "global_instruction": "Place a yellow Connect 4 chip into the dark blue Connect 4 game board.", "scene_description": "A wooden bunk bed's lower bunk is covered with pale yellow bedding. On the bedding, there is a dark blue vertical Connect 4 game board, a small black QR-marked cube, and scattered red and yellow Connect 4 chips. A right robotic arm is positioned at the right edge of the lower bunk.", "global_instruction_dense": "The right robotic arm moves down toward the scattered Connect 4 chips on the lower bunk bedding, grasps a yellow chip, lifts and moves it to the top of the dark blue Connect 4 game board, releases the chip into a slot of the board, then moves back away from the board.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 617, "tasks": ["place other"], "length": 220, "global_instruction": "Pick up the white plastic colander from the rear tray and place it on the front wooden countertop.", "scene_description": "A wooden kitchen counter has a white plastic colander stacked on a bowl atop a silver foil tray at the rear, alongside a metal bowl with a water bottle, silver spoon, fork, hand sanitizer bottle, striped cloth, and a robotic arm on the right edge.", "global_instruction_dense": "The right robotic arm moves toward the white colander stacked at the rear of the counter, grasps and lifts it, moves it forward over the empty front counter area, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 618, "tasks": ["place other"], "length": 279, "global_instruction": "Take the gray heat-resistant pad out of the white colander and place it on the wooden table next to the silver bowl.", "scene_description": "A light wooden tabletop holds a silver metal bowl containing a metal fork and spoon on its left side, and a white plastic colander under the left robotic gripper with a gray heat-resistant pad inside the colander. A white collaborative robotic arm is mounted on the table's right edge with green indicator lights at its base.", "global_instruction_dense": "The left robotic gripper adjusts position above the white plastic colander, lowers into the colander, grasps the gray heat-resistant pad inside, lifts the pad out of the colander, moves it to the table surface next to the silver metal bowl, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 619, "tasks": ["place other"], "length": 207, "global_instruction": "Place the yellow-handled tong from the stainless steel bowl into the white mug on the left counter.", "scene_description": "A light wooden table holds a stainless steel bowl with a yellow-handled tong and metal spoon, a white plastic colander, a gray heat pad, and a pale green cup. A higher dark wooden counter left of the table has a white mug with a fork, striped oven mitts, and small colored bowls, with a robotic arm positioned right of the table.", "global_instruction_dense": "The right robotic gripper moves down toward the stainless steel bowl on the table, grasps the yellow-handled tong inside, lifts the tong, moves it leftward over the white mug on the higher left counter, lowers the tong, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 620, "tasks": ["place other"], "length": 212, "global_instruction": "Pick up the red scraper below the table and place it on the white papers on the table.", "scene_description": "A dark brown table holds two red round discs, a black remote, a blue-and-white patterned tissue box with an exposed white tissue, and a stack of white papers. A robotic arm is positioned on the right side next to a mirror.", "global_instruction_dense": "The right robotic gripper moves downward below the table, grasps the red scraper, lifts it upward, moves it over the white papers on the table, releases the scraper onto the papers, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 621, "tasks": ["place other"], "length": 206, "global_instruction": "Pick up a white alphabet tile from the table and place it into the small white cup.", "scene_description": "A light wooden table has scattered white alphabet tiles at its center, a small white cup to the right of the tiles, and a small metallic object near its left edge. A wooden counter left of the table holds an aluminum foil tray, a blue scoop, a white utensil mug, a water bottle, and metal bowls. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the scattered white alphabet tiles on the table, grasps one tile, lifts it, moves it over the small white cup, and releases the tile into the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 622, "tasks": ["place other"], "length": 162, "global_instruction": "Pick up the thin blue strip from the rear clear storage box and place it into the front clear storage box.", "scene_description": "A bed with off-white floral patterned bedding, two white pillows, a dark teal cloth, and two open clear plastic storage boxes (the front box contains a brown cardboard box and white soft fabric items) are positioned against a yellow wall, with a robotic arm partially visible at the top right near a window.", "global_instruction_dense": "The right robotic arm moves downward toward the rear clear storage box, grasps the thin blue strip inside it, lifts the strip, moves it over the front clear storage box, and releases the strip into the front box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 623, "tasks": ["place other"], "length": 128, "global_instruction": "Place the orange tab resting on the cylindrical gray container into the container's top opening.", "scene_description": "A kitchen counter holds a white microwave on its left, an open upper cabinet with stored items above, a cylindrical gray container near the sink, a metal kettle in the sink, soap dispensers, a small red utensil, and a white bowl with orange accents. A right robotic arm is positioned above the counter near the cylindrical container.", "global_instruction_dense": "The right robotic gripper moves toward the orange tab resting on top of the cylindrical gray container, grasps the tab, lifts it, positions it over the container's opening, inserts it upright into the opening, then releases the tab and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 624, "tasks": ["place other"], "length": 205, "global_instruction": "Pick up the black-handled metal masher and move it near the grey seasoning jar on the white cutting board", "scene_description": "A white gas stove sits against a pale yellow wall. On the stove, a brown cardboard box with a clear plastic water bottle on top is left of a blue small container and a white cutting board holding a grey seasoning jar. A black-handled metal masher leans against the wall behind the cutting board, and two metal spice shelves are mounted on the wall above the stove, with a robotic arm in the upper right.", "global_instruction_dense": "The right robotic arm moves toward the black-handled metal masher leaning against the back wall, grasps it by the handle, lifts it, and moves it down to position it near the grey seasoning jar on the white cutting board.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 625, "tasks": ["place other"], "length": 589, "global_instruction": "Place the rectangular case on the bed into the black bag on top of the gray storage box.", "scene_description": "A bed with floral-patterned sheets holds white pillows, a checkerboard-patterned board, a gray storage box with a black bag on top, a light gray plastic bag, a teal bag, small rectangular cases, a beige blanket, and a white robotic arm positioned at the right edge near the window.", "global_instruction_dense": "The right robotic arm moves toward the rectangular case on the bed near the light gray plastic bag, grasps it, lifts it, moves it over the black bag on the gray storage box, lowers it into the bag, releases it, and adjusts its position inside the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 626, "tasks": ["place other"], "length": 196, "global_instruction": "Pick the labeled rectangular case from the black bag and place it into the teal bag", "scene_description": "A bed with white floral-patterned bedding holds a clear plastic bin with a black bag inside, a black-and-white checkered tablet, a black flashlight, a small blue case, a beige blanket, a teal fabric bag, a light grey plastic bag, a brown cardboard box, and white pillows. A robotic arm is positioned to the right of the bed near a window.", "global_instruction_dense": "The right robotic arm moves toward the black bag inside the clear plastic bin on the bed, grasps the labeled rectangular case inside the black bag, lifts the case, moves it toward the teal bag near the window, and releases it into the teal bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 627, "tasks": ["place other"], "length": 619, "global_instruction": "Place the small yellow case on the bed into the black bag inside the transparent storage box.", "scene_description": "A bed with white floral-patterned sheets holds a transparent plastic storage box (containing a black bag), a black-and-white checkerboard calibration pad, a small yellow hard case, a black flashlight, a beige blanket, a teal cloth bag, a brown cardboard box, and two white pillows. A white robotic arm is positioned to the right of the bed, with its end effector initially hovering near the teal bag.", "global_instruction_dense": "The right robotic arm first adjusts the opening of the black bag in the storage box, then moves toward the small yellow case on the bed, grasps it, lifts it, moves it over the black bag, lowers it into the bag, and releases the case to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 628, "tasks": ["place other"], "length": 339, "global_instruction": "Place the black flashlight from the bed into the black bag inside the clear plastic bin.", "scene_description": "A bed covered in a white floral-patterned bed sheet holds a black-and-white checkered calibration board, two white pillows, a brown cardboard box, a black bag inside a clear plastic storage bin, a light gray plastic bag, a dark teal bag, a black flashlight, a small blue box, and a beige cloth. A white robotic arm is positioned at the right edge of the bed, its base illuminated with green lights.", "global_instruction_dense": "The left robotic arm reaches toward the black flashlight lying on the bed, grasps it, lifts it up, moves it leftward over the black bag inside the clear plastic bin, lowers it, releases it into the bag, then adjusts the black bag's handle.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 629, "tasks": ["place other"], "length": 477, "global_instruction": "Pick up the small rectangular case on the bed and place it into the black bag in the clear plastic bin.", "scene_description": "A bed with white floral-patterned sheets holds multiple objects: a checkered calibration board near white pillows on the left, a clear plastic bin containing a black bag, a small blue-yellow rectangular case next to a black key fob, a light gray cloth bag, a teal fabric item, and a beige blanket near the window. A white Franka Emika robotic arm is positioned at the right edge of the bed.", "global_instruction_dense": "The right robotic arm moves toward the small rectangular case on the bed, grasps it with its gripper, lifts and moves it over the black bag in the clear plastic bin, lowers the case into the bag, releases it, then lifts away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 630, "tasks": ["place other"], "length": 242, "global_instruction": "Pick up the round metal weight from the gas stove and place it on the white cutting board", "scene_description": "A right Franka robotic arm is positioned on the right of the view, a stacked structure (gray base, blue funnel, clear water bottle, patterned paper cup) sits on a white cutting board atop a white gas stove, a brown box with two circular cutouts is on the left of the stove, and metal spice racks are mounted on the light yellow wall behind.", "global_instruction_dense": "The right robotic arm moves left toward the round metal weight on the gas stove, grasps the weight, lifts it, moves it rightward over the white cutting board, lowers it, and releases it onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 631, "tasks": ["place other"], "length": 267, "global_instruction": "Pick up the black gas stove burner grate and place it leaning against the left side wall next to the stove", "scene_description": "A white gas stove with black burner grates is set against a light yellow tiled wall with metal spice racks holding glass jars above it. A white cutting board on the right side of the stove holds a beige double-cavity block, a blue container, a clear water bottle, a small metal container, a brush, and a metal lid. A glass jar lies on the left stove surface, and a white door with a glass window is to the right of the stove.", "global_instruction_dense": "The right robotic gripper moves downward toward the black burner grate on the gas stove, grasps and lifts the grate, moves it left to the side of the stove, places it leaning against the left white wall, then releases the grate and moves upward away from it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 632, "tasks": ["place other"], "length": 332, "global_instruction": "Place the leaning black stove grate upright on the stovetop.", "scene_description": "A black metal stove grate leans against the left wall on a white kitchen stovetop. A robotic arm is positioned above the stovetop, with a plastic water bottle, wooden block with two holes, cleaning brush, small containers, and wall-mounted spice racks visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the leaning black stove grate on the stovetop, grasps it, lifts and rotates it to an upright position, lowers it onto the stovetop surface, then releases it and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 633, "tasks": ["place other"], "length": 206, "global_instruction": "Pick up the horizontally lying gray seasoning shaker on the stove and place it upright on the stove surface.", "scene_description": "A white kitchen stove has a black metal stove grate on its left half, a small gray seasoning shaker lying horizontally on the stove surface below the grate, a wooden block with circular cutouts, a plastic water bottle, and wall-mounted spice jar shelves behind the stove, with a right robotic arm above the right side of the stove.", "global_instruction_dense": "The right robotic arm moves leftward over the stove, lowers its gripper to grasp the horizontally placed gray seasoning shaker, lifts and rotates the shaker to an upright orientation, then places it standing upright on the stove surface before releasing its grip.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 634, "tasks": ["place other"], "length": 435, "global_instruction": "Retrieve a badge from the open backpack on the bed and place it on the bed surface.", "scene_description": "A black open backpack holding various items, a black-and-white checkerboard calibration board, white pillows, and a cardboard box are placed on a bed with a white floral-patterned bedspread. A white robotic arm is positioned to the right of the bed near a window.", "global_instruction_dense": "The right robotic arm moves down to the open backpack on the bed, rummages inside to grasp a badge, lifts the badge out of the backpack, moves it over the bed surface, and releases it onto the bed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 635, "tasks": ["place other"], "length": 517, "global_instruction": "Place the white cutting board into the black metal storage rack at the back of the stovetop.", "scene_description": "A white kitchen stovetop has a black metal storage rack at its rear, a clear plastic water bottle, a small grey cylindrical container, a white paper cup, and a blue bowl on its left section, with a white cutting board lying flat on its right section. Metal shelves holding spice jars are mounted on the wall above the stove, and a robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white cutting board lying on the right side of the stovetop, grasps it, lifts and moves it toward the black metal storage rack at the back of the stove, attempts to insert the cutting board into the rack, then releases the cutting board which falls to lean against the left wall beside the stove.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 636, "tasks": ["place other"], "length": 219, "global_instruction": "Pick a small white light bulb from the clear storage bin and place it on the bed.", "scene_description": "A clear plastic storage bin filled with small items rests on a bed with a white floral-patterned bedspread. A white robotic arm is positioned to the right of the bed near a window, and a black bag, white plastic bags, and pillows are on the left side of the bed.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic storage bin on the bed, descends into the bin to grasp a small white light bulb, lifts the bulb out of the bin, moves it over the bed surface, and releases it onto the bed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 637, "tasks": ["place other"], "length": 256, "global_instruction": "Pick up the black stove grate on the gas stove burners and place it upright next to the identical standing stove grate behind the stove.", "scene_description": "A white gas stove has a black metal stove grate on its burners, an identical black stove grate leans upright against the wall behind the stove, a small grey spice jar, a clear water bottle inside a yellow patterned cup, and a small blue container sit on the left flat surface of the stove, with metal shelves holding spice jars mounted on the wall above the stove.", "global_instruction_dense": "The right robotic gripper moves down toward the black stove grate on the gas stove burners, grasps the grate, lifts it, rotates it to an upright position, moves it to the space next to the already upright black stove grate behind the stove, lowers it, and releases it so it stands in place.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 638, "tasks": ["place other"], "length": 342, "global_instruction": "Place the right black metal stove grate onto the right side of the gas stove burners.", "scene_description": "A white gas stove is in the center, with two vertical black metal stove grates at its back, a stack of clear plastic bottle, beige patterned cup and blue bowl in the middle of the stove surface, a small grey cylindrical container, black cylindrical container and small silver lid on the left of the stove, metal spice racks mounted on the wall behind the stove, and a robotic arm on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the right black metal stove grate standing vertically at the back of the stove, grasps it, lifts it, moves it over the right two stove burners, lowers and aligns it onto the burners, then releases the grate and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 639, "tasks": ["place other"], "length": 142, "global_instruction": "Pick the blue funnel from the patterned cup and place it on the empty stove burner.", "scene_description": "A white gas stove holds a clear water bottle on a beige box (left), a grey spice jar (middle), and a white patterned cup with a blue funnel on its top (right burner). Metal spice racks with glass jars are mounted on the pale yellow wall above the stove, and a robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the blue funnel on the patterned cup atop the right stove burner, grasps the funnel, lifts it, moves it left to an empty stove burner, lowers it, and releases it onto the burner surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 640, "tasks": ["place other"], "length": 456, "global_instruction": "Place the white saucer on top of the white patterned cup after moving the cup onto the counter.", "scene_description": "A white kitchen counter with a stainless steel sink, a curved metallic faucet above the sink, a small transparent bottle to the left of the faucet, a white patterned cup resting on a white saucer which sits on a patterned glass container to the right of the sink, and a right robotic gripper positioned near the cup.", "global_instruction_dense": "The right robotic gripper first grasps the white patterned cup from the white saucer resting on a patterned glass container, moves the cup to place it on the counter next to the glass container and releases it, then grasps the white saucer, moves it over the placed cup, lowers it onto the cup, releases the saucer, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 641, "tasks": ["place other"], "length": 11, "global_instruction": "Place the black spherical object into the open light wooden box on the table.", "scene_description": "A white table holds a black spherical object, an open light-colored wooden box, a wooden shape-sorting toy, and a blue bowl filled with colorful small items from left to right, with a small red object and white packet further back, and a right robotic arm mounted at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves left toward the black spherical object on the left part of the table, grasps it with its gripper, lifts it, moves it above the open wooden box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 642, "tasks": ["place other"], "length": 192, "global_instruction": "Pick up the crumpled silver foil and place it into the countertop trash opening.", "scene_description": "A white kitchen counter holds a crumpled silver foil object, white mug with red handle, small purple object, stacked paper cups in a wooden holder, black metal cup rack, brown paper bag, and tablet. A dual-arm robotic system is positioned at the right of the counter, with cups and cutlery on the counter's left side.", "global_instruction_dense": "The left robotic arm moves toward the crumpled silver foil on the counter, grasps it with its gripper, lifts it, moves it over the countertop trash opening, and releases the foil into the opening.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 643, "tasks": ["place other"], "length": 235, "global_instruction": "Grasp the white vase on the kitchen counter, tilt it, then place it back on the counter.", "scene_description": "An open white wall-mounted kitchen cabinet with shelves holding containers sits above a grey tiled kitchen counter. The counter has yellow snack boxes, white paper goods, and a white vase below the cabinet, with a right robotic arm on the right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the white vase on the kitchen counter, grasps it, lifts and tilts it multiple times, then lowers it back onto the counter and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 644, "tasks": ["place other"], "length": 553, "global_instruction": "Use the metal spoon in the blue bowl to scoop red berries and place them into the adjacent white patterned cup.", "scene_description": "A white kitchen counter holds a stainless steel sink on the left, a green-capped dish soap bottle, blue cleaning sponge, two white tissue boxes, a patterned white paper cup, a blue bowl filled with red berries and a metal spoon, and a paper towel roll at the far right end. A white robotic arm is partially visible at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the metal spoon resting in a blue bowl of red berries, grasps the spoon, uses it to scoop red berries from the bowl, moves the spoon over the adjacent white patterned cup to pour the berries inside, moves the spoon into the blue bowl, uses the spoon to scoop red berries from the bowl, moves the spoon over the white patterned cup to pour the berries inside, then moves the spoon into the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 645, "tasks": ["place other"], "length": 341, "global_instruction": "Pick up the small brown debris from the kitchen counter and place them into the under-counter trash bin.", "scene_description": "A light gray kitchen counter holds a black-and-white calibration board, a blue bowl with colorful contents, a clear plastic water bottle, a paper cup, stacks of white napkins, a paper towel roll, stacked small decorative cups, a blue-and-white patterned dish, a white bowl with food, a red-rimmed mug, two small white cups, with a robotic arm on the far right of the counter and a gray trash bin under the counter, against a gray tiled backsplash.", "global_instruction_dense": "The right robotic arm moves toward small brown debris pieces on the kitchen counter, grasps each piece sequentially, carries them over the under-counter trash bin to drop them inside, then returns to its initial rest position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 646, "tasks": ["place other"], "length": 651, "global_instruction": "Collect scattered dark debris from the countertop and place it into the white cup.", "scene_description": "A light grey countertop next to window blinds holds a brown wooden tray with a green packet, a white cup, a patterned paper cup with dark contents, small colored containers, scattered dark debris, a light grey rectangular container on the left, and a wooden bowl in the background, with a white robotic arm positioned at the right of the counter.", "global_instruction_dense": "The right robotic gripper repeatedly moves to scattered dark debris on the light grey countertop, collects the debris, moves to the white cup, deposits the debris inside, and returns to collect more debris until all is placed in the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 647, "tasks": ["place other"], "length": 513, "global_instruction": "Scoop dark granules from the small patterned plates and place them onto the empty white plate.", "scene_description": "A white kitchen counter holds a pour-over coffee maker, black coffee grinder, small tube, three fruits (small orange, larger orange, green apple), red strip, small green packet, silver lid, brown handled container, patterned white cup, two small patterned plates with dark granules, empty white plate, yellow spoon, and black-and-white drain mat near the sink, with a right robotic arm positioned at the right end of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the patterned white cup, grasps the metal spoon next to it, scoops dark granules from the small patterned plates, moves the spoon over the empty white plate, deposits the granules onto the plate, then moves the spoon back toward the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 648, "tasks": ["place other"], "length": 525, "global_instruction": "Place the brown cookies spilled next to the open blue snack bag into the open light beige takeout box.", "scene_description": "A white kitchen counter holds a black coffee grinder with a red button on the left, an open light beige disposable takeout box, a small purple and orange snack packet, a white patterned paper cup, an open blue snack bag with brown cookies spilled next to it, a small white dish, and a blue-and-white patterned bowl with brown food, with a sink visible in the background right.", "global_instruction_dense": "The right robotic arm moves to the brown cookies spilled next to the open blue snack bag on the kitchen counter, grasps individual cookies, lifts each cookie, moves it left over the open light beige takeout box, releases the cookie into the box, repeats this for multiple cookies, then lifts away from the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 649, "tasks": ["place other"], "length": 467, "global_instruction": "Place a brown cookie from the counter into the open beige takeout container", "scene_description": "A white kitchen counter holds a black coffee grinder, white printed paper cup, open beige takeout container, orange snack pack, open blue snack bag, small white bowl, and blue-and-white patterned bowl with food, with a sink in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves down to grasp a brown cookie on the counter, lifts it, moves it over the open beige takeout container, releases the cookie into the container, then moves toward another small snack on the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 650, "tasks": ["place other"], "length": 383, "global_instruction": "Place a brown cookie from the counter into the open light beige disposable takeout container.", "scene_description": "A white kitchen counter holds a black coffee grinder on the left, a printed white paper cup next to the grinder, an open light beige disposable takeout container in the center, a small blue packaged snack, an open blue snack bag, a white plastic fork, small brown cookie pieces, a blue-and-white patterned bowl with brown snacks, a small white round dish, and a stainless steel sink in the background.", "global_instruction_dense": "The right robotic arm descends to grasp the white plastic fork on the counter, uses the fork to lift a brown cookie, moves the cookie over the open light beige takeout container, drops the cookie into the container, then moves the fork back to the counter and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 651, "tasks": ["place other"], "length": 906, "global_instruction": "Place the round brown cookies from the kitchen counter into the open beige takeout container.", "scene_description": "A white kitchen counter holds a black coffee grinder on the left, a white printed paper cup beside the grinder, an open beige two-compartment takeout container, round brown cookies, a blue snack packet, a blue-and-white patterned bowl of brown food, a small white bowl, and a robotic arm positioned above the counter near the patterned bowl.", "global_instruction_dense": "The right robotic arm moves left from above the patterned bowl toward the counter, aligns and stacks two round brown cookies, grasps the stacked cookies, moves them over the left compartment of the beige takeout container, releases the cookies into the container, then moves away from the container above the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 652, "tasks": ["place other"], "length": 379, "global_instruction": "Pick up the white roll from the food container and place it upright inside the same container.", "scene_description": "A white table holds an open beige food container, a blue-white patterned bowl with a white spoon, a clear tray with a black pen, a small green bottle, a napkin holder, and a small green potted plant. A smaller white table to the left has a small purple potted plant, with a dark red and black sofa behind the tables, and a robotic arm above the table.", "global_instruction_dense": "The right robotic gripper moves down toward the open beige food container on the table, grasps the horizontally placed white roll inside the container, lifts and rotates it to an upright position, lowers it back into the container, releases it, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 653, "tasks": ["place other"], "length": 503, "global_instruction": "Transfer a pastry from the closer patterned paper bowl to the farther patterned paper bowl using the plastic fork.", "scene_description": "A white table holds two blue-and-white patterned paper bowls: the closer bowl has two light brown pastries, the farther bowl has one light brown pastry and a white plastic fork. Also on the table are a paper cup, stacked white takeout boxes, a small block tower, and a wooden box of colorful items, with a dark cushioned bench behind the table.", "global_instruction_dense": "The right robotic arm descends toward the farther bowl, grasps the white plastic fork inside it, lifts the fork, moves it to the closer bowl, picks up a pastry with the fork, lifts the pastry, moves it over the farther bowl, and places the pastry into the farther bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 654, "tasks": ["place other"], "length": 428, "global_instruction": "Transfer small light-colored cookies from the right blue-and-white patterned bowl to the left blue-and-white patterned bowl.", "scene_description": "A white table holds two blue-and-white patterned paper bowls with small light-colored cookies inside, a black-and-white fabric basket left of the bowls, a light wooden box with colorful items right of the bowls, a yellow spray bottle, a patterned paper cup, white napkins, and stacked white boxes behind the bowls, with a dark cushioned couch behind the table.", "global_instruction_dense": "The right robotic gripper descends toward the right patterned bowl on the table, grasps a cookie inside it, lifts the cookie, moves it left over the left patterned bowl, releases the cookie into the left bowl, then moves back to the right bowl to grasp an additional cookie.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 655, "tasks": ["place other"], "length": 298, "global_instruction": "Place the beige cracker from under the food container lid next to the white paper cup.", "scene_description": "A white table holds an open beige disposable food container with dark small food pieces inside (its lid rests on its edge), a white printed paper cup, a clear plastic storage box, yellow blocks, a white plastic spoon on a napkin, a small black-and-white patterned round plate, and a robotic gripper positioned above the table.", "global_instruction_dense": "Right robotic arm moves downward, grasps the lid of the beige food container to move it aside, grasps the beige cracker exposed under the lid, lifts it, moves it toward the white paper cup, and places it on the table next to the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 656, "tasks": ["place other"], "length": 209, "global_instruction": "Pick up the metallic portafilter from its holder and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a black coffee grinder (leftmost), a metallic portafilter in its holder, two oranges, a green pear, a white patterned cup, a small white shaker, and a white robotic arm base (rightmost), with a sink in the background and light grey tiled wall on the left.", "global_instruction_dense": "The right robotic arm moves from its initial upper position toward the metallic portafilter in its holder, grasps the portafilter with its gripper, lifts it, moves it to a clear spot on the counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 657, "tasks": ["place other"], "length": 218, "global_instruction": "Pick up the orange ruler on the kitchen counter and place it into the utensil holder.", "scene_description": "A white kitchen counter holds a black and silver Keurig coffee machine on the left, an orange long ruler in the center, small green and blue plastic caps, a white plate with blue patterns, multiple cups, and a utensil holder at the back. A white right robotic arm with orange bands is fixed on the right side of the frame.", "global_instruction_dense": "The left robotic arm moves down toward the orange ruler on the kitchen counter, grasps the ruler, lifts it, moves it over the utensil holder, releases it into the holder, then moves upward away from the holder.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 658, "tasks": ["place other"], "length": 359, "global_instruction": "Place the small trash pieces on the kitchen counter into the silver trash bin", "scene_description": "A silver trash bin with a black lid, white cups, patterned small dishes, and a sink are on a white kitchen counter. A robotic arm is at the right end of the counter, with a grey tiled backsplash behind.", "global_instruction_dense": "The right robotic arm moves toward the silver trash bin, opens its black lid, grasps a small trash piece from the counter, lifts the trash, moves it over the open bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 659, "tasks": ["place other"], "length": 393, "global_instruction": "Place crackers from the small blue-and-white dish into the large light brown wooden bowl.", "scene_description": "A light gray countertop sits beside a large window with red and silver tinsel along the window ledge. On the counter, there are stacked white paper napkins, a blue-and-white patterned small dish, a dark yellow snack packet, a white mug with red interior, a large light brown wooden bowl, and a small patterned mug near the bowl.", "global_instruction_dense": "The right robotic gripper moves down to the small blue-and-white dish on the counter, grasps a cracker, lifts and moves it over the large wooden bowl, releases the cracker into the bowl, then returns to the dish to grasp a cracker.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 660, "tasks": ["place other"], "length": 341, "global_instruction": "Place the small patterned saucer near the sink into the silver rectangular container on the kitchen counter.", "scene_description": "A white kitchen countertop holds a silver Keurig coffee machine on the left, a closed silver rectangular metal container to the right of the coffee machine, patterned dishware near the sink on the far right, and a black robotic arm in the upper right area of the frame.", "global_instruction_dense": "The right robotic arm moves left to open the lid of the silver rectangular container, moves right to grasp the small patterned saucer near the sink, moves left to place the saucer into the open container, then lifts upward away from the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 661, "tasks": ["place other"], "length": 214, "global_instruction": "Take a chip from the white snack bag and place it on the black tabletop.", "scene_description": "A black tabletop holds a white snack packaging bag, a red bowl of snacks, a white printed cup, a blue small packet, a green round lid, a green spoon, a yellow pencil, a white rectangular remote, a purple-lidded container, an orange cartoon-themed box, paper napkins, a small yellow bottle, and a Franka robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white snack packaging bag on the black table, reaches into the bag to grasp a yellow chip, lifts the chip out of the bag, moves it over the empty table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 662, "tasks": ["place other"], "length": 207, "global_instruction": "Pick up the light brown cookie and place it into the open white food bag on the table.", "scene_description": "A black tabletop holds multiple items: a light brown round cookie near the right Franka robotic arm, an open white food bag left of the cookie, a white printed cup, red bowl with snacks, blue small snack packet, green spoon, yellow pencil, green round lid, small white rectangular object, purple-lidded container, stacked napkins, and an orange cartoon-faced box at the far left, with mesh-covered windows behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the light brown cookie on the table, grasps it, lifts it, moves it over the open white food bag, releases the cookie into the bag, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 663, "tasks": ["place other"], "length": 261, "global_instruction": "Place the orange chip on the black table into the open yellow food package.", "scene_description": "A black tabletop holds multiple items: a red bowl of snacks, white printed mug, open yellow food package, blue small packet, green round lid, green plastic spoon, yellow pencil, white rectangular card, orange smiley-faced box, stacked white napkins, small bowls and containers, with a Franka robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange chip on the black table, grasps it, lifts it, moves it over the open yellow food package, drops the chip into the package, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 664, "tasks": ["place other"], "length": 521, "global_instruction": "Repeatedly move the green rectangular soap bar to different positions on the black table.", "scene_description": "A long black table sits on light wooden flooring, with an orange cartoon box, stacks of white napkins, a red bowl of food, clear plastic food container, small yellow can, green rectangular soap bar, black tape with a yellow stick, small green cap, and white papers arranged on it. A door on the left leads to a lit back room, and bamboo blinds cover the windows behind the table.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, repeatedly grasps the green rectangular soap bar on the black table, lifts it, moves it to different positions on the table surface, and releases it each time.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 665, "tasks": ["place other"], "length": 274, "global_instruction": "Move the black pack of green-capped bottles to a position near the white bowl on the glass table.", "scene_description": "A glass table holds a white bowl with food, a red dish with a green spoon, and a black pack of green-capped bottles at its far end, with a brown wall to the left.", "global_instruction_dense": "The right robotic arm reaches toward the black pack of green-capped bottles at the far end of the glass table, grasps it, lifts it, moves it left to a spot near the white bowl, lowers it, and releases it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 666, "tasks": ["place other"], "length": 307, "global_instruction": "Move the glass lid to the front stovetop burner, then move the black frying pan to a different stovetop burner.", "scene_description": "A gas stovetop with black metal grates is in the foreground, a glass lid with a silver knob rests on the ledge behind the stove, a black frying pan sits on a rear stove burner, various kitchen containers are placed on the stone tile backsplash ledge, and a black-and-white robotic arm is positioned above the glass lid.", "global_instruction_dense": "The right robotic arm first grasps the glass lid on the rear ledge by its silver knob, lifts it, moves it over the front left stovetop burner, lowers and releases it onto the burner grate, then grasps the black frying pan on the rear burner by its handle, lifts it, moves it over the middle right stovetop burner, lowers and releases it onto the burner grate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 667, "tasks": ["place other"], "length": 238, "global_instruction": "Move the orange toy car from near the green-capped bottles on the table to the area next to the red bowl.", "scene_description": "A glass table at the center holds four green-capped transparent bottles, a red shallow bowl, a metal spoon, a green plate with white slice-shaped snacks, and a black remote control. A white trash bin is to the table's right, a wooden desk with a lit lamp and black office chair are in the background, and a window is on the left. No robotic arm is visible.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward the orange toy car near the green-capped bottles on the glass table, grasps the car, lifts it, moves it left across the table, lowers it next to the red bowl, releases the gripper, and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 668, "tasks": ["place other"], "length": 285, "global_instruction": "Scoop oats from the clear plastic container and place them into the black bowl.", "scene_description": "A kitchen countertop holds a clear plastic container of oats, an orange-labeled jar, a black bowl with white interior, a red measuring cup, a silver mixing bowl, a metal spoon, with a gas stove holding a metal pan below, and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the clear oat container, lowers its gripper to scoop a portion of oats, lifts the oats, moves over the black bowl, releases the oats into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 669, "tasks": ["place other"], "length": 264, "global_instruction": "Lift the open magazine from the side table's lower shelf and place it onto the table's top surface.", "scene_description": "A light-colored patterned side table sits on a carpeted floor, with a black remote and a silver remote on its top surface, an open magazine on its lower shelf, a dark long rod on the floor left of the table, and a glass-paneled door to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the open magazine on the lower shelf of the light-colored side table, grasps the magazine with its gripper, lifts it upward, places it onto the top surface of the side table, then retracts and returns to adjust the magazine's position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 670, "tasks": ["place other"], "length": 258, "global_instruction": "Sequentially move multiple sports equipment items over the light green side table then retract.", "scene_description": "A light green patterned hollow side table sits on a carpeted floor to the right, three remote controls rest on a gray cushioned ottoman in the center, the dimly lit scene has a door frame at the far right.", "global_instruction_dense": "The right robotic gripper enters from the right of the frame, moves three different sports equipment items one by one over the light green side table, retracts each item out of frame after displaying it, and finally retracts fully out of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 671, "tasks": ["place other"], "length": 420, "global_instruction": "Place the corded vacuum cleaner onto the small patterned side table.", "scene_description": "In a dimly lit room, a grey couch with red draped fabric is on the left, a small light-colored side table with decorative cutout patterns is to the couch's right, and a partially open white door is at the far right.", "global_instruction_dense": "The right robotic arm brings the grey and black corded vacuum cleaner from off-frame right, positions it over the patterned side table, lowers it onto the table surface, and releases it before retracting.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 672, "tasks": ["place other"], "length": 244, "global_instruction": "Pick up the white roll from the sofa and place it on the side table.", "scene_description": "A gray sofa sits next to a light-colored carved side table. A white roll with a black top rests on the sofa, and a remote control is on the side table in a dimly lit room.", "global_instruction_dense": "The right robotic arm extends toward the white roll on the sofa, grasps it, lifts it, moves it over to the side table, lowers and releases the roll onto the table, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 673, "tasks": ["place other"], "length": 190, "global_instruction": "Retrieve the gray heat pad from the open drawer and place it on the kitchen counter.", "scene_description": "A dark granite kitchen counter sits below a white-framed window. On the counter: red-lidded plastic containers on the left, a clear bottle with an orange cap, a white slip of paper, a silver spice rack, and a wooden knife block holding black knives. An open wooden drawer under the counter holds assorted cloth items including a gray heat pad.", "global_instruction_dense": "The right robotic gripper moves toward the open under-counter drawer, grasps the gray heat pad inside the drawer, lifts it upward, moves it over the granite countertop, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 674, "tasks": ["place other"], "length": 386, "global_instruction": "Reposition the light cream-colored three-tier shelf on the black coffee table.", "scene_description": "A light cream-colored three-tier open shelf sits on a black coffee table. The shelf's lowest tier holds a black remote, a silver remote, and a small pink bowl. In front of the shelf on the table are a round brown textured mat and a white napkin. Background includes a gray fabric couch with pillows, a dark leather couch to the left, a window with blinds, and a glass-paned door to the right.", "global_instruction_dense": "The right robotic arm extends from the top of the frame toward the top edge of the cream-colored three-tier shelf, grasps it, pulls and rotates the shelf rightward, then pushes and adjusts it leftward to a new position on the coffee table, then releases the shelf and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 675, "tasks": ["place other"], "length": 210, "global_instruction": "Tuck the overhanging clear plastic liner into the black trash bin.", "scene_description": "A black table holds a grey patterned tissue box, clear square plastic container, wooden spoon on a white napkin, dark translucent cup, white mug on a red saucer, metal food tongs, and a small foil packet. A black trash bin with an overhanging clear plastic liner sits at the far end of the table, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves into frame from above, lowers to the edge of the overhanging clear plastic liner on the black trash bin, tucks the liner into the bin, then lifts and moves back out of frame.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 676, "tasks": ["place other"], "length": 192, "global_instruction": "Lift the dark gray mat from the wire shelf and place it back onto the same shelf.", "scene_description": "A dark gray square mat rests on a metal wire shelf above a white counter. The counter holds multiple bottles (yellow cap, black cap, white pump bottle, red cap), a wire basket, and background cleaning supplies including an orange Tide box and pink box, with a white robotic arm positioned to the right of the setup.", "global_instruction_dense": "The right robotic arm moves toward the dark gray mat on the upper wire shelf, grasps it, lifts and adjusts its position above the shelf, then lowers and releases the mat back onto the wire shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 677, "tasks": ["place other"], "length": 221, "global_instruction": "Reposition the black mesh mat on the upper metal wire shelf", "scene_description": "A white utility counter holds various bottles (yellow cap, white pump, red cap) and a wire basket. A wall-mounted metal wire shelf above the counter has a small black mesh mat and purple-lidded container, with a right robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves toward the upper wall wire shelf, grasps the black mesh mat, lifts it, adjusts its position, and places it back onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 678, "tasks": ["place other"], "length": 459, "global_instruction": "Place the small blue square object on the washing machine onto the open blue-orange box.", "scene_description": "An open blue-orange box, a green circular object, and a small blue square object sit on top of a white washing machine, with a wall shelf holding a white spray bottle behind the machine, and a right robotic arm positioned to the right of the washing machine.", "global_instruction_dense": "The right robotic gripper moves toward the small blue square on the washing machine, grasps and lifts it, moves it over the open blue-orange box, and releases it to rest on the box's top edge.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 679, "tasks": ["place other"], "length": 537, "global_instruction": "Pick up the flat blue square from the appliance surface and place it into the brown tray next to the gray pot.", "scene_description": "The top surface of a white laundry appliance holds a green circular disc, a light blue block, a flat blue square, and a blue-and-orange printed cardboard box. A brown tray with a gray pot sits to the right of the box, with wall-mounted shelves holding bottles and cookware in the background, and a robotic arm positioned above the surface.", "global_instruction_dense": "The right robotic gripper first places a small orange object into the blue-and-orange cardboard box, then moves to grasp the flat blue square on the appliance surface, lifts it, moves rightward over the brown tray holding the gray pot, and releases the blue square into the tray.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 680, "tasks": ["place other"], "length": 260, "global_instruction": "Pick the blue plastic funnel from the upper metal shelf and place it on the washing machine top.", "scene_description": "A white washing machine is positioned centrally, with an orange-and-blue Tide detergent box, a green circular disc, and a small blue cap placed on its top. A metal shelf above the machine holds a white spray bottle, a small red box, and a blue plastic funnel. A robotic arm is located to the right of the washing machine.", "global_instruction_dense": "The right robotic arm moves upward toward the blue plastic funnel on the upper metal shelf, grasps the funnel, lifts it, moves it downward to the washing machine top, and releases the funnel next to the small blue cap.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 681, "tasks": ["place other"], "length": 542, "global_instruction": "Remove blue laundry pods from the orange Tide box and place them on the washing machine surface.", "scene_description": "An orange Tide laundry pod box sits on a white washing machine top, with one blue laundry pod beside the box. A metal wall shelf above holds a white spray bottle, red box, and other small items, with a right robotic arm near the Tide box.", "global_instruction_dense": "The right robotic arm opens the top of the orange Tide laundry pod box, grasps a blue laundry pod from inside the box, lifts it, places it on the washing machine surface, then moves back toward the box to retrieve another pod.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 682, "tasks": ["place other"], "length": 465, "global_instruction": "Take laundry pods from the Tide box and place them into the green circular dish.", "scene_description": "An orange and blue Tide laundry pod box, a green circular dish, a light blue plastic piece, and an orange-handled tool are placed on top of a white washing machine. A metal wall shelf holding a white spray bottle is behind the washing machine, with a glass door to an adjacent room on the left.", "global_instruction_dense": "The right robotic arm opens the orange and blue Tide detergent box, reaches inside to grasp multiple laundry pods, lifts them, moves them to the green circular dish on the washing machine top, and releases the pods into the dish.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 683, "tasks": ["place other"], "length": 723, "global_instruction": "Place the white laundry detergent pods from the washing machine surface into the trash bin.", "scene_description": "An orange and blue Tide detergent box, a blue measuring scoop, and an orange flat tool rest on the surface of a white washing machine. A metal shelf with a white spray bottle and kitchen items is mounted on the wall above the machine, a brown wooden tray sits to the right of the detergent box, and a robotic arm is positioned above the washing machine.", "global_instruction_dense": "The right robotic arm moves across the top of the white washing machine to grasp scattered white laundry detergent pods, lifts the collected pods, moves them backward over the trash bin positioned behind the machine, and releases the pods into the trash bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 684, "tasks": ["place other"], "length": 174, "global_instruction": "Adjust the position of the robotic gripper across the empty closet shelf", "scene_description": "A white and black Franka Emika robotic arm is positioned above an empty light brown wooden shelf in a closet space, with metal shelf rails and a doorway visible in the background.", "global_instruction_dense": "The right robotic arm moves downward from its initial position above the empty light brown shelf, travels rightward across the shelf surface, and adjusts its position at the right side of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 685, "tasks": ["place other"], "length": 456, "global_instruction": "Take a white dryer sheet from the yellow box and place it into the orange Tide detergent box.", "scene_description": "A white washing machine top holds a clear plastic measuring cup, a closed yellow rectangular box, an orange Tide laundry detergent box, and a blue package. A metal wall shelf above holds a green brush, a perforated tray, and small containers.", "global_instruction_dense": "The right robotic arm moves to the closed yellow dryer sheet box, grasps and opens its lid, reaches inside to grasp a white dryer sheet, lifts the sheet, moves it over the open orange Tide detergent box, releases the sheet into the Tide box, then moves away from the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 686, "tasks": ["place other"], "length": 323, "global_instruction": "Pick up the blue helmet from the washing machine and place it on the wall-mounted metal shelf.", "scene_description": "A blue helmet, green scrub brush, orange plastic scoop, and small blue bottle rest on top of a white washing machine. An orange Tide detergent box sits behind these items, with a metal wall-mounted shelf above the washing machine.", "global_instruction_dense": "The right robotic arm lowers toward the blue helmet on the washing machine, grasps it securely, lifts it upward, moves it over the metal wall shelf, lowers it onto the shelf, releases it, and moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 687, "tasks": ["place other"], "length": 489, "global_instruction": "Place the purple helmet from the washing machine top onto the wall-mounted metal wire shelf.", "scene_description": "A white washing machine is positioned below a wall-mounted metal wire shelf. On the washing machine's top surface, there is a purple helmet, an orange Tide detergent box, a blue box, a green scrub brush, an orange plastic tool, and a transparent funnel. A white robotic arm is located to the right of the washing machine. A light switch is mounted on the wall to the left of the shelf, and a dark doorway is visible to the far left.", "global_instruction_dense": "The right robotic arm moves toward the purple helmet on the washing machine, grasps the helmet with its gripper, lifts it upward, moves it over the wall-mounted metal wire shelf, lowers the helmet onto the shelf, releases it, and then moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 688, "tasks": ["place other"], "length": 174, "global_instruction": "Place the white plastic trash liner into the black cylindrical trash bin.", "scene_description": "A white washing machine top holds an orange handled tool, a green ribbed brush, a small red toy car, a white plastic trash liner, and a black cylindrical trash bin, with the right robotic arm positioned above the left of the surface.", "global_instruction_dense": "The right robotic arm moves toward the white plastic trash liner on the washing machine top, grasps it, lifts it, moves it over the black trash bin, adjusts the liner to fit inside the bin, and releases it to line the bin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 689, "tasks": ["place other"], "length": 181, "global_instruction": "Reposition the yellow level then return the robotic arm to its starting position.", "scene_description": "A crumpled white cloth rests on a brown cardboard surface in the foreground. A yellow level leans against a black chair in the midground, with a white robotic arm positioned near the level. The background includes a perforated white wall, additional chairs, and workshop equipment.", "global_instruction_dense": "The right robotic arm moves toward the leaning yellow level, grasps it, adjusts its position against the black chair, releases it, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 690, "tasks": ["place other"], "length": 160, "global_instruction": "Place the transparent plastic cover from the yellow plate onto the top surface of the white shelf.", "scene_description": "A white decorative lattice shelf is in the foreground: its top surface holds a yellow plate with dark food and a metal spoon, its lower shelf holds a red bowl with dark food, and a robotic arm is at the upper right; glass doors lead to a dining area with a brick fireplace in the background.", "global_instruction_dense": "The right robotic arm moves downward to the yellow plate on the white shelf, grasps the transparent plastic cover on the plate, lifts the cover, moves it leftward to the empty area of the shelf top next to the metal spoon, lowers and releases the cover onto the shelf, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 691, "tasks": ["place other"], "length": 200, "global_instruction": "Pick up the dark strap on the lower part of the bed and place it onto the folded gray clothing next to the white hanger.", "scene_description": "A bed with a yellow, dark gray, and white plaid bedspread is in a bedroom, a white pillow sits near the head of the bed, a white plastic clothes hanger rests on folded gray clothing on the bed, a dark dresser is near the back window, a small table with a laundry bin is at the left of the bed, and a robotic arm is positioned at the upper right above the bed.", "global_instruction_dense": "The right robotic arm moves from its initial upper right position above the bed downward to grasp the dark strap on the lower bed, lifts and adjusts the strap, moves it to the area of the folded gray clothing next to the white hanger, then lowers and places the strap onto the folded clothing.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 692, "tasks": ["place other"], "length": 275, "global_instruction": "Retrieve the brown sausage from the folded white cloth and place it next to the stack of white napkins.", "scene_description": "A black dining table in a home living area (background with brick fireplace and beige sofa) holds food packages, orange and purple plastic utensils, several metal forks, a large black cylindrical bucket, a folded white cloth, a wooden spoon, and a stack of white paper napkins, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves toward the folded white cloth on the black table, grasps its edge, unfolds it to reveal the brown sausage inside, grasps the sausage, lifts it, moves it rightward, and places it next to the stack of white napkins.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 693, "tasks": ["place other"], "length": 309, "global_instruction": "Unfold the folded white napkin on the table, take out the brown baked good inside, and place it on the table surface.", "scene_description": "A black table holds a large black cup, two folded white napkins, metal forks, orange and purple plastic utensils, assorted food packages, and a right robotic arm is positioned above the table, with a living room with a brick fireplace and beige sofa in the background.", "global_instruction_dense": "The right robotic arm moves downward to the folded white napkin on the black table, unfolds the napkin to reveal the brown baked good inside, grasps the baked good, lifts it, and places it on the table next to the napkin.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 694, "tasks": ["place other"], "length": 413, "global_instruction": "Place the long thin rod and white napkin from the table into the black bucket.", "scene_description": "A black dining table holds a central black plastic bucket, metal forks, orange and purple plastic spatulas, packaged food items, and white cloth napkins; a Franka Emika robotic arm is positioned above the table, with a brick fireplace and beige living room couch in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp a long thin rod from the table, lifts it and drops it into the black bucket, then returns to the table to grasp a white napkin, lifts it and drops it into the bucket, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 695, "tasks": ["place other"], "length": 422, "global_instruction": "Place the badminton racket on the table into the black bucket.", "scene_description": "A black tabletop holds a black tapered bucket, a badminton racket with an orange frame and red handle, metal cutlery, and assorted packaged items, with a living room (brick fireplace, sofas, chairs) in the background, and a robotic arm positioned above the bucket.", "global_instruction_dense": "The left robotic arm moves toward the badminton racket on the table, grasps its red handle, lifts the racket, moves it over the black bucket, lowers it, and releases it to place the racket inside the bucket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 696, "tasks": ["place other"], "length": 519, "global_instruction": "Place the red-handled badminton racket on the table into the black cylindrical bucket.", "scene_description": "A dark black table holds a red-handled badminton racket, a black cylindrical bucket, a white frosted cylindrical bucket, assorted small items including metal spatulas, food packages, and plastic bags. A Franka Emika robotic arm is positioned to the right of the table, with a living room with a brick fireplace and sofa in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-handled badminton racket on the table, grasps it with its gripper, lifts the racket, moves it over the black cylindrical bucket, lowers it into the bucket, and releases the racket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 697, "tasks": ["place other"], "length": 538, "global_instruction": "Place the small brown sausage on the red-handled mesh sieve, then lift, rotate, and reposition the sieve on the table.", "scene_description": "A black table in a living room holds a black bucket, a red-handled round mesh sieve, metal cooking utensils, a small brown sausage, a blue box, and assorted items. A robotic arm is positioned above the upper right of the table, with a brick fireplace, beige sofa, and wooden floors in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the small brown sausage on the black table, places it onto the red-handled mesh sieve, then grasps the sieve's red handle, lifts and rotates the sieve above the table, before lowering and placing it back on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 698, "tasks": ["place other"], "length": 271, "global_instruction": "Place the red-handled mesh net into the tall black container on the table", "scene_description": "A black table holds a red-handled round mesh net, two metal slotted spatulas, a tall black container with white inner lining, and small packaged goods; a brick fireplace and white sofa are in the background, with a robotic arm at the right edge of the view.", "global_instruction_dense": "The right robotic arm moves toward the red-handled round mesh net on the table, grasps its red handle, lifts the net, moves it over the tall black container, lowers the net into the container, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 699, "tasks": ["place other"], "length": 185, "global_instruction": "Pick up the badminton racket from the black bucket then place it back into the bucket.", "scene_description": "A dark table holds a black bucket with a brown-framed badminton racket inside, a tall white cup, a small grey bowl, cloths, and packaged goods, with a living area with a brick fireplace and white sofa in the background.", "global_instruction_dense": "The left robotic arm moves toward the badminton racket inside the black bucket on the table, grasps the racket, lifts it out of the bucket, lowers it back into the bucket, then releases the racket and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 700, "tasks": ["place other"], "length": 487, "global_instruction": "Place the gray quilted heat pad flat on the black table surface.", "scene_description": "A black table against a white wall holds a white grid-patterned cloth, clear glass cup, metal spoon, small green square object, dark green-rimmed mug, gray quilted heat pad, and a gray placemat, with a left robotic arm positioned above the table and a stationary right robotic arm on the right.", "global_instruction_dense": "The left robotic arm moves downward toward the gray quilted heat pad on the black table, grasps it, lifts and adjusts its orientation, then lowers it onto the table and releases it to lay flat.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 701, "tasks": ["place other"], "length": 343, "global_instruction": "Pick up the grey square heat pad and place it in front of the clear glass on the table.", "scene_description": "A black table against a white wall holds a white checkered cloth, two metal utensils, a clear glass, a grey square heat pad, a small green square object, a dark green mug, and a large grey placemat, with a white robotic arm with orange accents to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the grey square heat pad on the black table, grasps it, lifts it, moves it over the clear glass, lowers it, releases it on the table in front of the glass, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 702, "tasks": ["place other"], "length": 236, "global_instruction": "Pick up the top gray fabric mat and place it on top of the clear glass on the table.", "scene_description": "A black table against a white wall holds a white grid-patterned cloth, a metal fork, a small green square lid, a green cup, a clear glass, a metal spoon, and two stacked gray fabric mats near the white door behind the table. A white robotic arm is positioned to the right of the table, with a dark chair visible through the open doorway in the background.", "global_instruction_dense": "The right robotic arm moves down toward the top gray mat on the table, grasps it, lifts it, moves it horizontally over the clear glass, lowers it to rest on the glass, releases the mat, then moves upward away from the glass.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 703, "tasks": ["place other"], "length": 376, "global_instruction": "Move the top gray placemat to the front of the table, then place the spoon onto the moved placemat.", "scene_description": "A black table against a white wall holds a white checkered cloth, a small green object, a clear glass, a dark green round object, and two overlapping gray placemats with a spoon and fork on the top placemat, with a white robotic arm mounted to the right of the table, a white door and black folding chair in the background.", "global_instruction_dense": "The right robotic arm grasps the top gray placemat from the back of the table, lifts it, moves it forward to the open lower area of the table, releases it, then grasps the spoon from the remaining back placemat, lifts it, moves it over the newly placed front placemat, and releases the spoon onto the mat.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 704, "tasks": ["place other"], "length": 369, "global_instruction": "Place the silver fork and spoon from the small gray mat onto the larger gray mat behind it.", "scene_description": "A black table against a light-colored wall holds a white checkered cloth, green round container, clear glass, small gray mat with a silver fork and spoon on it, and a larger gray mat behind the small one. A white robotic arm with orange accents is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the fork on the small gray mat, lifts and places it on the larger rear gray mat, then grasps the spoon, lifts and places it on the larger mat, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 705, "tasks": ["place other"], "length": 241, "global_instruction": "Pick up the green coaster on the table and place it next to the dark cup", "scene_description": "A black table stands against a white wall. On the table, from left to right: a white grid-patterned cloth, a dark cup with green interior, a small clear square container, a green coaster, a clear glass on a light gray rectangular mat, and a fork and spoon on a larger gray placemat. A white robotic arm with orange accents is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the green coaster on the table, grasps it with its gripper, lifts it upward, moves it leftward to the area next to the dark cup, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 706, "tasks": ["place other"], "length": 176, "global_instruction": "Pick up the brown wooden coaster and place it at the back of the black table.", "scene_description": "A black table against a white wall holds a white checkered cloth, clear glass, green circular coaster, open small container with red contents, brown circular wooden coaster, and gray padded mat, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm lowers toward the brown wooden coaster on the gray padded mat, grasps it, lifts it, moves it to the rear of the black table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 707, "tasks": ["place other"], "length": 116, "global_instruction": "Pick up the silver tin from the gray mat and place it next to the clear glass on the table.", "scene_description": "A black table stands against a white wall. On the table, a white checkered cloth rests on the left next to a green lid, a gray padded mat holds an open silver tin, and a black utensil holder plus a clear glass on a round wooden coaster sit at the table's back. A left robotic gripper is positioned above the table near the wall, while a stationary right robotic arm with a green base light is on the right.", "global_instruction_dense": "The left robotic arm moves down toward the silver tin on the gray padded mat, grasps it, lifts it, moves it to the back of the table next to the clear glass, and sets it down in that position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 708, "tasks": ["place other"], "length": 242, "global_instruction": "Pick up the green coaster on the gray cloth and place it onto the yellow cup.", "scene_description": "A black table is against a white wall. On the table, there is a gray cloth, a white grid-patterned cloth, two green circular coasters, a small clear plastic container, a yellow cup, a black utensil holder, and a clear glass on a brown round coaster. A white robotic arm is positioned to the right of the table, with its gripper above the clear glass initially.", "global_instruction_dense": "The right robotic gripper moves toward the green circular coaster on the gray cloth, grasps it, lifts it, moves it over the yellow cup near the wall, lowers it onto the cup, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 709, "tasks": ["place other"], "length": 229, "global_instruction": "Pick up the black handled French press plunger from the yellow plate and place it on the black table surface.", "scene_description": "A black table sits between a white wall and a large white Franka robotic arm on its right. On the table: a near-end grey tray holds a yellow packaged snack, a glass with a spoon, and a folded white checkered cloth; further along are a green coaster, a small black container, and a French press with a black handle on a yellow plate. A second robotic gripper is positioned above the left table edge near the wall.", "global_instruction_dense": "The left robotic gripper moves downward toward the black handled French press plunger on the yellow plate, grasps and lifts it (knocking over the adjacent dark green mug), moves left across the table, then lowers and places the plunger on the empty table surface near the small black container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 710, "tasks": ["place other"], "length": 309, "global_instruction": "Place the wrinkled section of the plaid comforter from the bed into the white plastic basket next to the bed.", "scene_description": "A bed covered with a beige, gray and white plaid comforter is positioned in front of a window with horizontal blinds, a wooden nightstand sits to the right of the bed near the window, a white perforated plastic basket is on the floor next to the nightstand, and a left robotic arm with a green-lit base is positioned beside the basket.", "global_instruction_dense": "The left robotic arm moves downward toward the wrinkled section of the plaid comforter on the bed, grasps the comforter section with its gripper, lifts it, moves it rightward over the white plastic basket beside the bed, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 711, "tasks": ["place other"], "length": 189, "global_instruction": "Pick up the green coaster on the black table and place it next to the orange cup on the table.", "scene_description": "A black table against a white wall holds a dark green mug, orange-edged card, white checkered cloth on a tray, clear glass, white spoon, orange cup with dark liquid, wooden coaster, and two green coasters. A white robotic arm is positioned to the right of the table, with a white door and tiled floor in the background.", "global_instruction_dense": "The right robotic arm moves down toward a green coaster on the black table, grasps the coaster, lifts it, moves it closer to the orange cup, places it on the table surface, then releases the coaster and retracts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 712, "tasks": ["place other"], "length": 143, "global_instruction": "Place the dark green avocado into the black-striped wooden bowl.", "scene_description": "A black table against a white wall holds a gray placemat with a crumpled checkered cloth, a small orange jar, a wooden coaster with a dark green avocado, and a large wooden bowl with black zigzag patterns behind the coaster; a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the dark green avocado on the wooden coaster, grasps it with its gripper, lifts it, moves it over the black-striped wooden bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 713, "tasks": ["place other"], "length": 298, "global_instruction": "Move the black vase and the green spherical fruit from the back of the table to the front near the gray placemat.", "scene_description": "A small black table against an off-white wall holds a brown and black striped wooden bowl, a small metal jar with a spoon, a black round vase, a green spherical fruit behind the vase, a gray placemat with a crumpled white checkered cloth and an orange snack packet on it, with a white robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the black vase at the back of the table, grasps it, moves it forward to the front of the table near the gray placemat and releases it, then moves toward the green spherical fruit, grasps it, moves it next to the placed black vase and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 714, "tasks": ["place other"], "length": 284, "global_instruction": "Pick up the light brown circular coaster from the table and place it into the black-and-white striped bowl.", "scene_description": "A black table against a light wall holds a black-and-white striped bowl, a light brown circular coaster, a dark green mug, a blue and yellow beverage can, a small open silver jar, a yellow document stand with paper, and a grey placemat. A white robotic arm is to the right of the table, a white toilet is to the left, and a white closed door is in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the light brown coaster on the black table, grasps the coaster with its gripper, lifts and moves the coaster over the black-and-white striped bowl, then releases the coaster into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 715, "tasks": ["place other"], "length": 314, "global_instruction": "Reposition the metal spice rack to a new spot on the wooden table.", "scene_description": "A wooden table against a wall holds a multi-tiered metal spice rack with black-lidded metallic spice jars, a clear popcorn container with a metal spoon, a black remote on a gray quilted pot holder, small colorful containers, loose spice jars, and a small white bottle. An open light wood drawer with a black item inside sits under the table's far end, and a white robotic arm is on the table's right edge near the drawer.", "global_instruction_dense": "The right robotic gripper moves left from near the open drawer toward the metal spice rack, grasps it, lifts and moves it to a new table position, lowers and releases it, then moves back toward its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 716, "tasks": ["place other"], "length": 299, "global_instruction": "Place the small seasoning shaker from the table into the rotating metal spice rack.", "scene_description": "A wooden table holds a gray zippered pouch with a black remote inside, three small metal containers with colorful contents, two clear glass seasoning shakers, a black snack packet with yellow details, and a rotating metal spice rack with multiple jars at its far end. A white robotic arm is mounted on a glass-topped platform to the right of the table, with an open drawer below the table center.", "global_instruction_dense": "The right robotic arm moves left toward the small seasoning shaker on the wooden table, grasps it, lifts it, moves it to the rotating spice rack at the table's far end, inserts it into an empty slot of the rack, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 717, "tasks": ["place other"], "length": 167, "global_instruction": "Pick up the metal spice rack on the wooden table and place it in a new position on the table.", "scene_description": "A wooden table holds a silver circular spice rack with multiple small dark-lidded spice jars, a separate single dark-lidded spice jar next to the rack, a light blue tissue box, and a white trash bin with an orange stripe at the table's far end. A white robotic arm is positioned to the right of the table, with its black end gripper near the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the metal spice rack on the wooden table, grasps its top metal handle, lifts the rack, shifts it slightly across the table surface, lowers it into a new position, releases the handle, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 718, "tasks": ["place other"], "length": 283, "global_instruction": "Place the round wooden cutting board from the rear right stove burner into the dark gray frying pan on the front right burner.", "scene_description": "A white gas stove holds a dark lidded pot on the left rear burner, a yellow-blue can on a checkered cloth over a metal rack, a red-capped spice shaker next to the rack, a dark gray frying pan on the right front burner, and a round wooden cutting board on the right rear burner, with a tiled floor and counter in the background.", "global_instruction_dense": "The right robotic gripper approaches the round wooden cutting board on the right rear stove burner, grasps it, lifts it, moves it over the dark gray frying pan on the right front burner, lowers it into the pan, then releases the board and retracts.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 719, "tasks": ["place other"], "length": 211, "global_instruction": "Place the round wooden cutting board from the stove burner onto the dark lidded pot.", "scene_description": "A white gas stove has a dark lidded pot on its left rear burner, a dark frying pan on a checkered cloth on its left front burner, and a round wooden cutting board on its right rear burner, with a robotic arm positioned in the background right of the stove.", "global_instruction_dense": "The right robotic gripper moves toward the round wooden cutting board on the right rear stove burner, grasps it, lifts it off the burner, moves it leftward over the dark lidded pot on the left rear burner, and lowers it to place it on top of the pot.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 720, "tasks": ["place other"], "length": 190, "global_instruction": "Place the round wooden cutting board next to the dark pot onto the back right burner of the white gas stove.", "scene_description": "A white gas stove sits in a kitchen. On the stove, a dark gray frying pan rests on the front left burner, a dark pot sits on the back left burner, a round wooden cutting board stands on a stand next to the pot, a yellow spray can lies between the burners, the right burners are empty, a robotic manipulator is positioned above the upper right of the stove, a side counter with miscellaneous items is behind the stove, and a tiled floor area is visible through an open doorway.", "global_instruction_dense": "The right robotic gripper moves toward the round wooden cutting board standing next to the dark pot on the left of the stove, grasps the board, lifts it, moves it rightward over the empty back right burner, lowers it, and releases it to rest on the back right burner.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 721, "tasks": ["place other"], "length": 207, "global_instruction": "Place the front right metal stovetop burner grate onto the front left stovetop burner.", "scene_description": "A white gas stovetop has four burners fitted with metal grates: a black wok rests on the front left burner, a yellow and silver spray can and an orange-white packaged item sit next to the wok, and a small black pot topped with a checkered cloth sits on the back right burner. A robotic arm is positioned near the back right of the stovetop, with a tiled floor and a small side table holding a striped bowl in the background.", "global_instruction_dense": "The right robotic arm first grasps and removes the back right metal burner grate from the stovetop, then grasps the front right metal burner grate, lifts it, moves it leftward over the front left burner, and places it on top of the existing front left burner grate.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 722, "tasks": ["place other"], "length": 273, "global_instruction": "Move the metal stove grate from the center front of the gas stove to the right front burner.", "scene_description": "A white gas stove sits in a kitchen. On the stovetop: a dark lidded pan is on the left rear burner, a small black pot on the right rear burner, a yellow and silver spice container at the left front edge, an orange and white packaged bag next to the container, a white checkered cloth on the right front of the stove, and metal grates cover the two front burners. A small side table with a striped bowl, black mug, and small items is positioned near a door in the background, with tiled flooring below.", "global_instruction_dense": "The right robotic arm enters the frame, moves to grasp the metal stove grate on the center front of the gas stove, lifts the grate, moves it over the right front burner, lowers and places it on the right front burner, then releases the grate and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 723, "tasks": ["place other"], "length": 224, "global_instruction": "Place the brown round cutting board from the rear stove burner onto the pan with the checkered cloth.", "scene_description": "A white gas stove holds a black lidded pot, a pan with a grey checkered cloth, a yellow-capped can, an orange-bordered food packet, and a brown round cutting board on its rear right burner. A small table with a zebra-patterned basket, a black mug, and other items sits behind the stove, with a tiled floor, bicycle wheel, and door to an adjacent room in the background.", "global_instruction_dense": "The right robotic gripper moves toward the brown round cutting board on the rear right burner of the white gas stove, grasps it, lifts it, moves it leftward over the pan with the grey checkered cloth on the front burner, lowers it, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 724, "tasks": ["place other"], "length": 157, "global_instruction": "Move the brown trivet from the left front stove burner to the right rear stove burner.", "scene_description": "A white gas stovetop holds a round brown trivet on a checkered cloth over the left front burner, a gray frying pan, a yellow and blue spice jar, and an orange food package. A table with a zebra-patterned bowl sits behind the stove, with a tiled kitchen floor and bicycle wheel in the background.", "global_instruction_dense": "The right robotic gripper approaches the brown round trivet on the left front stove burner, grasps it, lifts it, moves it to the right rear burner, lowers it onto the burner, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 725, "tasks": ["place other"], "length": 175, "global_instruction": "Pick up the black baking sheet from the front stove burner and place it into the black cooking pot on the rear right burner.", "scene_description": "A white gas stovetop holds a black baking sheet on its front-left burner, a small dark spice bottle between the rear burners, a black frying pan on the rear-left burner, a black cooking pot on the rear-right burner, with a yellow can and yellow-bordered nutrition facts sheet on the left stove edge; a zebra print bowl sits on a side counter, and a bicycle wheel is visible on the right background tiled floor.", "global_instruction_dense": "The right robotic gripper moves toward the black baking sheet on the front-left stove burner, grasps it, lifts it, moves it over the black cooking pot on the rear-right burner, releases it into the pot, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 726, "tasks": ["place other"], "length": 239, "global_instruction": "Place the white kitchen appliance onto the rear right burner of the white gas stove.", "scene_description": "A white gas stove is visible, with a lidded pan on its front left burner, a checkered cloth with chopsticks, a small dark cup, and other cookware on the remaining stove surface; a tiled kitchen floor and background furniture are visible.", "global_instruction_dense": "The left robotic arm first lowers the white kitchen appliance with an orange accent toward the rear right burner of the white gas stove, briefly lifts it away, then lowers it again onto the burner and adjusts its position to rest stably on the burner.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 727, "tasks": ["place other"], "length": 353, "global_instruction": "Press the digital clock, move it from the gray mat to the bare wooden table surface, then press the clock again.", "scene_description": "A black digital clock showing 12:44 rests on a gray mat atop a wooden corner table next to a window with white horizontal blinds, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves down to press the top button of the digital clock on the gray mat, grasps the clock, lifts and moves it to the bare wooden area of the table, places and releases the clock, presses its top button again, then lifts its gripper away from the clock.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 728, "tasks": ["place other"], "length": 417, "global_instruction": "Place the black digital clock from the back of the table onto the gray mat on the table.", "scene_description": "A window with white horizontal blinds is on the left, a wooden table with a gray fabric mat sits below the window, a black digital clock is placed on the back of the table against the wall, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the black digital clock at the back of the table, grasps it with its gripper, lifts it, moves it over the gray mat, lowers and places the clock on the mat, then releases the clock and moves upward away from it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 729, "tasks": ["place other"], "length": 168, "global_instruction": "Move the black speaker on the ironing board to a new position on the white cloth.", "scene_description": "A brown ironing board is next to a window with white horizontal blinds. On the ironing board, a white electric iron sits left of a small black square speaker resting on a laid-out white cloth.", "global_instruction_dense": "The robotic arm enters the frame from the top right, descends to grasp the black speaker on the ironing board, lifts it, shifts it to a different position on the white cloth, releases it, then retracts upward away from the ironing board.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 730, "tasks": ["place other"], "length": 214, "global_instruction": "Move the small silver shaker from the top of the microwave to the surface next to the microwave.", "scene_description": "A white table holds a white microwave with an open door, a black mug sits on top of the microwave, next to the mug are a small silver shaker and a white paper towel roll. A brown framed picture hangs on the light gray wall behind the table, a white refrigerator is to the right of the table, and a robotic arm is positioned near the refrigerator at the top right.", "global_instruction_dense": "The right robotic arm moves leftward from near the refrigerator toward the small silver shaker on top of the microwave, grasps the shaker with its gripper, lifts it, moves it down and rightward, and places it on the lower surface beside the microwave.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 731, "tasks": ["place other"], "length": 262, "global_instruction": "Move the metal multi-tiered spice rack to the right side of the wooden table", "scene_description": "A wooden table holds a translucent white measuring cup in the foreground, a metal multi-tiered spice rack with glass jars, a red-capped seasoning bottle, a small silver bowl, and a metal fork behind the cup. A machine with green lights sits to the right of the table, and brown and white plastic bags are positioned behind the spice rack near a wall with a curtain.", "global_instruction_dense": "The left robotic gripper grasps the top of the metal multi-tiered spice rack, lifts it slightly, moves it rightward across the wooden table, and places it at the right side of the table before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 732, "tasks": ["place other"], "length": 196, "global_instruction": "Place the gray spice shaker onto the kitchen counter surface.", "scene_description": "A white tiled kitchen counter holds a black laptop on its left edge, a black pan on its right section, a paper towel roll behind the pan, a white microwave against the far wall, and a white refrigerator and stove along the right wall, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves downward and leftward from its initial top-right position toward the kitchen counter, lowers the gray spice shaker it holds onto the counter surface, releases the shaker, then retracts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 733, "tasks": ["place other"], "length": 320, "global_instruction": "Pick up the grey seasoning shaker from the kitchen island and place it on the lower shelf under the island.", "scene_description": "A small grey seasoning shaker with a black lid sits on a white tiled kitchen island, alongside a black laptop, loose black cables, and a white paper towel roll; a white microwave, white refrigerator, and white stove are visible in the kitchen background, with a green and white tote bag on the tiled floor.", "global_instruction_dense": "The right robotic arm moves down toward the grey seasoning shaker on the kitchen island, grasps the shaker with its gripper, lifts and moves it downward to the open lower shelf under the island, releases the shaker onto the shelf, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 734, "tasks": ["place other"], "length": 185, "global_instruction": "Place the metal spice rack from the back of the counter to the front left area of the counter.", "scene_description": "A wooden kitchen counter holds a white plastic pitcher at the left front, three metal measuring cups behind the pitcher, a green tea box at the front center, a brown printed paper bag at the back left, and a 2-tier metal spice rack with glass spice jars at the back right. A small glass spice jar sits next to the rack on the counter, a green-lit beverage machine is at the right edge of the frame, and a tiled doorway with a dark floor mat is visible in the background.", "global_instruction_dense": "The right robotic arm grasps the 2-tier metal spice rack at the back right of the wooden counter, moves it leftward and forward while rotating it, and places it in the front left area of the counter near the brown paper bag.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 735, "tasks": ["place other"], "length": 248, "global_instruction": "Place the small silver tin from the counter into the empty slot of the multi-tier spice rack", "scene_description": "A wooden kitchen counter holds a multi-tier metal spice rack on its left side, a small silver tin on its right side, green tea boxes, metal measuring cups, and a white plastic pitcher in the foreground left. A robotic gripper is positioned above the counter, and a machine with green lights is at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the small silver tin on the right of the wooden kitchen counter, grasps the tin, lifts it, moves it left to the multi-tier metal spice rack, and places it into an empty slot on the rack's top tier.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 736, "tasks": ["place other"], "length": 185, "global_instruction": "Place the black turntable from inside the open microwave onto the table.", "scene_description": "An open white microwave sits on the left of a white table, a small packaged packet, a roll of black tape, and a white router are on the table between the microwave and the right-positioned robotic arm, a framed picture hangs on the wall behind the table.", "global_instruction_dense": "The right robotic arm moves left toward the open microwave, reaches inside to grasp the black turntable, pulls it out of the microwave, moves it over the table surface, lowers it, and places it on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 737, "tasks": ["place other"], "length": 228, "global_instruction": "Pick up the small green plant on the bed and place it on top of the rear tissue box.", "scene_description": "A bed with blue, white and gray plaid bedding holds a long blue foam pad, a foreground light blue tissue box, a rear green and white tissue box, and a small green plant. A wooden nightstand beside the bed holds a lamp and a white clock.", "global_instruction_dense": "The right robotic arm descends toward the small green plant on the plaid bed, grasps it, lifts it, moves it over the rear tissue box on the bed, lowers and releases the plant onto the box, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 738, "tasks": ["place other"], "length": 258, "global_instruction": "Place the gray padded mat on the ironing board over the clear wine glass.", "scene_description": "A blue ironing board holds a gray quilted square padded mat, a clear wine glass, and a small light blue cloth near its far end. To the left of the ironing board is a wooden nightstand with a beige-shaded table lamp, a small white iron, and a small dark object, next to a bed with blue-and-white plaid bedding under a window with white horizontal blinds. A white robotic arm is positioned to the right of the ironing board.", "global_instruction_dense": "The right robotic gripper moves down toward the gray padded mat on the ironing board, grasps the mat, lifts it, moves it over the clear wine glass, lowers it to rest on top of the glass, then releases the mat and moves upward away from the glass.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 739, "tasks": ["place other"], "length": 471, "global_instruction": "Place the scattered small white pellets on the table into the black bowl.", "scene_description": "A white microwave sits on the left of a white table with a black mug on top of it. To the right of the microwave on the table are a black bowl, scattered small white pellets, a blue bottle on a dark round base, a black kettle, and a robotic arm extending from the right above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the small white pellets scattered on the table to the right of the black bowl, lifts each pellet, moves over the bowl, and releases the pellets into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 740, "tasks": ["place other"], "length": 145, "global_instruction": "Retrieve a small brown tag from the wooden organizer and place it on the countertop.", "scene_description": "A light beige countertop holds a wooden upright packet organizer at the center, a small wooden box with white printed packets at the bottom left, stacked paper cups and small snack trays behind the organizer, with a robotic arm positioned at the upper right of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the wooden organizer, reaches into its middle slot to grasp a small brown tag, pulls the tag out of the slot, moves right over the countertop, and releases the tag to drop it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 741, "tasks": ["place other"], "length": 148, "global_instruction": "Retrieve the small brown wooden object from the sachet rack and place it on the countertop.", "scene_description": "A white countertop holds a light wooden sachet rack filled with plastic-wrapped sachets, a stack of printed paper cups, and small wooden snack compartments in the background, with a robotic gripper at the right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves left toward the lower slot of the wooden sachet rack, grasps the small brown wooden object inside the slot, pulls the object out of the rack, moves over the countertop, releases the object, and drops it onto the white countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 742, "tasks": ["place other"], "length": 324, "global_instruction": "Retrieve a small white creamer pod from the lower wooden shelf and place it on the countertop.", "scene_description": "A white countertop has tiered wooden storage shelves of packaged goods on the left, two printed paper cups, a blank white sheet of paper, and a POS machine in the background.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves toward the lower section of the left wooden shelf, grasps a small white creamer pod, lifts it, moves it rightward over the counter near the white paper, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 743, "tasks": ["place other"], "length": 250, "global_instruction": "Pick a white creamer pod from the wooden rack and place it on the white countertop.", "scene_description": "A white counter holds a multi-slot wooden rack filled with assorted packaged snacks, straws, and creamer pods, two white printed cups, a stack of disposable cups, and a black coffee machine in the background.", "global_instruction_dense": "The right robotic gripper moves toward the lower slot of the wooden rack, grasps a small white creamer pod with a red top, lifts it out of the rack, moves it over the white countertop, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 744, "tasks": ["place other"], "length": 231, "global_instruction": "Place the small red-topped creamer pod into the empty slot of the lower left wooden snack shelf.", "scene_description": "A white countertop has multi-tiered wooden snack shelves on the left holding various packaged goods, two printed white cups on the counter right of the shelves, a small white creamer pod with a red top between the shelves and cups, and a white robotic arm on the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small red-topped creamer pod on the counter, grasps it with its gripper, lifts it, moves it left to the lower row of the wooden snack shelf, places it into the empty storage slot, then releases the pod and moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 745, "tasks": ["place other"], "length": 164, "global_instruction": "Pick the yellow strip from the left paper cup and place it on the table next to the upper patterned plate", "scene_description": "A white table holds two patterned paper plates, two paper cups (the left cup contains a yellow strip), a dark snack bag, small white food pieces, and a plastic spoon. A FRANKA EMIKA robotic arm is positioned to the right of the table, with a couch on the left, another table with potted plants, grey chairs, and kitchen cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward the left paper cup, grasps the yellow strip inside the cup, lifts and moves the strip over the table to the area near the upper patterned plate, then releases the strip to place it on the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 746, "tasks": ["place other"], "length": 228, "global_instruction": "Place the wooden ruler on the table onto the light beige open box", "scene_description": "A dark brown round table sits next to a window. On the table, there is a white potted green plant near the window, a light beige open box with a red triangular piece inside, a blue bowl with colorful contents and a light blue scoop, a wooden ruler, a patterned paper cup, and a small glass spice jar with a brown lid. Grey chairs surround the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the wooden ruler on the dark brown round table, grasps it, lifts it, moves it over the light beige open box, and releases it onto the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 747, "tasks": ["place other"], "length": 208, "global_instruction": "Pick up the small black electrical component and place it on the counter near the stacked paper cups.", "scene_description": "A white countertop holds two tall stacks of patterned white paper cups on a circular holder, a single patterned paper cup with a white lid, a white bowl with dark contents, a small white dish with yellow food, a brown packet, and a gold packet. A grey tiled wall with a power outlet is behind the counter, and a robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the small black electrical component at the rear of the counter, grasps it, lifts it, moves it left to the area next to the stacked paper cups, lowers it, releases it onto the counter, then lifts away from the placed component.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 748, "tasks": ["place other"], "length": 164, "global_instruction": "Pick up the yellow ruler on the white box and place it on the dark brown table.", "scene_description": "A dark brown round table sits next to a window. On the table: a green potted plant in a white pot near the window, a yellow ruler rests on a white open box holding a small red object, a patterned paper cup with brown contents is right of the box, a blue bowl with a light blue scoop is right of the cup. Grey chairs surround the table, and a robotic arm is at the top right of the view.", "global_instruction_dense": "The right robotic gripper moves toward the yellow ruler on the white open box, grasps the ruler, lifts and moves it to a spot next to the white box, then releases the ruler onto the dark brown round table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 749, "tasks": ["place other"], "length": 184, "global_instruction": "Pick up the wooden ruler on the table and place it on the square beige bead box.", "scene_description": "A round dark wooden table adjacent to a window holds a white potted plant, a square beige box with colorful small beads, a small jar with a brown lid, a light brown wooden ruler, a white patterned paper cup, a yellow bowl, and a blue bowl full of colorful beads, with a robotic arm above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the wooden ruler on the table, grasps and lifts the ruler, moves it over the square beige bead box, then releases the ruler to rest on top of the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 750, "tasks": ["place other"], "length": 161, "global_instruction": "Place the paper coffee filter from the filter holder into the white bowl on the countertop.", "scene_description": "A white kitchen countertop holds a gray napkin holder with white napkins on the left, a white mat with a small black object, two stacks of white printed disposable paper cups on a circular holder, a small white cup on a saucer, a yellow plastic spoon, a white filter container, and coffee equipment on the right; the right robotic arm is partially visible at the far right edge.", "global_instruction_dense": "The right robotic arm moves toward the white filter holder, grasps a white paper coffee filter, lifts it, moves it over the adjacent white bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 751, "tasks": ["place other"], "length": 257, "global_instruction": "Move the flat white board holding small colorful items to the right side of the countertop.", "scene_description": "A white kitchen countertop against a gray tiled backsplash holds a white napkin holder, two patterned paper cups, a white teacup on a saucer, a small white bowl, two tall stacked cylindrical containers, a flat white board with small colorful items, and a small black object, with a robotic arm initially positioned off the right edge of the counter.", "global_instruction_dense": "The right robotic arm reaches toward the flat white board on the left area of the counter, grasps it, lifts and tilts it to drop the small items on it onto the counter, moves the empty board to the right side of the counter near the white bowl, and places the board down on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 752, "tasks": ["place other"], "length": 207, "global_instruction": "Place the small golden trophy into the clear plastic cup on the countertop", "scene_description": "A white countertop against light grey tiled walls holds two stacked white napkin holders, a patterned ceramic cup, a small golden trophy in a white base, a shallow white bowl, two tall patterned cylindrical containers, a clear plastic cup, a small white dish, and black plastic stands.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the right side of the counter, grasps it and moves it left near the golden trophy, then grasps the golden trophy, moves it rightward, and places it into the clear plastic cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 753, "tasks": ["place other"], "length": 245, "global_instruction": "Move the white saucer holding a golden tube from the black pad to the area near the patterned paper cup on the counter.", "scene_description": "A white countertop against a gray tiled wall holds a clear napkin dispenser with white napkins, a patterned paper cup, loose white napkins, a small white bowl, stacked paper cups, and a white saucer with a golden tube resting on a black pad at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white saucer holding a golden tube on the black pad at the far end of the counter, grasps the saucer, lifts it, moves it left to the area near the patterned paper cup, lowers it onto the counter, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 754, "tasks": ["place other"], "length": 179, "global_instruction": "Place the small white saucer into the large bowl on the kitchen counter.", "scene_description": "A white kitchen countertop holds a black and white calibration board on the left, a stack of white napkins next to the board, a dark blue bowl with a white bowl inside, a small white saucer to the right of the blue bowl, a small glass with wooden chopsticks resting on top behind the bowl, and two stacks of disposable white paper cups at the back right of the counter, with a grey tiled wall and electrical outlets behind the counter.", "global_instruction_dense": "The right robotic gripper moves from the upper right toward the small white saucer on the counter, grasps it, lifts it, moves it left over the large bowl, and releases the saucer into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 755, "tasks": ["place other"], "length": 223, "global_instruction": "Place the crumpled white trash from the counter into the closer square disposal opening.", "scene_description": "A white countertop holds a wooden box of small packets, a metal napkin dispenser, a large clear jar of packaged sachets, two white paper bowls, two square metal disposal openings, and crumpled white trash near the far opening, with a right robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the crumpled white trash near the far disposal opening, grasps the trash, lifts it, moves it over the closer square disposal opening, then releases the trash to drop it into the opening.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 756, "tasks": ["place other"], "length": 218, "global_instruction": "Move the small white cup and its saucer to a new position on the kitchen counter.", "scene_description": "A white kitchen counter holds a clear spray bottle, blue cleaning cloth, silver shaker, green-capped clear plastic bottle, dark blue bowl, white mug with red interior and handle, small white cup resting on a white saucer, patterned white cup, metal napkin holder, small black and blue items, and two small white bowls, with a robotic arm at the upper right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white saucer holding the small white cup, grasps the saucer, lifts it slightly, moves it a short distance to the right, lowers it onto the counter, and releases the saucer to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 757, "tasks": ["place other"], "length": 351, "global_instruction": "Pick up the white square cover on the counter and place it into the lower square opening.", "scene_description": "A white countertop has a light brown wooden sachet box, silver napkin holder, and clear sachet jar on its left side. Two square recessed openings are on the counter, with a white square cover next to the upper opening and a red sachet beside the lower open opening. A stationary right robotic arm is at the counter's right edge.", "global_instruction_dense": "The left robotic arm enters the frame, moves down to grasp the white square cover beside the upper counter opening, moves the cover over the lower open square opening, and releases it to drop the cover into the opening.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 758, "tasks": ["place other"], "length": 413, "global_instruction": "Drop the white paper and the small sachet on the counter into the rear recessed disposal hole.", "scene_description": "On a white countertop, there is a wooden box filled with small sachets, a metal holder with stacked white napkins, a large clear glass jar filled with white sachets with blue markings, two square recessed holes, a white paper beside the closer hole, and a robotic arm on the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the white paper on the counter, grasps it, lifts and moves it over the rear recessed disposal hole, releases the paper to drop it into the hole, then moves toward the small blue-and-white sachet on the counter, grasps it, lifts and moves it over the rear recessed disposal hole, and releases the sachet to drop it into the hole.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 759, "tasks": ["place other"], "length": 370, "global_instruction": "Pick up the small white saucer and place it on the right side of the countertop near the wooden spoon.", "scene_description": "A white kitchen countertop holds a dark blue bowl on the left, a clear green-capped plastic bottle behind the bowl, a patterned white mug to the bowl's right, stacks of white napkins at the back, a red-interior white mug with red handle in the front middle, small white bowls around the red-handled mug, another patterned white mug to the right of the small bowls, small dark bottles, a white lid, small colorful packets, and a wooden spoon on the far right, with a robotic arm positioned off the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small white saucer next to the right patterned white mug, grasps it, lifts it, moves it rightward over the counter near the wooden spoon, lowers it onto the counter, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 760, "tasks": ["place other"], "length": 234, "global_instruction": "Place the small dice on the wooden table into the yellow cereal bowl.", "scene_description": "A round dark wooden table near a window holds a patterned white paper cup, plain white ceramic cup, folded white napkin with a plastic spoon, small light dice, blue bowl, yellow bowl with colorful cereal and a metal spoon, and beige container with a teal scoop. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the small light dice on the table, grasps it, lifts it, moves over the yellow cereal bowl, and releases the dice into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 761, "tasks": ["place other"], "length": 116, "global_instruction": "Pick up the small silver shaker and place it into the open light beige box on the table.", "scene_description": "A round dark wooden table holds a blue bowl of colorful granular pieces, a yellow bowl of the same pieces with a spoon, an open light beige box with small red and green blocks, a small silver shaker, a white patterned paper cup, a white cylindrical object on a stand, a glass jar with a brown lid, and a white plastic fork. A window with a white blind is to the left of the table, a grey chair is behind the table, a purple chair is to the right, and a robotic arm is at the right edge of the scene.", "global_instruction_dense": "The right robotic arm moves toward the small silver shaker on the wooden table, grasps it, lifts it, moves it over the open light beige box, releases it into the box, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 762, "tasks": ["place other"], "length": 142, "global_instruction": "Reposition the metal cooling rack on the glass baking tray.", "scene_description": "A light wooden kitchen table holds a dark baking sheet lid, a metal cooling rack on a glass baking tray, a glass kettle with black base, light blue cup, white plate, white napkin, and white paper towel roll. White cabinets, a sink, black and silver stove, and glass exterior door are in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the metal cooling rack on the glass baking tray, grasps it, adjusts its position on the tray, releases it, and lifts back up out of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 763, "tasks": ["place other"], "length": 308, "global_instruction": "Place the white notepad from the side table top into the table's lower open drawer", "scene_description": "A dark brown side table is against a white wall, with a yellow cylinder, white notepad, and dark notebook with pen on its top; a brown fabric couch is to the table's left, a white robotic arm is to the right, and the table's open lower drawer holds small miscellaneous items.", "global_instruction_dense": "The right robotic arm moves toward the white notepad on the side table top, grasps it with its gripper, lifts it, moves it over the table's open lower drawer, releases the notepad into the drawer, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 764, "tasks": ["place other"], "length": 311, "global_instruction": "Move the green grape cluster to a new position on the kitchen counter closer to the white bowl.", "scene_description": "A light wooden kitchen countertop holds a black toaster oven, glass coffee carafe, white lidded cup, white bowl stacked on a white saucer, metal fork on a stained cloth napkin, small blue toy car, green square block, and green grape cluster. The background features white kitchen cabinets, a sink under a window, a black stove, and a glass patio door.", "global_instruction_dense": "The right robotic gripper descends toward the green grape cluster on the right side of the kitchen counter, grasps it, lifts and moves it left toward the white bowl, then lowers and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 765, "tasks": ["place other"], "length": 364, "global_instruction": "Pick up the brown brownie from the white plate and place it on the wooden countertop.", "scene_description": "A wooden kitchen counter holds a white plate with a brown brownie, a small white dish with black clips, a white disposable cup, stacked light blue cups, a black kettle, and a dark grey toaster oven. White cabinets, a white fridge, and a sink area with a toaster and coffee maker are in the background.", "global_instruction_dense": "The right robotic arm descends toward the brown brownie on the white plate, grasps it, lifts it off the plate, moves it left onto the wooden countertop, adjusts its position, releases it, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 766, "tasks": ["place other"], "length": 220, "global_instruction": "Place the black helmet onto the orange cloth next to the gray bin.", "scene_description": "A light gray fabric bin is positioned next to a window with white horizontal blinds, a wooden side table holding a remote sits under the bin, and an orange cloth lies on a white surface to the right of the bin.", "global_instruction_dense": "The right robotic arm enters the scene from the right holding a black helmet with an orange strap, moves the helmet left toward the gray bin, then moves it back right toward the orange cloth, lowers the helmet onto the orange cloth, releases it, and retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 767, "tasks": ["place other"], "length": 183, "global_instruction": "Move a white and red appliance and a dark small object sequentially into and out of the right desktop area.", "scene_description": "A window with white horizontal blinds, a white vertical pillar, and a light brown desktop holding a white and black corded phone, a black wired small device, an orange cloth, and a white flat object are present, with no robots visible.", "global_instruction_dense": "The right robotic gripper first moves a white and red appliance into the right side of the frame, holds it briefly, moves it out of view, then briefly moves a dark small object into the frame before retracting completely out of view.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 768, "tasks": ["place other"], "length": 170, "global_instruction": "Place the black gas burner grate from the right side of the stove onto the left burner next to the glass coffee carafe.", "scene_description": "A black Mr. Coffee coffee maker sits to the left of a black gas stove. On the stove surface, there is a clear glass coffee carafe and a lidded silver metal pot. A green hand sanitizer bottle rests on the stove's rear control panel, and a white robotic gripper is positioned above the stove near the silver pot.", "global_instruction_dense": "The right robotic gripper moves upward and rightward above the stove, grasps the black gas burner grate on the right stove area, lifts it, moves it leftward across the stove, and places it on the left stove burner adjacent to the clear glass coffee carafe.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 769, "tasks": ["place other"], "length": 191, "global_instruction": "Grasp the white controller on the table and reposition it to the front part of the table.", "scene_description": "A wooden tabletop is in a corner next to a window with horizontal white blinds. On the tabletop, there is a white controller with a black lower half, a small black circular device, an orange cloth, and a pink cup with a blue rim.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves toward the white controller near the wall on the table, grasps it, lifts it, moves it to the front of the table, and releases it in the new position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 770, "tasks": ["place other"], "length": 189, "global_instruction": "Pick up the clear ruler from the table, tilt it, then place it back on the table.", "scene_description": "A white open shelving unit stands to the left of a wooden table. The shelving unit holds a light blue cup on its top shelf, a clear wine glass and black spatula on its middle shelf, plus a small potted plant, white sign, and orange cup on its top surface. The table has a white mug, clear plastic water bottle, green pen, clear straight ruler, green cloth, and small miscellaneous items, with a robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm first moves toward the white mug on the table, then shifts to the clear ruler, grasps and lifts the ruler while tilting it, places the ruler back onto the table surface, then moves back toward the white mug.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 771, "tasks": ["place other"], "length": 136, "global_instruction": "Place the blue nozzle from the orange spray bottle into the stainless steel bowl on the table.", "scene_description": "A dark brown wooden dining table holds a clear plastic water bottle on its left, two stainless steel bowls near the bottle, an orange spray bottle with a blue nozzle, a small white dish, a green cloth, and two black utensils on its right. Three wooden chairs are against the far white wall, and a robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange spray bottle on the wooden dining table, grasps its blue nozzle, lifts the nozzle off the bottle, moves it left over the stainless steel bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 772, "tasks": ["place other"], "length": 200, "global_instruction": "Place the white-handled lint roller from the lower bunk onto the white wire rack", "scene_description": "A lower wooden bunk bed holds a gray speckled pillow, a white-handled lint roller, and a small red object. A white metal wire rack and gray woven basket are to the left of the bed, a tan armchair is on the right, an open closet is in the background, and a robotic arm sits at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down from its upper right position toward the white-handled lint roller on the lower bunk, grasps the lint roller, lifts it, moves left over the white wire rack, and releases the lint roller onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 773, "tasks": ["place other"], "length": 226, "global_instruction": "Pick up the white lint roller from the dark gray basket and place it on the white metal rack.", "scene_description": "A dark gray woven basket holding a white lint roller with light blue handle and a small red bowl are on a white table. A white metal rack is to the left of the table, a brown bunk bed is on the far left, a brown armchair is on the right, and a right robotic arm is at the top right.", "global_instruction_dense": "The right robotic arm moves toward the dark gray basket on the white table, grasps the white lint roller inside the basket, lifts it out, moves left toward the white metal rack, lowers the roller, and releases it onto the rack's top shelf.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 774, "tasks": ["place other"], "length": 312, "global_instruction": "Reposition the white metal mesh rack on the patterned bed.", "scene_description": "A two-tier white metal mesh rack rests on a bed with a grey and white patterned bedspread. A wooden bunk bed is to the left, a brown fabric armchair is to the right, a white robotic arm is positioned at the right edge of the frame, and a closet with a wicker basket inside is in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position at the right toward the white metal mesh rack, grasps its edge, adjusts its position on the patterned bed, releases the rack, then returns to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 775, "tasks": ["place other"], "length": 241, "global_instruction": "Place the white lint roller from the lower bunk onto the white metal drying rack.", "scene_description": "A white metal drying rack sits on a lower bunk bed with grey and white circular patterned bedding, a white plastic hanger hangs from the brown wooden upper bunk, a white robotic arm is positioned on the right, an open closet is in the background, and a brown couch is on the far right.", "global_instruction_dense": "The right robotic arm moves downward toward the white lint roller on the lower bunk bedding, grasps it with its gripper, lifts and carries it leftward over the white metal drying rack, lowers and releases the lint roller onto the rack, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 776, "tasks": ["place other"], "length": 152, "global_instruction": "Place the lint roller from the wire rack into the grey woven basket", "scene_description": "A lint roller with a light blue handle and white roller part rests on a white wire rack, next to a grey woven basket holding white cloths. The rack and basket are placed on the lower bunk of a wooden bunk bed with a dark grey dotted bedspread, an open closet is in the background, a brown armchair is on the right, and a right robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the lint roller on the white wire rack, grasps its light blue handle, lifts it up, moves it rightward over the grey basket holding white cloths, lowers the lint roller into the basket, then releases it and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 777, "tasks": ["place other"], "length": 200, "global_instruction": "Pick the white cylindrical roll from the lower wire rack and place it on the bunk bed mattress.", "scene_description": "A light grey woven basket, a two-tier white wire rack holding a white cylindrical roll on its lower tier, rest on a lower bunk bed mattress covered with a black, grey, and white patterned bedspread; a white robotic arm is positioned on the right side of the bed, with a brown chair in the far right background.", "global_instruction_dense": "The right robotic arm moves left from its initial position at the right of the bed toward the white cylindrical roll on the lower tier of the wire rack, grasps the roll, lifts it off the rack, moves it down toward the bed surface, releases it onto the patterned bedspread, then moves back toward the right.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 778, "tasks": ["place other"], "length": 154, "global_instruction": "Pick up the white lint roller from the bed and place it on the top tier of the white wire rack.", "scene_description": "A lower bunk bed with a black bedspread patterned with grey and white ovals holds a grey woven basket, a white lint roller, and a two-tier white wire rack. A right robotic arm is positioned to the right of the bed, with an open closet in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the white lint roller on the lower bunk bed, grasps the lint roller, lifts it, moves it over the top tier of the two-tier white wire rack, and releases it onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 779, "tasks": ["place other"], "length": 156, "global_instruction": "Pick the lint roller from the gray basket and place it on the bed.", "scene_description": "A gray woven basket sits on a stone-patterned bed, a white and blue lint roller is inside the basket, a metal shelf with a white bag and small plush toy is next to the basket, a wooden bunk bed is on the left, and a brown couch is on the right.", "global_instruction_dense": "The right robotic arm moves toward the gray woven basket on the bed, lowers its gripper into the basket to grasp the white and blue lint roller inside, lifts the lint roller out of the basket, moves it over the bed surface, and releases it onto the bed.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 780, "tasks": ["place other"], "length": 129, "global_instruction": "Pick up the white lint roller from the bed and place it on the metal wire rack", "scene_description": "A gray woven basket, a white lint roller, and a metal wire rack with white cloths on it are placed on a wooden bunk bed with a black-and-gray pebble-patterned bedspread. A robotic arm is positioned on the right, a wooden chair is on the far right, and an open sliding door leads to another room in the background.", "global_instruction_dense": "The right robotic arm moves toward the white lint roller on the bed, grasps it with its gripper, lifts it, moves it over the metal wire rack, lowers it, and releases it onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 781, "tasks": ["place other"], "length": 171, "global_instruction": "Place the white lint roller into the grey woven basket on the bed.", "scene_description": "A grey woven basket, a two-tier metal wire rack, and a white cylindrical lint roller are placed on a bed with dark fabric patterned with grey and white circles, with a wooden bunk bed on the left side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white lint roller next to the metal rack on the bed, grasps the lint roller, lifts it, moves it over the grey woven basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 782, "tasks": ["place other"], "length": 313, "global_instruction": "Reposition the two-tier white metal rack on the lower bunk bed.", "scene_description": "A gray woven basket sits on the left of a lower bunk bed with black bedding patterned with gray and white circles. A two-tier white metal grid rack is centered on the bed, a wooden upper bunk and ladder are on the left, a white robotic arm is on the right, and a doorway to another room is in the background.", "global_instruction_dense": "The right robotic arm moves toward the two-tier white metal grid rack on the lower bunk bed, grasps its top tier, lifts and rotates the rack to adjust its orientation, then places it back on the bed in a new position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 783, "tasks": ["place other"], "length": 246, "global_instruction": "Hang the dark gray bathrobe onto the metallic clothing rack.", "scene_description": "A white robotic arm is on the right, a metallic clothing rack is on the left, a dark gray bathrobe sits below the rack with a white empty hanger to its left, and a brown couch with two cushions is in the background beside a window with yellow curtains.", "global_instruction_dense": "The right robotic arm moves downward to grasp the hanger holding the dark gray bathrobe, lifts the robe, moves it upward to the clothing rack, places the hanger onto the rack's rail, then releases the hanger and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 784, "tasks": ["place other"], "length": 337, "global_instruction": "Hang the dark gray robe onto the silver clothing rack.", "scene_description": "A silver metal clothing rack stands on the left, a dark gray robe lies on a surface below the rack, an empty white hanger rests next to the robe, a brown couch with gray-white striped and brown wavy patterned cushions is in the background, brown curtains are behind the rack, and a white robotic arm is on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the dark gray robe, grasps the hanger holding the robe, lifts the robe upward, moves it to the silver clothing rack, places the hanger on the rack, releases the hanger, then moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 785, "tasks": ["place other"], "length": 249, "global_instruction": "Hang the dark gray bathrobe onto the silver clothing rack", "scene_description": "A silver clothing rack with a white rope on its lower bar, a brown sofa with two patterned cushions, a light brown curtain by a window, and a white robotic arm are in a living room. The clothing rack is left of the robotic arm, the sofa is behind the rack.", "global_instruction_dense": "The right robotic arm moves left to grasp the dark gray bathrobe, lifts it, hangs it on the top bar of the silver clothing rack, then releases the robe and retracts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 786, "tasks": ["place other"], "length": 212, "global_instruction": "Hang the dark gray robe onto the metal clothes rack", "scene_description": "A white robotic arm is positioned above a silver metal clothes rack holding small cloths and a white hanger. A brown couch with patterned cushions, a window with closed white blinds and tan curtains are in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the dark gray robe, lifts it upward, positions it over the metal clothes rack, and releases it to hang on the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 787, "tasks": ["place other"], "length": 254, "global_instruction": "Pick up the dark robe from the lower clothing rack bar and hang it on the upper clothing rack bar.", "scene_description": "A silver clothing rack holds a white plastic hanger on its upper bar, a dark robe and a white floral garment on its lower bar. The rack sits beside a brown couch with patterned throw pillows, to the left of a white robotic arm. Windows with white blinds and tan curtains are positioned to the left of the rack.", "global_instruction_dense": "The right robotic arm lowers toward the dark robe on the lower bar of the clothing rack, grasps the robe, lifts it upward to the upper bar of the clothing rack, hangs the robe on the upper bar, then releases its grip and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 788, "tasks": ["place other"], "length": 367, "global_instruction": "Hang the dark blue robe on the metal clothing rack using a plastic hanger", "scene_description": "A metal clothing rack stands near a sunlit window with blinds and a brown curtain. An empty transparent plastic hanger hangs on the rack, a dark blue robe rests below the rack, and a white robotic arm is positioned to the right of the rack. A brown couch with a patterned cushion is in the background.", "global_instruction_dense": "The right robotic gripper grasps the empty transparent hanger from the clothing rack, moves it down to insert it into the dark blue robe's collar, lifts the robe with the attached hanger, and hangs the hanger holding the robe onto the clothing rack before releasing.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 789, "tasks": ["place other"], "length": 284, "global_instruction": "Hang the dark grey bathrobe onto the empty white hanger on the clothing rack", "scene_description": "A silver clothing rack with dark grey bathrobes and an empty white hanger stands near a window with tan curtains. A white robotic arm is positioned to the right of the rack, with a brown couch with patterned cushions behind the rack.", "global_instruction_dense": "The right robotic arm moves toward the dark grey bathrobe on the left of the clothing rack, grasps it, lifts and carries it to the empty white hanger on the clothing rack, places the bathrobe onto the hanger, then releases the robe and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 790, "tasks": ["place other"], "length": 123, "global_instruction": "Place small black equipment pieces onto the upper edge of the black upright piano", "scene_description": "White pleated blinds are to the left of a white door with a brass doorknob next to a red wall with a silver light switch plate. A black upright piano with a matching black bench sits on light wooden flooring, a beige interior door is in the background, and a right robotic gripper is visible at the bottom right.", "global_instruction_dense": "The right robotic arm sequentially moves small black equipment pieces toward the upper edge of the black upright piano near the red wall, places each piece on the piano edge, and retracts slightly between each placement.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 791, "tasks": ["place other"], "length": 126, "global_instruction": "Place multiple pieces of studio equipment onto the top of the black upright piano.", "scene_description": "A white door with a brass doorknob and white pleated blinds sits next to a red wall with a gray light switch, a black upright piano with matching bench rests on light wooden flooring, with a hallway and studio equipment visible in the background.", "global_instruction_dense": "The right robotic arm sequentially places a black rectangular item, a black microphone with cables, and a white item with an orange tip onto the top of the black upright piano, adjusting item positions as it works.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 792, "tasks": ["place other"], "length": 221, "global_instruction": "Pick up the red toy car on the table and place it at the far right end of the table near the window.", "scene_description": "A light grey table stands against a dark purple wall. On the table, a silver metal bowl with a grey calculator inside sits left of a red toy car, next to an irregular wooden tray holding a white cotton swab near a right-side window.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves down toward the red toy car on the table, grasps it, lifts it, moves right to the far end of the table near the window, and releases the car onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 793, "tasks": ["place other"], "length": 163, "global_instruction": "Pick the white cotton swab from the brown wooden tray and place it on the grey countertop.", "scene_description": "A grey countertop is positioned against a purple wall. On the counter, a silver metal bowl with red items inside sits on the left, a black object rests on a white circular pad to the right of the bowl, and a brown wooden tray holding a white cotton swab is placed further right near a glass door.", "global_instruction_dense": "The right robotic arm moves into the frame toward the white cotton swab on the brown wooden tray, grasps the swab with its gripper, lifts the swab, moves leftward over the grey countertop, lowers the swab, and releases it onto the counter near the silver metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 794, "tasks": ["place other"], "length": 123, "global_instruction": "Place the black strap on the white disc into the silver metallic bowl", "scene_description": "A grey table is placed against a purple wall. On the table from left to right: a silver metallic bowl with a white spoon inside, a small blue round container, an irregular brown wooden tray, and a black strap resting on a white circular disc. A glass door is visible to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the black strap on the white circular disc, grasps and lifts the strap, moves left over the silver metallic bowl, then lowers and releases the strap into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 795, "tasks": ["place other"], "length": 192, "global_instruction": "Move the red finger skateboard from the right end of the table to the left side of the table near the silver bowl.", "scene_description": "A gray table is positioned against a purple wall. On the table, left to right: a silver bowl holding a calculator, a small blue-rimmed round container, a large irregular brown wooden slab, and a small red finger skateboard at the far right end.", "global_instruction_dense": "The right robotic gripper moves toward the red finger skateboard at the right end of the table, grasps and lifts it, carries it left across the table, then lowers and places it on the table near the silver bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 796, "tasks": ["place other"], "length": 134, "global_instruction": "Place a small trinket onto the brown wooden platter on the countertop", "scene_description": "A grey countertop against a purple wall holds a metallic silver bowl, a small white circular object with a protruding stick, a brown wooden platter holding a red toy car and a small trinket, and a small black object near the wall right of the platter.", "global_instruction_dense": "The right robotic arm moves toward the brown wooden platter on the grey countertop, grasps the small trinket from the platter, lifts it, lowers it back onto the platter, releases the trinket, then moves upward away from the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 797, "tasks": ["place other"], "length": 190, "global_instruction": "Place the white tab from the white disk into the silver metal bowl.", "scene_description": "A grey countertop against a purple wall holds blue-lensed sunglasses at the front, a silver bowl with a strainer inside, a white circular disk with a small white tab, and a brown decorative plate on the far right.", "global_instruction_dense": "The right robotic arm moves down to the white tab on the white circular disk, grasps and detaches the tab, lifts it, moves it over the silver bowl, and releases the tab into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 798, "tasks": ["place other"], "length": 165, "global_instruction": "Pick up the silver roll from the silver bowl and place it on the gray table", "scene_description": "A light gray table is against a purple wall. On the table, there are dark blue sunglasses in the foreground, a silver metal bowl holding a metallic grater and a silver roll, a white circular coaster, and a brown decorative plate with small red items.", "global_instruction_dense": "The right robotic gripper moves toward the silver bowl on the gray table, grasps the silver roll inside the bowl, lifts it, moves it rightward above the table, then lowers and releases the roll onto the table near the white coaster.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 799, "tasks": ["place other"], "length": 135, "global_instruction": "Pick up the black strap next to the left silver bowl and place it into the right decorative wavy bowl.", "scene_description": "A gray table stands against a purple wall. On the table, a silver bowl with a red item and metal tool inside sits left, a black strap lies next to it, a white circular disc is in the middle, and a wavy decorative bowl holding a calculator sits at the right end.", "global_instruction_dense": "The right robotic gripper moves toward the black strap next to the left silver bowl, grasps the strap, lifts it, moves right toward the decorative wavy bowl holding a calculator, and places the strap into that bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 800, "tasks": ["place other"], "length": 216, "global_instruction": "Pick the black tamper from the coffee machine and place it on the empty kitchen counter.", "scene_description": "A light-colored kitchen counter holds a silver toaster, white paper towel roll, silver small pitcher, coffee maker, and a blue patterned circular plate propped against the backsplash. A Franka Emika robotic arm is positioned over the coffee maker, with white upper cabinets, a microwave in a cabinet opening, and dark lower cabinets in the background.", "global_instruction_dense": "The right robotic arm grasps the black tamper attached to the coffee machine, lifts it, moves it left over the empty kitchen counter surface, lowers and releases the tamper onto the counter, then moves back to its original position above the coffee machine.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 801, "tasks": ["place other"], "length": 231, "global_instruction": "Retrieve the white small kitchen appliance from the open drawer and place it on the kitchen countertop.", "scene_description": "A white kitchen counter with a sink under a window with horizontal blinds, a light green container on the left of the counter, an open drawer below the counter, a white robotic arm positioned above the sink, and a door with horizontal blinds to the left of the counter.", "global_instruction_dense": "The right robotic arm moves down to the open drawer under the counter, grasps the white small kitchen appliance inside, lifts it, places it on the left section of the kitchen counter, then releases it and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 802, "tasks": ["place other"], "length": 240, "global_instruction": "Pick up the sink spray head and place it on the countertop next to the silver shaker.", "scene_description": "A silver metal shaker, a white lidded container, and a double sink are on a white kitchen countertop. A horizontal blind covered glass door is to the left of the counter, and a robotic arm is positioned above the sink area.", "global_instruction_dense": "The right robotic arm moves down toward the sink, grasps the sink spray head, lifts it, moves it left across the counter, places it to the left of the silver shaker, then releases it and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 803, "tasks": ["place other"], "length": 124, "global_instruction": "Move the light gray plastic basin from the left sink well to the right sink well.", "scene_description": "A kitchen countertop has a double stainless steel sink, a light gray plastic basin sits in the left sink well, a pull-down faucet is above the sink, a metal dish rack is on the counter right of the sink, and a robotic arm is at the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the light gray plastic basin in the left sink well, grips its edge, lifts the basin, moves it right to the right sink well, lowers and releases it, then retracts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 804, "tasks": ["place other"], "length": 140, "global_instruction": "Move the white plastic basin from the right sink well to the left sink well.", "scene_description": "A light gray kitchen counter has a stainless steel double sink, a white plastic basin in the right sink well, a silver pull-down faucet above the sink, a glass soap dispenser left of the sink, a black metal dish rack right of the sink, and a white robotic arm above the dish rack.", "global_instruction_dense": "The left robotic arm first moves the black dish rack away from the sink, then grasps the white plastic basin in the right sink well, lifts it, moves it to the left sink well, places it there and releases it before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 805, "tasks": ["place other"], "length": 371, "global_instruction": "Hang the strap on the empty closet wall hook", "scene_description": "A white closet with silver metal wall hooks, a red-brown patterned fabric bag hangs on a lower hook, white and dark clothing hang on upper right hooks, an orange wall is left of the closet, a purple wall is right of the closet, with wooden flooring below.", "global_instruction_dense": "The right robotic arm moves toward the closet wall hooks, aligns the held strap with an empty hook, lowers the strap to hang it on the hook, adjusts the strap, then retracts away from the hooks.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 806, "tasks": ["place other"], "length": 470, "global_instruction": "Hang the black strap onto the wall hook rack inside the closet.", "scene_description": "An open closet with a red and gold patterned fabric bag on the lower white shelf, a white buttoned shirt and dark garments hanging on a wall hook rack at the back, an orange wall to the left of the closet, and a purple floor area outside the closet to the right.", "global_instruction_dense": "The right robotic arm moves into the closet holding a black strap, aligns the strap with the wall hook rack, places the strap onto one of the hooks, then retracts slightly away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 807, "tasks": ["place other"], "length": 203, "global_instruction": "Place the gas stove grate into the open kitchen drawer.", "scene_description": "A kitchen counter holds a gas stove, an open utensil drawer sits below the counter, kitchen tools hang above the stove, and a right-side robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves down to grasp the gas stove grate on the stove, lifts it, moves it to the open drawer below the counter, places the grate inside the drawer, releases it, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 808, "tasks": ["place other"], "length": 352, "global_instruction": "Turn the door lock then place the black strap onto the wall-mounted rack above the brown cabinet.", "scene_description": "A white interior door is on the left of the frame, a robotic arm is on the right side, a brown wooden cabinet stands against the purple wall next to the door, and a furnished living area is in the background.", "global_instruction_dense": "The left robotic arm extends toward the door lock, grasps and rotates it, then releases the lock, moves right and upward to the top of the brown cabinet, grasps the black strap, adjusts it onto the wall-mounted rack, and releases the strap.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 809, "tasks": ["place other"], "length": 251, "global_instruction": "Pick up the metal grates from the gas stove and place them into the open drawer under the counter.", "scene_description": "A gas stove with metal grates sits on a white kitchen counter, an open utensil drawer is under the counter, hanging kitchen tools are below cabinets above the stove, a stainless steel refrigerator is to the left, and a right robotic arm is positioned near the right side of the stove.", "global_instruction_dense": "The right robotic arm moves to the gas stove, sequentially grasps each metal grate, lifts each grate, moves each over the open drawer under the counter, and places each grate into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 810, "tasks": ["place other"], "length": 368, "global_instruction": "Place the black burner grates from the gas stove onto the adjacent kitchen counter.", "scene_description": "A white kitchen counter sits next to a gas stove, small tools rest on the counter, an open utensil drawer is below the counter, a robotic arm is positioned above the counter, and silver curtains are to the left.", "global_instruction_dense": "The right robotic arm moves toward the gas stove, grasps a black burner grate, lifts it, transfers it to the adjacent kitchen counter, releases the grate, then returns to the gas stove to grasp a burner grate and begins moving it toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 811, "tasks": ["place other"], "length": 543, "global_instruction": "Adjust the stainless steel pot on the gas stove then reposition the green peeler on the kitchen counter.", "scene_description": "A white kitchen counter holds a light-colored fork, black spatula, grey bowl, clear plastic container, and green peeler to the left of a gas stove with a stainless steel pot on its burner. A right robotic gripper is positioned at the right of the stove, white upper cabinets with a range hood are mounted on the wall above, and a drawer under the counter is partially open.", "global_instruction_dense": "The right robotic arm moves left toward the stainless steel pot on the gas stove, adjusts the pot's position, then moves down to grasp the green peeler from the counter, lifts it, moves it to the right of the clear plastic container, places it on the counter, then lifts its gripper and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 812, "tasks": ["place other"], "length": 224, "global_instruction": "Place the leash from the floor under the cabinet into the wooden cabinet's open shelf.", "scene_description": "Purple walls have multiple string instruments mounted on them, a wooden cabinet with a silver metal bowl on top sits below the instruments, a white light switch is on the wall left of the cabinet, a white robotic arm is on the right of the frame, and brown sofas plus a floor lamp are in the background living area.", "global_instruction_dense": "The right robotic arm moves downward toward the floor under the wooden cabinet, grasps the leash on the floor, lifts it, moves it toward the open shelf of the wooden cabinet, places the leash inside the shelf, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 813, "tasks": ["place other"], "length": 159, "global_instruction": "Take the necklace from inside the wooden cabinet and hang it on the wall hook below the hung instruments.", "scene_description": "A dark brown wooden cabinet with a silver metal bowl on its top and an open white box on its inner shelf sits against a deep purple wall, multiple string instruments are hung on the wall above the cabinet, a right robotic arm is positioned to the right of the cabinet, and a living area with brown sofas and a white floor lamp is in the background.", "global_instruction_dense": "The right robotic arm extends toward the inside of the wooden cabinet, grasps the necklace inside it with its gripper, lifts the necklace out of the cabinet, moves it toward the wall hook below the hung string instruments, and hangs the necklace on the hook.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 814, "tasks": ["place other"], "length": 346, "global_instruction": "Grasp the hanging metal hook and place it on the gas stove.", "scene_description": "A stainless steel gas stove with a lidded dark metal pot on its burner sits on a light gray kitchen counter. Stacked light blue bowls and metal utensils are on the counter left of the stove, white upper cabinets hang above the counter, two metal hooks hang on the wall above the stove, and a robotic arm is positioned to the right of the stove.", "global_instruction_dense": "The right robotic arm moves upward and left toward the metal hooks hanging on the wall above the stove, grasps one hook with its gripper, pulls the hook free, moves it downward toward the gas stove, lowers it onto the stove surface, then releases the hook and moves away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 815, "tasks": ["place other"], "length": 352, "global_instruction": "Remove the yellow spatula behind the pot and place an orange hexagonal pad on the gas stovetop.", "scene_description": "A stainless steel gas stovetop holds a metal cooking pot with a yellow smiley-patterned spatula inside it, a small light gray bowl to the right of the pot, a second plain yellow flat spatula resting on the stove behind the pot, and a right robotic arm positioned in the upper right above the stove, with a window with horizontal blinds to the right of the stove.", "global_instruction_dense": "The right robotic arm moves down toward the plain yellow flat spatula resting behind the metal pot on the stovetop, grasps the spatula, lifts and moves it left out of the visible scene, then returns holding an orange hexagonal pad, lowers the pad onto the lower left section of the stovetop, and releases the pad to leave it resting in place.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 816, "tasks": ["place other"], "length": 235, "global_instruction": "Move the orange hexagonal mat from the gas stove to the kitchen counter, then adjust the red-labeled can on the counter.", "scene_description": "A stainless steel gas stove is adjacent to a light kitchen counter. On the stove: an orange hexagonal mat, a light-colored spatula, and a metal pot with utensils. On the counter left of the stove: two metal cans (one with orange food prints, one with red label), pot lids, and a metal pot. A robotic gripper is above the right stove.", "global_instruction_dense": "The right robotic gripper moves down to grasp the orange mat on the gas stove, lifts it, moves it left to the kitchen counter between the two cans and places it down, then adjusts the position of the red-labeled can before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 817, "tasks": ["place other"], "length": 315, "global_instruction": "Pick up the orange hexagonal cutting mat from the kitchen counter and place it on the patterned cup on the gas stove.", "scene_description": "A stainless steel refrigerator is on the left of a kitchen counter, which holds a yellow spatula, black oven mitts, a red-topped white can, a metal bowl, and an orange hexagonal cutting mat; a gas stove with a metal pot and a patterned cup is to the right of the counter, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm lowers toward the orange hexagonal cutting mat on the kitchen counter, grasps it, lifts it, moves it rightward over the patterned cup on the gas stove, releases it to rest on the cup, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 818, "tasks": ["place other"], "length": 254, "global_instruction": "Remove the wooden pestle from the stainless steel container and place it on the kitchen counter.", "scene_description": "A kitchen counter holds a stainless steel container with a wooden pestle inside, a small metal bowl, two measuring spoons, and a green-lidded container. An open drawer sits below the counter, a sink is at the far end of the counter, and a white robotic arm is positioned near the sink.", "global_instruction_dense": "The left robotic arm moves from the sink area toward the wooden pestle in the stainless steel container, grasps the pestle, lifts it out of the container, moves it over the counter beside the metal bowl, lowers it onto the counter surface, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 819, "tasks": ["place other"], "length": 261, "global_instruction": "Place a black cable and a black camera device onto the right side of the white desk.", "scene_description": "A white desk holds a black monitor at its rear, a stack of white and red paper cards on the left, and small tools including a red pocket knife, silver multi-tool, and pens at its front, with a blue wall, grey curtains, and wooden floor in the background.", "global_instruction_dense": "The right robotic arm first carries a black cable with orange accents to the right side of the white desk, places the cable on the desk, then retrieves a black camera device with an attached green pen, places the device on the right of the desk, and moves away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 820, "tasks": ["place other"], "length": 313, "global_instruction": "Take a metal strainer from the open lower drawer and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a green-lidded white storage container, a silver metal bowl, a small red utensil, and a light brown wooden rolling pin. An open lower drawer below the counter contains metal kitchen utensils, a white robotic arm is positioned to the right of the counter, and a window with blinds above a sink is behind the counter.", "global_instruction_dense": "The left robotic arm moves downward into the open lower kitchen drawer, grasps a metal strainer, lifts the strainer out of the drawer, moves it upward to the kitchen counter, places it on the counter near the wooden rolling pin, and releases its grip on the strainer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 821, "tasks": ["place other"], "length": 346, "global_instruction": "Place the orange-capped bottle and green pen into the grey mesh pen holder on the desk.", "scene_description": "A white desk holds a black monitor at the back, stacked white and red cards on the left, a red utility knife, grey multi-tool, pens, a green pen, and a grey mesh pen holder on the right.", "global_instruction_dense": "The right robotic arm enters from the right side of the desk, grasps an orange-capped bottle, places it into the grey mesh pen holder, then grasps the green pen on the desk, places it into the pen holder, and finally retracts away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 822, "tasks": ["place other"], "length": 332, "global_instruction": "Place the orange-capped glue stick and the green pen into the metal mesh pen holder on the desk.", "scene_description": "A white desk holds a black monitor at its back, a metal mesh pen holder, a green pen, an orange-capped glue stick, keychains with a red utility knife, and a stack of white cards with red accents on its surface.", "global_instruction_dense": "The right robotic gripper enters from the right side of the frame, grasps the orange-capped glue stick and places it into the metal mesh pen holder, then grasps the green pen and places it into the same pen holder before moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 823, "tasks": ["place other"], "length": 455, "global_instruction": "Place the orange-capped glue stick and green pen into the gray mesh pen holder.", "scene_description": "A white table holds a black monitor at its rear, a stack of white and red cards on the left, small tools including a red folding knife and silver keychain items near the center, a green pen, an orange-capped glue stick, and a gray mesh pen holder on the right, with a blue wall and wooden floor in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, adjusts the position of the gray mesh pen holder, grasps the orange-capped glue stick and places it into the pen holder, then grasps the green pen and places it into the pen holder before moving out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 824, "tasks": ["place other"], "length": 240, "global_instruction": "Take strainers from the open drawer, hang one on the upper shelf hook, and place another into the stainless steel pitcher on the counter.", "scene_description": "A light-colored kitchen counter holds a white green-lidded container, stainless steel pitcher, dark bowl, and rolling pin. An open utensil drawer sits below the counter, a window with blinds is behind the counter, and a robotic arm is positioned to the right of the scene.", "global_instruction_dense": "The left robotic arm reaches into the open drawer below the kitchen counter, grasps a strainer, lifts it, moves to the hook under the upper wooden shelf to hang the strainer, then grasps a strainer from the drawer, lifts it, and places it inside the stainless steel pitcher on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 825, "tasks": ["place other"], "length": 214, "global_instruction": "Retrieve a dark portafilter from the open under-counter drawer, place it on the counter, then remove the silver pitcher's lid and set it on the counter.", "scene_description": "A white kitchen countertop holds a white container with a green lid, a silver metal pitcher, and a bowl next to a sink. An open wooden drawer under the counter contains kitchen utensils, and a white robotic arm is positioned at the back upper right of the counter.", "global_instruction_dense": "The right robotic arm moves downward into the open wooden drawer under the kitchen counter, grasps a dark portafilter, lifts it out of the drawer, places it on the white countertop, then moves to the silver metal pitcher, grasps its lid, lifts the lid off the pitcher, and places the lid on the countertop next to the pitcher.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 826, "tasks": ["place other"], "length": 359, "global_instruction": "Place the metal strainer from the silver pitcher onto the vertical stand next to the sink.", "scene_description": "A white kitchen countertop holds a white container with a green lid, a silver pitcher, a metal spoon, a small silver container, and a sink with a curved faucet. An open wooden drawer with a strainer inside sits below the counter, and a white robotic arm is positioned at the right of the frame.", "global_instruction_dense": "The left robotic gripper moves toward the metal strainer inside the silver pitcher on the kitchen counter, grasps the strainer and lifts it out of the pitcher, moves the strainer to the vertical light-colored stand next to the sink, lowers the strainer onto the stand, releases it, and retracts.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 827, "tasks": ["place other"], "length": 160, "global_instruction": "Move stationery items from the white desk into the open desk drawer.", "scene_description": "A white desk holds a black monitor, two orange-capped glue sticks, assorted stationery including a blue ruler, pens, green scissors and pencils, a clear square container with red contents, and loose papers; an open drawer with items is at the desk's right edge, a bed with gray bedding is in the background, and a right robotic arm is positioned above the bed area at the scene's right.", "global_instruction_dense": "The right robotic arm moves from above the bed toward the white desk, grasps the blue ruler on the desk, lifts it, moves it to the open desk drawer and releases it inside, then moves back to the desk to grasp a small dark stationery item.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 828, "tasks": ["place other"], "length": 265, "global_instruction": "Open the green lid of the white trash container and place the white trash item into it.", "scene_description": "A white trash container with a closed green lid sits on a kitchen counter near a window, a robotic arm is positioned to the right of the container next to a sink and kitchen shelves.", "global_instruction_dense": "The right robotic arm moves toward the green lid of the white trash container, grasps and lifts the lid to open the container, moves to grasp the white trash item on the counter, lifts it, moves it over the open container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 829, "tasks": ["place other"], "length": 256, "global_instruction": "Pick up the hairdryer from the side table and place it on the bed's pillows.", "scene_description": "A bedroom has a gray bed with multiple pillows (two stacked light gray center pillows, two patterned gray left pillows, a blue patterned pillow under them), a small dark brown side table with black legs to the bed's right, and a white and black hairdryer on the table.", "global_instruction_dense": "The right robotic arm reaches toward the white and black hairdryer on the side table right of the bed, grasps it, lifts it, moves it left over the bed's light gray pillows, lowers it, and places it onto the pillows.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 830, "tasks": ["place other"], "length": 292, "global_instruction": "Place the white cylindrical roll upright on the kitchen counter", "scene_description": "A kitchen counter holds a silver-and-black coffee maker, a blue-and-white patterned decorative plate, a glass jar with a wooden lid, a small green object, a black kettle, a loose power cord, and a metallic kettle on the left. A stainless steel microwave is set into the upper white cabinets, and a robotic arm is positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves left across the kitchen counter, grasps the white cylindrical roll, lifts and rotates it to a vertical orientation, lowers it to stand upright on the counter, then releases the roll.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 831, "tasks": ["place other"], "length": 111, "global_instruction": "Pick up the black press from the glass jar and place it on the left section of the kitchen counter.", "scene_description": "A white kitchen counter holds a coffee maker on the left, a glass jar with a wooden lid and black press on top at the center, a blue decorative plate leaning against the wall behind the jar, a red screwdriver to the right of the jar, and a Franka Emika robotic arm on the right side of the counter, with a microwave in the upper white cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the black press resting on the glass jar's wooden lid, grasps it, lifts it, moves it leftward across the counter, and lowers it to place it on the left counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 832, "tasks": ["place other"], "length": 155, "global_instruction": "Place the white pestle from the metal cup onto the kitchen counter near the red screwdriver.", "scene_description": "White upper kitchen cabinets with a built-in stainless steel microwave sit above a light grey kitchen countertop. On the counter: left side has a metallic kettle, black coffee maker, metal container with wooden chopsticks; center has a blue-and-white patterned decorative plate, black coffee grinder, small metal canister, metal cup holding a white pestle, several small metal spoons; right side has a red screwdriver, white paper towel roll, and a right robotic arm positioned above the metal cup.", "global_instruction_dense": "The right robotic arm grasps the white pestle inside the metal cup on the kitchen counter, lifts the pestle out of the cup, moves it rightward to the area near the red screwdriver, lowers it to the counter surface, releases the pestle, and lifts its gripper away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 833, "tasks": ["place other"], "length": 225, "global_instruction": "Retrieve a metal strainer from the open cutlery drawer and place it on the kitchen counter.", "scene_description": "A white kitchen countertop holds a silver kettle with a black lid, a large metal serving fork, a white polka-dot cup, and folded white paper sheets. Below the counter is an open drawer with sorted silver cutlery, a white cabinet with a built-in microwave is mounted above the counter, a white table with a red soda can sits to the right against a green wall, and a single robotic arm is positioned above the open cutlery drawer.", "global_instruction_dense": "The single robotic arm moves downward into the open cutlery drawer, grasps a small round metal strainer, lifts it out of the drawer, moves it over the kitchen countertop, lowers the strainer onto the white paper on the counter, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 834, "tasks": ["place other"], "length": 205, "global_instruction": "Pick up the metal strainer from the cutting board and place it next to the metal fork on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver black-lidded kettle, a blue patterned decorative plate, a white polka-dot cup, a white cutting board with a metal strainer, and a metal fork. An open silverware drawer sits below the counter, a white table with a red soda can is to the right, and a white robotic arm is positioned near the right table against a green wall.", "global_instruction_dense": "The right robotic arm moves left toward the metal strainer on the white cutting board, grasps the strainer with its gripper, lifts it, moves it left to the area next to the metal fork on the counter, lowers the strainer onto the counter, releases it, then retracts slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 835, "tasks": ["place other"], "length": 245, "global_instruction": "Place the gas stove burner grate onto the adjacent kitchen counter.", "scene_description": "In a kitchen, a white counter holds a glass serving set and a yellow-labeled bottle next to a stainless steel gas stove with a metal pot on its burners, and a robotic arm is positioned near the stove.", "global_instruction_dense": "The right robotic arm moves toward the gas stove, grasps a metal burner grate, lifts it, moves it left over the adjacent kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 836, "tasks": ["place other"], "length": 319, "global_instruction": "Place the black rectangular prism into the white and red mug then return it to the tabletop.", "scene_description": "A black tabletop holds a white mug with red interior and red handle, a white remote control, a yellow hexagonal block, an orange L-shaped block, and a black rectangular prism. A white cabinet with a large black television sits to the left of the table, with a metal wire shelf and camera rigs in the background.", "global_instruction_dense": "The left robotic arm moves toward the black rectangular prism on the table, grasps it, places it into the white and red mug, then retrieves the prism from the mug and places it back on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 837, "tasks": ["place other"], "length": 156, "global_instruction": "Place the colorful shape from the patterned bowl into the yellow open box", "scene_description": "A white table holds a yellow open box with blocks, a patterned bowl with colorful shapes, a remote control, an Artificial Intelligence book, a spray bottle, a wooden shape-sorting cube, a beige water bottle, and small electronics. A TV displaying the Toyota Research Institute logo is behind the table, and a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the patterned bowl on the table, grasps a colorful shape from the bowl, lifts it, moves it over the yellow open box, and releases the shape into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 838, "tasks": ["place other"], "length": 145, "global_instruction": "Place the small black circular puck into the open beige box holding red items.", "scene_description": "A white conference table holds a beige water bottle, small black monitor, loose papers, a gray tissue box, a blue-capped spray bottle, a small wooden house model, an open beige box with red contents, a remote control, and a small black circular puck. A white robotic arm is positioned above the left side of the table, with a TV displaying the Toyota Research Institute logo behind the table adjacent to glass balcony doors.", "global_instruction_dense": "The right robotic arm lowers toward the small black circular puck on the table, grasps it with its gripper, moves it over the open beige box containing red items, and releases the puck into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 839, "tasks": ["place other"], "length": 139, "global_instruction": "Take the white notepad out of the cardboard box and place it on the table surface.", "scene_description": "A white conference table holds an open brown cardboard box with a white notepad inside, a wooden shape sorter, a remote control, a black power cable, a transparent container of colorful small blocks, a spray bottle, and a tissue box. Office chairs surround the table, a screen with a Toyota logo is mounted on the wall behind the table, and a robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the open cardboard box on the table, grasps the white notepad inside the box, lifts the notepad out of the box, moves it to the adjacent table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 840, "tasks": ["place other"], "length": 174, "global_instruction": "Pick up the white notepad near the laptop and place it at a new position on the table", "scene_description": "A white table holds a beige water bottle, blue spray bottle, white bowl with red block and chopsticks, patterned plate with blue block, box of colorful blocks, open laptop, and small items. A white robotic arm is on the left of the table, a TV showing the Toyota Research Institute logo is at the table end, and glass doors lead to a balcony with outdoor furniture.", "global_instruction_dense": "The right robotic arm lowers toward the white notepad next to the laptop on the table, grasps the notepad, lifts it, moves it to a different spot on the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 841, "tasks": ["place other"], "length": 229, "global_instruction": "Reposition the flat black tablet on the table to an upright standing position.", "scene_description": "A white conference table holds an open brown cardboard box, beige water bottle, small bowls with colorful blocks, blue spray bottle, green tape, a flat black tablet, and a remote control. A dual-arm white robot is at the left of the table, with a Toyota Research Institute display behind the table and glass balcony doors in the background.", "global_instruction_dense": "The right robotic arm moves toward the flat black tablet on the table, grasps it, lifts and tilts it to an upright orientation, then places it standing on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 842, "tasks": ["place other"], "length": 233, "global_instruction": "Place the white foam sheet into the open cardboard box on the table.", "scene_description": "A white table holds an open brown cardboard box with cables, a beige water bottle, a wooden shape sorter, a bowl of multicolored blocks, a stack of books, a silver tissue box, a purple spray bottle, a white paper plate with an orange snack bag and spoon, a patterned small plate, a laptop and tablet at the far end, with a right robotic arm on the table's right side.", "global_instruction_dense": "The right robotic gripper moves toward the white foam sheet beside the tissue box, grasps it, lifts it, moves it left over the open cardboard box, lowers it into the box, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 843, "tasks": ["place other"], "length": 122, "global_instruction": "Reposition the small black cylindrical peg next to the wooden shape-sorting box on the table.", "scene_description": "A white long table holds a light brown wooden shape-sorting box, two food bowls, a beige water bottle, small metal parts, a small black cylindrical peg, miscellaneous office supplies, with two robotic arms on the table's right side, office chairs and wall screens in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the small black cylindrical peg adjacent to the wooden shape-sorting box, grasps the peg, adjusts its location on the table, then releases the peg and lifts back to an elevated position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 844, "tasks": ["place other"], "length": 189, "global_instruction": "Place the flat white rectangular sheet into the open brown cardboard box on the table", "scene_description": "A white table holds a clear container of colorful shaped blocks, a white mug with a red rim, a bowl of cookies, a small dish with orange food and a spoon, a white circular plate, a small beige perforated wooden cube, a beige water bottle, an open brown cardboard box with electronic components, and a flat white rectangular sheet in front of the box. A right robotic arm is positioned above the table in the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the flat white rectangular sheet on the table, grasps it with its gripper, lifts the sheet, moves it over the open brown cardboard box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 845, "tasks": ["place other"], "length": 141, "global_instruction": "Pick the red heart from the clear plastic container and place it into the open white box.", "scene_description": "A white countertop against a gray tiled wall holds a clear plastic container with small items including a red heart, an open white box adjacent to the container, stacked books with a small brown package on the far left, and stacks of disposable cups near the upright right robotic arm.", "global_instruction_dense": "The right robotic arm moves down toward the clear plastic container on the countertop, grasps the red heart inside the container, lifts the heart, moves it over the adjacent open white box, and releases the heart into the box.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 846, "tasks": ["place other"], "length": 340, "global_instruction": "Pick up the black and white square tag and place it on the desk between the two small white plates.", "scene_description": "A white office desk holds a FRANKA EMIKA robotic arm at its right side, a small white plate with a brown-yellow object, a light wooden open box, an orange funnel atop a dark mug, a black and white square tag, and scattered office supplies. Office chairs line the left of the desk, with a wooden panel wall in the background.", "global_instruction_dense": "The right robotic arm moves from its initial raised position toward the black and white square tag on the lower part of the desk, grasps the tag with its gripper, lifts it, moves it to the space between the two small white plates, lowers and releases the tag onto the desk, then returns to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 847, "tasks": ["place other"], "length": 321, "global_instruction": "Place the small white dice on the table into the beige open box.", "scene_description": "A white office table holds an orange bowl, dark blue mug, patterned paper cup, beige open box, small yellow/red/green/blue blocks, a small white dice, and other small items; a robotic arm is at the upper right of the table, with wooden walls and office seating in the background.", "global_instruction_dense": "The right robotic arm moves from its upper right position toward the small white dice, grasps it, lifts it, moves it over the beige open box, releases the dice into the box, then lifts back up to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 848, "tasks": ["place other"], "length": 339, "global_instruction": "Open the white first aid kit and place it on the right section of the wooden table.", "scene_description": "A light wooden table holds a white robotic arm on the left, a pink round container, a white plate with a small yellow object, a white first aid kit, and a blue cup. Two wooden stools are left of the table, a gray knitted cloth is on the right table section, with computer monitors in the background.", "global_instruction_dense": "The left robotic arm moves toward the white first aid kit, lifts its lid to open the kit, grasps the kit, moves it rightward to the adjacent table section near the gray cloth, and places it down on the wooden surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 849, "tasks": ["place other"], "length": 455, "global_instruction": "Place the white first aid kit into the open white plastic tray on the table", "scene_description": "A light wooden table holds a blue cup, an open white plastic tray, a pink bowl with red contents, a grey crocheted object, a white first aid kit, a red plate with a nested white plate, and a black marker, with a robotic arm positioned above the plate in the initial frame.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white first aid kit on the table, lifts and moves it left over the open white tray, lowers it into the tray, then releases the kit and moves slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 850, "tasks": ["place other"], "length": 179, "global_instruction": "Pick up the packaged sandwich at the center of the counter and place it next to the left fruit basket.", "scene_description": "A dark grey countertop holds various items: a green-yellow bowl, a fruit basket with produce, and an orange plush toy on the left; a black X-marked block with an orange ball, a green cup, a yellow cloth, a small red cup, and a packaged sandwich in the center; a white paper towel roll, an open yellow container, and a checkered mat on the right. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm lowers toward the packaged sandwich in the center of the counter, grasps it with its gripper, lifts it, moves left toward the fruit basket, places it on the counter adjacent to the basket, then releases the sandwich and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 851, "tasks": ["place other"], "length": 607, "global_instruction": "Place a metallic peeler on the kitchen countertop and adjust its orientation.", "scene_description": "A dark gray kitchen countertop holds a silver electric kettle, a black dish rack with assorted items, and a stainless steel sink containing a white patterned mug. A white robotic arm is positioned above the counter, with blue chairs and a poster-covered wall in the background.", "global_instruction_dense": "The right robotic arm holds a metallic peeler, moves it over the kitchen counter, lowers and releases it onto the counter, adjusts the peeler's orientation by regrasping and repositioning it, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 852, "tasks": ["place other"], "length": 475, "global_instruction": "Pick up the metallic level from the right worktable and place it on the left worktable.", "scene_description": "Two adjacent light wooden worktables are in a robotics lab. The right table holds a silver metallic level, black L-shaped hex key, red plate with a yellow mug and small red fruit, and a plastic bag of bread. The left table holds three small bowls (orange, blue, green from left to right), assorted lab supplies, and a white robotic arm at the upper left of the view near the left table edge.", "global_instruction_dense": "The right robotic arm moves rightward from its initial resting position toward the metallic level on the right worktable, grasps the level with its gripper, lifts it, moves leftward to the left worktable, lowers the level, releases it onto the left table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 853, "tasks": ["place other"], "length": 215, "global_instruction": "Separate the small red ball from the orange pumpkin and place the pumpkin next to the small colorful containers on the table.", "scene_description": "A wooden kitchen table holds a red plate, yellow cup, small blue and pink containers, an orange pumpkin with a small red ball on its top, a white paper roll, a printed white mug, and a large transparent water jug. A white robotic arm is positioned on the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange pumpkin on the table, grasps it, lifts it to separate the small red ball from its top, moves leftward above the small colorful containers, lowers the pumpkin, and releases it onto the table next to the containers.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 854, "tasks": ["place other"], "length": 314, "global_instruction": "Place the small metal tweezer onto the dark kitchen counter.", "scene_description": "A dark grey kitchen counter holds a black tray with purple and red bowls and a white cup, a stainless steel sink with dishes sits to the counter's right, a metal dish rack is under the counter, a white robot body is on the far left, a robotic arm is positioned above the left side of the counter, and blue chairs and a whiteboard are in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp the small metal tweezer, carries it over the dark kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 855, "tasks": ["place other"], "length": 314, "global_instruction": "Move the white notepad on the kitchen counter to above the red bowl.", "scene_description": "A kitchen counter has a stainless steel sink with dishes inside, a red bowl left of the sink, a silver electric kettle, a white notepad next to the bowl, cleaning supplies to the sink's right, a light blue water bottle near the stove, and a robotic arm above the left counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the white notepad on the left of the kitchen counter, lifts it, and moves it rightward to position it above the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 856, "tasks": ["place other"], "length": 605, "global_instruction": "Place the sandwich on the kitchen countertop into the drawer below the counter.", "scene_description": "A dark grey kitchen countertop in an open common area holds multiple objects: left to right, a green plastic cup, a dark blue box with a red item on top, a green bowl, a pink plush toy, a small black item, a yellow cloth, a sandwich with a white top bread slice, a round brown baked dish, a white plate, a grey rectangular bin, orange food slices, a small metal cup, and a white paper towel roll on the far right. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward to grasp the drawer handle under the counter, pulls the drawer open, moves upward to grasp the sandwich on the countertop, lifts the sandwich, lowers it into the open drawer, releases the sandwich, and adjusts its position above the drawer.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 857, "tasks": ["place other"], "length": 1069, "global_instruction": "Place the roll of yellow tape and two red pens into the blue cup on the red plate.", "scene_description": "A light wooden table holds a white printed box, a red plate, a roll of yellow transparent tape, a pink semi-transparent lid with a red pen on it, a small white plate, and an open cardboard box containing a long pizza, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm grasps the roll of yellow tape from the table, lifts and drops it into the blue cup on the red plate, then grasps a red pen, lifts and drops it into the blue cup, then grasps a red pen resting on the pink lid, lifts and drops it into the blue cup, before moving away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 858, "tasks": ["place other"], "length": 1228, "global_instruction": "Rearrange the tabletop items by placing the blue cup on the white tray and moving the pink bowl onto the table surface.", "scene_description": "A light wooden table holds a green and brown oven mitt on the far left, a white plastic box containing a blue-and-white packet, an empty white tray, a gray cloth, a blue plastic cup, a red plate with a small white plate of red pomegranate arils on top, a white base plate holding a pink plastic bowl, a yellow roll of tape, a silver screwdriver, and an open cardboard box with a long flatbread pizza on the far right. A white robotic arm with a blue gripper is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm first adjusts the position of the white plastic box on the left of the table, then grasps the blue plastic cup, lifts it and places it onto the empty white tray, then grasps the pink plastic bowl, lifts it off its white base plate, moves it to an open spot on the table and sets it down, before briefly interacting with the small white plate of red pomegranate arils on the red plate and moving away.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 859, "tasks": ["place other"], "length": 366, "global_instruction": "Pick up the blue gadget from the red plate and place it on the adjacent table surface.", "scene_description": "A light wooden kitchen table holds a red plate with a blue gadget, a red handled cup, a green bowl with a red ball, a white bowl of food, a white box, and a blue cloth, with a robotic arm at the left of the table, and kitchen cabinets, a refrigerator, and microwave in the background.", "global_instruction_dense": "The left robotic arm moves toward the red plate on the table, adjusts its position repeatedly to align with the blue gadget on the plate, lowers its gripper to grasp the gadget, lifts it, moves it to the table edge left of the plate, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 860, "tasks": ["place other"], "length": 286, "global_instruction": "Pick up the silver metal ruler and place it next to the black fork on the table.", "scene_description": "A light wooden table holds a silver metal ruler, a black fork, a yellow bowl, a blue cup, a white bowl, a black fabric case, an ArUco calibration mat, four markers (red, black, blue, white) on the right, a silver laptop on the far right, and a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the silver metal ruler on the left section of the wooden table, grasps the ruler, lifts it, moves it rightward to the area next to the black fork, lowers the ruler, and releases it in that position.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
+{"episode_index": 861, "tasks": ["place other"], "length": 279, "global_instruction": "Place the circular frame over the red-and-yellow snack package on the kitchen counter.", "scene_description": "A white robotic arm holding a black circular frame sits left of a black kitchen counter. On the counter, a red-and-yellow snack package is near the center, alongside a purple spray bottle, blue cup, silver kettle, and black dish rack; a sink with a white mug is on the counter's right, with wooden cabinets above and a paper-covered whiteboard behind the arm.", "global_instruction_dense": "The left robotic arm holds the circular frame, moves it down and right toward the kitchen counter, adjusts its position hovering above the red-and-yellow snack package, then lifts the frame up and left away from the package.", "skill": "Pick & Place", "verb": "place", "object": "", "object_category": "Other / Uncategorized"}
diff --git a/datasets/droid/data/place__other/meta/episodes_stats.jsonl b/datasets/droid/data/place__other/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f76b047743966f3d04a9bee9652c6110eccea879
--- /dev/null
+++ b/datasets/droid/data/place__other/meta/episodes_stats.jsonl
@@ -0,0 +1,862 @@
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diff --git a/datasets/droid/data/place__other/meta/info.json b/datasets/droid/data/place__other/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..76df72254cf767ad3358abf055bbc91e518a8d01
--- /dev/null
+++ b/datasets/droid/data/place__other/meta/info.json
@@ -0,0 +1,255 @@
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+  "scene_category": "抽象/桌面实验 (General Tabletop/Lab Bench)",
+  "camera_mapping": {
+    "observation.images.ext1": "external_1",
+    "observation.images.ext2": "external_2",
+    "observation.images.wrist": "right_wrist"
+  }
+}
\ No newline at end of file
diff --git a/datasets/droid/data/place__other/meta/stats.json b/datasets/droid/data/place__other/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..88035a2a81b4f08798a9f35f3c852d1e5098e078
--- /dev/null
+++ b/datasets/droid/data/place__other/meta/stats.json
@@ -0,0 +1,761 @@
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