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+{"episode_index": 5, "tasks": ["pour cup"], "length": 602, "global_instruction": "Pour the contents of the yellow cup into the pink bowl then place the yellow cup back on the table", "scene_description": "A pink bowl and a yellow cup are placed on a light wooden table, with the pink bowl to the left of the yellow cup. A robotic arm is positioned to the right of the table, and an operator is in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow cup on the table, grasps it, lifts it, tilts it over the pink bowl to pour its contents into the bowl, then moves back to place the cup on the table before retracting to its initial position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 6, "tasks": ["pour cup"], "length": 487, "global_instruction": "Pour the contents of the gray measuring cup into the red bowl.", "scene_description": "A light brown wooden table holds a red bowl in the foreground, with a gray handled measuring cup positioned behind the bowl.", "global_instruction_dense": "The right robotic arm moves toward the gray measuring cup on the table, grasps its handle, lifts the cup above the red bowl, tilts the cup to pour its contents into the bowl, then places the empty cup back on the table and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 7, "tasks": ["pour cup"], "length": 356, "global_instruction": "Pour the yellow and white slices from the grey measuring cup into the pink bowl on the wooden table.", "scene_description": "A light wooden table holds a pink wide bowl and a grey handled measuring cup with yellow and white circular slices inside, with the measuring cup positioned to the upper right of the bowl. The background is a lab workspace with equipment and a robotic arm on the right.", "global_instruction_dense": "The right robotic gripper moves to grasp the handle of the grey measuring cup on the table, lifts the cup, moves and tilts it above the pink bowl to pour the yellow and white slices into the bowl, then places the empty cup back on the table and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 8, "tasks": ["pour cup"], "length": 522, "global_instruction": "Pour the contents of the gray measuring cup into the pink bowl on the table.", "scene_description": "A wooden table holds a pink bowl and a gray handled measuring cup, with the measuring cup to the right of the bowl.", "global_instruction_dense": "The right robotic arm moves to grasp the gray measuring cup's handle, lifts it over the pink bowl, tilts the cup to pour all its contents into the bowl, then places the empty cup back onto the table and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 9, "tasks": ["pour cup"], "length": 615, "global_instruction": "Pour the contents of the grey handled measuring cup into the pink bowl on the table.", "scene_description": "A light brown wooden table has a pink bowl near the front, and a grey handled measuring cup with yellow and clear pieces inside placed to the upper right of the pink bowl, in an office workspace setting.", "global_instruction_dense": "The right robotic gripper moves to the grey handled measuring cup on the table, grasps its handle, lifts the cup, tilts it over the pink bowl to pour out all contained pieces, then places the empty measuring cup back onto the table and releases the handle.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 10, "tasks": ["pour cup"], "length": 552, "global_instruction": "Pour the contents of the gray measuring cup into the coral pink bowl on the table.", "scene_description": "A light wooden table holds a coral pink bowl and a gray handled measuring cup with yellow and white contents. The measuring cup is positioned to the right of the bowl in an office lab setting.", "global_instruction_dense": "The right robotic gripper moves to the gray measuring cup on the table, grasps its handle, lifts and tilts the cup over the pink bowl to pour all its contents into the bowl, then places the empty measuring cup back on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 11, "tasks": ["pour cup"], "length": 538, "global_instruction": "Pour the contents of the gray measuring cup into the red bowl then return the cup to the table.", "scene_description": "A light wooden table holds a red bowl and a gray measuring cup with a white spoon inside it; the bowl is to the left of the measuring cup in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the gray measuring cup on the table, grasps it, lifts and moves it over the red bowl, tilts the cup to pour its contents into the bowl, then places the empty cup back onto its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 12, "tasks": ["pour cup"], "length": 434, "global_instruction": "Pour the yellow food contents from the grey measuring cup into the pink bowl.", "scene_description": "A light brown wooden table holds a pink bowl to the left of a small grey measuring cup with yellow food pieces inside, in an office workspace.", "global_instruction_dense": "The right robotic gripper moves to grasp the grey measuring cup, lifts it, moves it above the pink bowl, tilts it to pour the yellow food pieces into the bowl, then places the empty cup back on the table and moves away to rest.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 13, "tasks": ["pour cup"], "length": 456, "global_instruction": "Pour the contents of the gray measuring cup into the red-pink bowl on the table.", "scene_description": "A red-pink bowl and a gray measuring cup with a white handle are placed on a light wooden table, with the bowl to the left of the measuring cup.", "global_instruction_dense": "The right robotic gripper moves toward the gray measuring cup on the wooden table, grasps its handle, lifts it, moves it over the red-pink bowl, tilts it to pour its contents into the bowl, then moves the empty cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 14, "tasks": ["pour cup"], "length": 414, "global_instruction": "Pour the contents of the small gray cup into the pink bowl then place the empty gray cup back on the table.", "scene_description": "A small gray cup and a larger empty reddish-pink bowl are placed on a light wooden table, with the gray cup positioned to the left of the pink bowl.", "global_instruction_dense": "The right robotic gripper moves toward the small gray cup on the wooden table, grasps and lifts it, moves it over the pink bowl, tilts it to pour its contents into the bowl, then moves the empty cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 15, "tasks": ["pour cup"], "length": 565, "global_instruction": "Pour the contents of the orange cup into the pink bowl.", "scene_description": "A light wooden table holds a pink bowl and an orange cup. The orange cup is positioned to the right of the pink bowl, with an office space in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts and tilts it over the pink bowl to pour its contents into the bowl, then places the orange cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 16, "tasks": ["pour cup"], "length": 389, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A light wooden table holds a black bowl and an orange cup, with an office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves to grasp the orange cup on the table, lifts and tilts it over the black bowl to pour its contents into the bowl, then returns the cup to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 17, "tasks": ["pour cup"], "length": 536, "global_instruction": "Pour the food pieces from the orange cup into the black bowl", "scene_description": "A black bowl and an orange cup are placed on a light wooden table, the bowl is to the left of the cup, and a robotic arm is on the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the light wooden table, grasps the cup, lifts and tilts it over the black bowl to pour the food pieces inside into the bowl, moves the cup back to the table, releases it, and the cup falls onto its side on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 18, "tasks": ["pour cup"], "length": 401, "global_instruction": "Pour the contents of the orange cup into the black bowl, then return the cup to the table.", "scene_description": "A black bowl and an orange plastic cup are placed on a light wooden table, with the bowl positioned to the left of the cup.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts and tilts it over the black bowl to pour its contents into the bowl, then moves the empty cup back to its original position on the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 19, "tasks": ["pour cup"], "length": 516, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A light wooden table holds an orange plastic cup and a black bowl, with office equipment, lighting rigs, and people in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts and tilts it over the black bowl to pour its contents into the bowl, then places the empty cup back on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 20, "tasks": ["pour cup"], "length": 470, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A black bowl and an orange cup are placed on a light wooden table, with the orange cup to the right of the black bowl, in an office workspace background.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the right of the table, grasps it, lifts it, tilts it to pour its contents into the black bowl, then tilts the cup upright and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 21, "tasks": ["pour cup"], "length": 510, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup on the table next to the bowl.", "scene_description": "A black bowl and an orange cup are placed on a light wooden table, with the orange cup adjacent to the right side of the black bowl.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, tilts it to pour its contents into the black bowl, then moves the cup to a spot next to the bowl on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 22, "tasks": ["pour cup"], "length": 502, "global_instruction": "Pour the contents of the orange cup into the black bowl on the tabletop.", "scene_description": "A wooden table holds a black bowl on its left side and an orange cup to the right of the bowl; no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the black bowl, tilts the cup to pour its contents into the bowl, returns the cup to its original position on the table, then releases the cup and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 23, "tasks": ["pour cup"], "length": 499, "global_instruction": "Pour the contents of the orange cup into the black bowl then place the cup back on the table", "scene_description": "A light brown wooden table has a black bowl, an orange cup, a small green cubic block, and a small yellow cubic block placed on its surface, with the bowl positioned to the left of the orange cup.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps the cup, lifts and tilts it over the black bowl to pour all small spherical contents into the bowl, then moves the empty cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 24, "tasks": ["pour cup"], "length": 529, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the orange cup back on the table.", "scene_description": "A wooden table holds a black bowl, an orange cup, a green cube, and a yellow cube. The black bowl is left of the orange cup, with the green cube below the bowl and the yellow cube near the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts and tilts it over the black bowl to pour its contents inside, then moves the empty cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 25, "tasks": ["pour cup"], "length": 421, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the orange cup back on the table.", "scene_description": "A black bowl, an orange cup, a small green cube, and a small yellow cube are placed on a light brown wooden table. The black bowl is to the left of the orange cup, the green cube sits below the bowl, and the yellow cube is positioned behind the orange cup.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts and tilts it over the black bowl to pour the yellow and white pieces inside the cup into the bowl, then moves the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 26, "tasks": ["pour cup"], "length": 402, "global_instruction": "Pour the contents of the orange cup into the black bowl then place the cup back on the table.", "scene_description": "A black bowl, an orange cup, a yellow cube, and a green cube are placed on a wooden table. The black bowl is positioned to the left of the orange cup, the yellow cube sits between the bowl and the cup, and the green cube is below the black bowl.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts it, tilts it over the black bowl to pour its contents into the bowl, then moves the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 27, "tasks": ["pour cup"], "length": 543, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the empty cup back on the table.", "scene_description": "A light wooden table holds a black bowl on its left side, an orange cup to the right of the bowl, a small green cube below the bowl, and tiny objects inside the orange cup.", "global_instruction_dense": "The right robotic gripper moves to the orange cup on the wooden table, grasps the cup, lifts and tilts it over the black bowl to pour the small objects inside the cup into the bowl, then places the empty cup back on the table and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 28, "tasks": ["pour cup"], "length": 511, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A black bowl, an orange cup, and a small green cylinder are placed on a light wooden table. The black bowl is left of the orange cup, the green cylinder sits between them.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts and tilts it over the black bowl to pour its contents into the bowl, then moves the empty cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 29, "tasks": ["pour cup"], "length": 607, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A black bowl, an orange cup, a small green cylinder, and a small yellow cylinder are placed on a light wooden table in a lab office space.", "global_instruction_dense": "The right robotic arm approaches the orange cup on the wooden table, grasps it, lifts and tilts it over the black bowl to pour the contents inside the bowl, then moves the empty cup back down and places it on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 30, "tasks": ["pour cup"], "length": 470, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A light wooden table in a lab office holds a black bowl, an orange cup, and a small green cylinder. The orange cup is to the right of the bowl, the green cylinder sits near the table's lower edge.", "global_instruction_dense": "The right robotic arm moves to the orange cup on the wooden table, grasps it, lifts and tilts it over the black bowl to pour its contents into the bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 31, "tasks": ["pour cup"], "length": 553, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A light wooden table holds a black bowl, an orange cup, a small green cylinder, a small yellow object, and pieces of white tape in a lab/office space with background equipment and seating.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the wooden table, grasps it, lifts it, tilts it over the black bowl to pour its contents into the bowl, lowers the cup back to its original position, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 32, "tasks": ["pour cup"], "length": 496, "global_instruction": "Pour the contents of the orange cup into the black bowl, then place the cup back on the table.", "scene_description": "A light brown wooden table holds a black bowl, an orange cup, a small green cylindrical block, and a small yellow object. The bowl is left of the cup, the green block sits in front of the bowl.", "global_instruction_dense": "The right robotic gripper grasps the orange cup on the table, lifts and tilts it over the black bowl to pour its contents into the bowl, then returns the cup to its original position on the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 33, "tasks": ["pour cup"], "length": 370, "global_instruction": "Pour the contents of the orange cup into the black bowl then return the cup to its original position on the table.", "scene_description": "A light wooden table holds a black bowl, an orange cup, a small yellow cubic object, and a small green cylindrical object; the bowl is positioned left of the cup, cube, and cylinder on the table.", "global_instruction_dense": "The right robotic gripper grasps the orange cup on the table, lifts and moves it over the black bowl, tilts it to pour its contents into the bowl, then moves the cup back to its original position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 34, "tasks": ["pour cup"], "length": 443, "global_instruction": "Pour the contents of the orange cup into the black bowl then place the cup back on the table.", "scene_description": "A light wooden table holds a black bowl, an orange cup, a small yellow cubic block, and a small green cylindrical block. The bowl is near the table center, the orange cup sits to the upper right of the bowl, the yellow block is next to the cup, and the green block is below the bowl, with lab equipment and people in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts and tilts it over the black bowl to pour its contents into the bowl, then returns the cup to its original position on the table before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 35, "tasks": ["pour cup"], "length": 301, "global_instruction": "Pour the contents of the yellow cup into the white bowl on the toy kitchen counter, then place the cup on the counter.", "scene_description": "A white toy kitchen unit with an open left cabinet door is in a sunlit room with large windows. The cabinet's middle shelf holds white items, its bottom shelf contains a black bowl with green objects. A black and white robotic arm is positioned above the toy kitchen counter to the cabinet's right.", "global_instruction_dense": "The right robotic arm grasps the yellow cup on the toy kitchen counter, lifts it, tilts it to pour its contents into the white bowl, then lowers the cup and places it upright on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 36, "tasks": ["pour cup"], "length": 196, "global_instruction": "Pour the white battery out of the clear glass cup, then place the empty cup back on the desk", "scene_description": "A clear glass cup with a small white battery inside, a coiled white charging cable, a white power strip with orange switches, and a light wooden tray holding multiple white batteries are on a white office desk. Two black backpacks lean against a gray cubicle partition behind the desk, a light green wall is on the left.", "global_instruction_dense": "The right robotic arm moves down toward the clear glass cup on the desk, grasps it, lifts and tilts it to pour the contained white battery onto the wooden battery tray, then tilts the cup back upright, moves it to its original position on the desk, lowers it, and releases the gripper.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 37, "tasks": ["pour cup"], "length": 175, "global_instruction": "Pour the contents of the clear plastic cup into the stainless steel sink.", "scene_description": "A stainless steel double sink is set into a white kitchen counter with a yellow wall behind. To the left of the sink are a small plastic item container and a clear pump soap bottle, with a gray cloth draped over the sink's left edge. To the right of the sink are a clear plastic cup, a white paper roll, and a green box, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the right of the sink, grasps it, lifts it, moves it over the sink, and tilts it to pour its liquid contents into the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 38, "tasks": ["pour cup"], "length": 100, "global_instruction": "Pour the contents of the brown mug into the stainless steel sink.", "scene_description": "A brown mug rests on the edge of a stainless steel sink on a metal workbench, a light wooden table sits in front of the sink, a white metal shelf is behind the sink, a robotic arm is positioned to the right of the sink, and an office workspace with desks and computers is in the background.", "global_instruction_dense": "The right robotic arm moves left toward the brown mug on the sink edge, grasps the mug, lifts it, and tilts it to pour its contents into the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 39, "tasks": ["pour cup"], "length": 217, "global_instruction": "Pour the contents of the red plastic cup into the clear plastic cup.", "scene_description": "A light wooden kitchen counter holds a clear plastic cup on the left and a red plastic cup on the right, with white wall cabinets above the counter's left side, a stainless steel sink behind the cups, and a robotic arm on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the counter, grasps and lifts it, tilts it over the clear plastic cup to pour, accidentally breaks the red cup dropping fragments onto the counter, then lifts the remaining red cup portion upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 40, "tasks": ["pour cup"], "length": 196, "global_instruction": "Pour the contents of the red plastic cup into the clear plastic cup", "scene_description": "A clear plastic cup and a red plastic cup are placed on a light wooden table. A white robotic arm is positioned to the right of the table, with white overhead cabinets on the left wall and a sink area behind the table.", "global_instruction_dense": "The right robotic arm reaches toward the red plastic cup on the table, grasps it, lifts and positions it over the clear plastic cup, tilts it to pour out its contents, then moves the red cup away from the clear cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 41, "tasks": ["pour cup"], "length": 196, "global_instruction": "Pour the contents of the red plastic cup into the clear glass on the countertop", "scene_description": "A light wooden countertop has a clear empty glass on its left, a red plastic cup to the right of the glass, a robotic arm on the right near a stainless steel sink, and white wall-mounted cabinets above the left counter.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the counter, grasps it, lifts it, positions it over the clear glass, tilts it to pour its contents into the glass, then moves the empty cup away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 42, "tasks": ["pour cup"], "length": 126, "global_instruction": "Pour the contents of the red cup into the clear glass.", "scene_description": "A light wood kitchen counter holds a red disposable cup and a clear empty glass, with a sink and white upper cabinets in the background, and a robotic arm on the right.", "global_instruction_dense": "The right robotic arm extends toward the red cup on the kitchen counter, grasps it, lifts it, moves it above the clear glass, and tilts the red cup to pour its contents into the clear glass.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 43, "tasks": ["pour cup"], "length": 173, "global_instruction": "Pour liquid from the red plastic cup into the clear transparent cup.", "scene_description": "A light wooden table has a clear cup on the left and a red plastic cup on the right; a white robotic arm is positioned to the right of the table near a sink, with white cabinets on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the wooden table, grasps it, lifts it, positions it above the clear cup, and tilts it to pour liquid into the clear cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 44, "tasks": ["pour cup"], "length": 223, "global_instruction": "Pour the contents of the red plastic cup into the clear glass.", "scene_description": "A red plastic cup and a clear empty glass sit on a light wooden countertop, with white wall-mounted cabinets on the left, a stainless steel sink area in the background, and a white robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the countertop, grasps it with its gripper, lifts it, moves it above the adjacent clear glass, tilts the cup, and pours its contents into the glass.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 45, "tasks": ["pour cup"], "length": 173, "global_instruction": "Pour the contents of the red disposable cup into the clear empty glass on the countertop.", "scene_description": "A clear empty glass and a red disposable cup are placed on a light wooden countertop, with the clear glass on the left and the red cup on the right. A robotic arm is positioned near the stainless steel sink to the right of the counter, with white wall cabinets mounted above the counter.", "global_instruction_dense": "The right robotic arm moves toward the red disposable cup on the right side of the countertop, grasps it, lifts it, moves it over the clear empty glass, and tilts it to pour its contents into the clear glass.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 46, "tasks": ["pour cup"], "length": 128, "global_instruction": "Pour the contents of the red disposable cup into the clear glass.", "scene_description": "A light wooden countertop holds a clear empty glass and a red disposable cup, with white wall-mounted cabinets above the left counter and a robotic arm positioned to the right near a sink area.", "global_instruction_dense": "The right robotic arm moves toward the red disposable cup on the countertop, grasps it, lifts it, positions it above the clear glass, and tilts it to pour its contents into the glass.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 47, "tasks": ["pour cup"], "length": 224, "global_instruction": "Pour the contents of the red plastic cup into the clear empty glass", "scene_description": "A clear empty glass and a red plastic cup are placed on a light wooden table. A white robotic arm is positioned to the right of the table, with white wall cabinets above the left side of the table and a sink unit at the back of the table.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the table, grasps it, lifts it, tilts it over the clear glass to pour its contents into the glass, then moves the empty red cup away from the glass.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 48, "tasks": ["pour cup"], "length": 177, "global_instruction": "Pour the contents of the red disposable cup into the clear glass on the countertop.", "scene_description": "A clear empty glass and a red disposable cup are placed on a light wooden countertop, with the clear glass positioned to the left of the red cup. A white robotic arm is located on the right side of the frame near a sink area, and white wall cabinets are mounted on the left wall above the counter.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the countertop, grasps and lifts it, moves it over the adjacent clear glass, tilts it to pour its contents into the glass, then releases the now-empty red cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 49, "tasks": ["pour cup"], "length": 248, "global_instruction": "Pour the liquid from the red cup into the clear glass on the countertop", "scene_description": "A clear glass and a red disposable cup are placed on a light wooden countertop. A white robotic arm is positioned to the right of the counter, with upper white cabinets on the left wall and a sink area behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the countertop, grasps it, lifts it, positions it above the clear glass, tilts it to pour its liquid contents into the clear glass, and holds the cup after pouring finishes.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 50, "tasks": ["pour cup"], "length": 122, "global_instruction": "Pour the contents of the red cup into the light gray bowl.", "scene_description": "A light gray bowl and a red plastic cup are placed on a light wooden countertop. The bowl is to the left of the cup, a white robotic arm is positioned on the right side of the scene, white wall-mounted cabinets are above the left counter, and a sink area is behind the cup.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the counter, grasps it, lifts it, moves it over the light gray bowl, tilts the cup to pour its contents into the bowl, then lifts the empty cup away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 51, "tasks": ["pour cup"], "length": 201, "global_instruction": "Pick up the red plastic cup and pour its contents into the gray bowl on the counter.", "scene_description": "A red plastic cup and a gray bowl are placed on a light wooden countertop, the cup is in front of the bowl, a white robotic arm is to the right of the counter, with white upper cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the counter, grasps it with its gripper, lifts it, positions it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 52, "tasks": ["pour cup"], "length": 138, "global_instruction": "Pour the contents of the red cup onto the tabletop", "scene_description": "A light gray bowl and a red plastic cup are placed on a light wooden tabletop. The bowl is to the left of the cup, a robotic arm is positioned on the right side of the table, and white cabinets are mounted on the upper left wall.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it left, and tilts it to pour its contents onto the tabletop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 53, "tasks": ["pour cup"], "length": 161, "global_instruction": "Pour the contents of the red cup into the gray bowl", "scene_description": "A light wooden countertop holds a gray bowl in the foreground and a red plastic cup behind the bowl, with white upper cabinets on the left wall, a sink area in the background, and a robotic arm on the right.", "global_instruction_dense": "The right robotic arm extends toward the red cup on the countertop, grasps the cup, lifts it, moves it over the adjacent gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 54, "tasks": ["pour cup"], "length": 123, "global_instruction": "Pour the contents of the red cup into the light gray bowl.", "scene_description": "A light gray bowl and a red disposable cup are placed on a light wooden kitchen counter, with the bowl on the left and the red cup on the right; white cabinets are mounted above the counter, and a robotic arm is positioned to the right of the counter near a sink area.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the counter, grasps it with its gripper, lifts and moves it over the light gray bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 55, "tasks": ["pour cup"], "length": 126, "global_instruction": "Pour the contents of the red cup into the white bowl.", "scene_description": "A light wooden table holds a shallow white bowl in the foreground and a red plastic cup further back; a robotic arm is positioned to the right of the table, with white wall cabinets on the left and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it over the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 56, "tasks": ["pour cup"], "length": 143, "global_instruction": "Pour the contents of the red cup into the light gray bowl on the countertop.", "scene_description": "A light gray bowl and a red plastic cup are placed on a wooden countertop, with the bowl in the foreground, the cup behind it, a white robotic arm near the right sink area, and white upper cabinets on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the counter, grasps it, lifts it to position it over the light gray bowl, tilts the cup to pour its contents into the bowl, then lifts the cup away from the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 57, "tasks": ["pour cup"], "length": 123, "global_instruction": "Pour the contents of the red cup into the gray bowl", "scene_description": "A light wooden counter holds a pale gray bowl on the left and a red disposable cup on the right, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the counter, grasps it, lifts the cup, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 58, "tasks": ["pour cup"], "length": 123, "global_instruction": "Pour the contents of the red cup into the gray bowl", "scene_description": "A light wood kitchen counter holds a gray bowl on the left and a red plastic cup to the bowl's right, with a white robotic arm to the counter's right and a sink with shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the counter, grasps it, lifts it, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 59, "tasks": ["pour cup"], "length": 123, "global_instruction": "Pour the contents of the red plastic cup into the light gray bowl on the countertop.", "scene_description": "A light wooden countertop holds a light gray bowl on the left and a red plastic cup to the right of the bowl, with a white robotic arm positioned to the right of the counter, upper white cabinets mounted on the left wall, and a sink area behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the counter, grasps the cup with its gripper, lifts the cup, moves it over the light gray bowl, tilts the cup to pour its contents into the bowl, and holds the tilted position as pouring proceeds.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 60, "tasks": ["pour cup"], "length": 238, "global_instruction": "Pour the contents of the red plastic cup into the light gray bowl.", "scene_description": "A red plastic cup and a light gray bowl are placed on a light wooden tabletop. The bowl is to the left of the cup, a robotic arm is on the right side of the scene, with white upper cabinets on the left wall and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the tabletop, grasps the cup, briefly moves it left before releasing and re-grasping it, lifts the cup over the light gray bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 61, "tasks": ["pour cup"], "length": 224, "global_instruction": "Pour the contents of the red cup into the gray bowl", "scene_description": "A red disposable cup and a gray bowl are placed on a light wooden table. The red cup is on the left of the table, the gray bowl is to the right of the red cup, and a robotic arm is positioned on the right side of the scene, with white wall cabinets above the table and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps the cup, lifts it, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 62, "tasks": ["pour cup"], "length": 219, "global_instruction": "Pour the contents of the red plastic cup over the gray bowl on the countertop.", "scene_description": "A red plastic cup and a gray bowl are placed on a light wooden countertop, with the red cup to the left of the gray bowl, white overhead cabinets are on the left wall, and a white robotic arm is positioned on the right side of the scene with a sink area behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the left side of the counter, grasps it with its gripper, lifts it, tilts it over the adjacent gray bowl to pour out its contents.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 63, "tasks": ["pour cup"], "length": 124, "global_instruction": "Pour the contents of the red cup into the gray bowl.", "scene_description": "A light wooden countertop has a gray bowl on its left side and a red plastic cup to the right of the bowl. A white robotic arm is positioned near a sink area on the right, with white cabinets mounted on the wall above the counter.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the countertop, grasps the cup, lifts it, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 64, "tasks": ["pour cup"], "length": 150, "global_instruction": "Pour the contents of the red cup into the light gray bowl", "scene_description": "A light gray bowl and a red disposable cup are placed on a wooden tabletop, the bowl is in the front and the red cup is behind it, a robotic arm is near the sink area on the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, tilts it over the light gray bowl to pour its contents, with part of the contents spilling onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 65, "tasks": ["pour cup"], "length": 189, "global_instruction": "Pour the contents of the red cup into the grey bowl", "scene_description": "A light grey bowl and a red plastic cup are placed on a light wood countertop, with the bowl positioned to the left of the cup.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the countertop, grasps it, lifts it, positions it above the grey bowl, and tilts it to pour the cup's contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 66, "tasks": ["pour cup"], "length": 217, "global_instruction": "Pour the contents of the red cup into the light gray bowl", "scene_description": "A light wood kitchen counter holds a light gray bowl on the left and a red plastic cup to the right of the bowl. A white robotic arm is positioned to the right of the counter, with white upper cabinets and a sink visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the counter, grasps it, lifts and positions it over the light gray bowl, tilts the cup to pour its contents into the bowl, then lowers the empty cup toward the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 67, "tasks": ["pour cup"], "length": 115, "global_instruction": "Pour the contents of the red cup into the gray bowl", "scene_description": "A gray bowl and a red plastic cup are placed on a light wood tabletop, with the bowl to the left of the cup. A robotic arm is positioned to the right of the table, with a sink and white wall cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 68, "tasks": ["pour cup"], "length": 125, "global_instruction": "Pour the contents of the red plastic cup into the light gray bowl", "scene_description": "A light gray bowl and a red plastic cup are placed on a light wooden countertop. The bowl is to the left of the red cup, and a robotic arm is situated to the right of the counter near a sink.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the counter, grasps it, lifts and moves it over the light gray bowl, tilts the cup to pour its contents into the bowl, then holds the tilted empty cup in place.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 69, "tasks": ["pour cup"], "length": 112, "global_instruction": "Pour the contents of the red plastic cup into the light gray bowl.", "scene_description": "A light gray bowl and a red plastic cup are placed on a light wooden kitchen tabletop, with the bowl to the left of the cup. A robotic arm is positioned above the red cup, with white wall cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic gripper grasps the red plastic cup on the table, lifts it, moves it over the light gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 70, "tasks": ["pour cup"], "length": 144, "global_instruction": "Pour the contents of the red cup into the light gray bowl", "scene_description": "A light gray bowl and a red plastic cup are on a light wooden tabletop, the bowl is left of the cup, a white robotic arm is positioned to the right of the table, with white wall cabinets on the left and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts and moves it over the gray bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 71, "tasks": ["pour cup"], "length": 145, "global_instruction": "Pour the contents of the red plastic cup into the gray bowl", "scene_description": "A red plastic cup and a gray bowl are placed on a light wooden table. The cup is left of the bowl, a robotic arm is to the right of the table, with white upper cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps and lifts it, moves it over the gray bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 72, "tasks": ["pour cup"], "length": 89, "global_instruction": "Pour the contents of the red cup into the light gray bowl", "scene_description": "A light gray bowl and a red disposable cup are placed on a light wooden table. The bowl is to the left of the cup, a robotic arm is at the right side of the table, with a sink and white wall cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts it, positions it over the light gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 73, "tasks": ["pour cup"], "length": 126, "global_instruction": "Pour the contents of the red cup into the gray bowl.", "scene_description": "A light gray bowl and a red plastic cup are placed on a light wooden table. The bowl is on the left of the table, the cup is to the right of the bowl, a robotic arm is at the right side of the table, with white wall cabinets above the left table and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the right of the wooden table, grasps the cup, lifts and moves it over the gray bowl, then tilts the cup to pour its contents into the bowl, with some contents spilling onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 74, "tasks": ["pour cup"], "length": 133, "global_instruction": "Pour the contents of the red cup into the gray bowl", "scene_description": "A gray shallow bowl and a red disposable cup are placed on a light wooden tabletop. The bowl is to the left of the cup, and a robotic arm is positioned behind the cup above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the red cup on the table, lifts the cup, moves it above the gray bowl, tilts the cup to pour its contents into the bowl, and holds the tilted cup position after pouring.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 75, "tasks": ["pour cup"], "length": 107, "global_instruction": "Pour the contents of the red plastic cup into the light gray bowl", "scene_description": "A light brown wooden table holds a light gray bowl and a red plastic cup, with a robotic arm positioned at the table's right side near a sink area.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the table, grasps it, lifts it above the light gray bowl, tilts the cup to pour its contents into the bowl, then places the empty cup into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 76, "tasks": ["pour cup"], "length": 109, "global_instruction": "Pour the contents of the red disposable cup into the light gray bowl", "scene_description": "A light wooden table holds a light gray shallow bowl on its left side and a red disposable cup to the right of the bowl. A white robotic arm is positioned on the right of the table, with wall-mounted white cabinets, a sink, and storage shelves visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps the cup, lifts it, moves it over the light gray bowl, tilts the cup to pour its contents into the bowl, then moves the cup away after pouring.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 77, "tasks": ["pour cup"], "length": 114, "global_instruction": "Pour the contents of the red cup into the light gray bowl on the table.", "scene_description": "A light gray bowl and a red disposable cup are placed on a light wooden table. The bowl is on the left side of the table, the cup is on the right, with white wall cabinets above the left table area and a sink in the background, and a white robotic arm is positioned at the right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the right side of the wooden table, grasps the cup with its gripper, lifts the cup, moves it over the light gray bowl, tilts the cup to pour its contents into the bowl until the cup is empty.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 78, "tasks": ["pour cup"], "length": 153, "global_instruction": "Pour the contents of the red cup into the gray bowl on the table.", "scene_description": "A gray bowl and a red plastic cup are placed on a light wooden table. The gray bowl is on the left side of the table, the red cup is to its right, white upper cabinets are on the left wall above the table, and a robotic arm is positioned on the right side of the scene with a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it with its gripper, lifts the cup, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 79, "tasks": ["pour cup"], "length": 110, "global_instruction": "Pour the contents of the red plastic cup into the light gray bowl on the tabletop.", "scene_description": "A light gray shallow bowl and a red disposable plastic cup are placed on a light wooden tabletop. The bowl is to the left of the red cup, a robotic arm is positioned to the right of the table, with white upper cabinets on the left wall and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the table, grasps the cup with its gripper, lifts and moves the cup over the light gray bowl, tilts the cup to pour its contents into the bowl, then lowers the cup toward the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 80, "tasks": ["pour cup"], "length": 159, "global_instruction": "Pour the contents of the transparent plastic cup into the light gray bowl", "scene_description": "A light gray bowl and a transparent plastic cup with dark contents are placed on a light wood tabletop. The bowl is left of the cup, a white robotic arm is at the right side of the table, with white wall cabinets, a sink and metal shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the transparent plastic cup on the table, grasps the cup, lifts it and moves it over the light gray bowl, then tilts the cup to pour its dark contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 81, "tasks": ["pour cup"], "length": 186, "global_instruction": "Pour the contents of the red cup into the gray bowl on the table.", "scene_description": "A light wooden table holds a gray bowl on its left side and a red plastic cup to the right of the bowl, with a white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red cup on the table, grasps the cup, lifts and moves it above the gray bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 82, "tasks": ["pour cup"], "length": 127, "global_instruction": "Pour the contents of the red cup into the light gray bowl", "scene_description": "A light gray bowl and a red plastic cup are on a light wooden table. The bowl is on the left, the cup is to its right, with a robotic arm above the right table area.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it above the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 83, "tasks": ["pour cup"], "length": 159, "global_instruction": "Pour the contents of the red plastic cup into the gray bowl", "scene_description": "A gray bowl and a red plastic cup are placed on a wooden table. The bowl is to the left of the cup, a white robotic arm is on the right of the table, wall cabinets are on the left wall, and a sink area is behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the red cup on the table, grasps the cup with its gripper, lifts the cup, moves it over the gray bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 84, "tasks": ["pour cup"], "length": 122, "global_instruction": "Pour the contents of the red cup into the gray bowl on the table", "scene_description": "A red plastic cup and a gray bowl are placed on a light wooden table. The cup is in the foreground, the bowl is behind it to the right, and a robotic arm is positioned on the right side near a sink area with overhead white cabinets.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the wooden table, grasps it, lifts it, positions it over the adjacent gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 85, "tasks": ["pour cup"], "length": 227, "global_instruction": "Pour the contents of the red cup into the gray bowl on the table", "scene_description": "A red plastic cup and a light gray bowl are placed on a light wooden table, the bowl is to the left of the red cup, a robotic arm is positioned to the right of the table, with white wall-mounted cabinets above the left table area and a sink in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position near the sink toward the red cup on the table, grasps the cup with its gripper, lifts the cup, moves it over the gray bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 86, "tasks": ["pour cup"], "length": 156, "global_instruction": "Pour the contents of the red cup into the beige bowl", "scene_description": "A beige bowl and a red plastic cup are placed on a light wooden countertop, with the bowl to the left of the cup. A robotic arm is positioned above the counter near the cup, with overhead cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm lowers to grasp the red cup on the counter, lifts it, moves it over the beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 87, "tasks": ["pour cup"], "length": 192, "global_instruction": "Pour the contents of the orange cup into the white bowl on the table", "scene_description": "A light wooden table holds a white bowl on its left and an orange cup on its right. A white robotic arm is positioned to the right of the table, with upper white cabinets on the left wall and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps and lifts it, moves it above the white bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 88, "tasks": ["pour cup"], "length": 157, "global_instruction": "Pour the contents of the orange cup into the white bowl on the table.", "scene_description": "A light wooden table holds a white bowl on the left and an orange cup to the bowl's right, with a robotic arm on the right side of the scene, and white upper cabinets mounted on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts it, moves it above the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 89, "tasks": ["pour cup"], "length": 131, "global_instruction": "Pour the contents of the orange cup into the white bowl on the table", "scene_description": "A white bowl and an orange cup are placed on a light wooden tabletop, a white robotic arm is positioned to the right of the table, with white upper cabinets on the left wall and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it above the white bowl, tilts the cup to pour its contents into the bowl, then lowers the cup toward the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 90, "tasks": ["pour cup"], "length": 163, "global_instruction": "Pour the contents of the orange cup into the white bowl", "scene_description": "A light wooden table has a white bowl on its left and an orange plastic cup to the right of the bowl, with a robotic arm on the right, white wall cabinets above the left table, and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 91, "tasks": ["pour cup"], "length": 147, "global_instruction": "Pour the contents of the orange cup into the white bowl", "scene_description": "A light wooden table holds a white bowl on the left and an orange cup to the right of the bowl. A white robotic arm is positioned on the right, with white upper cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts and moves it over the white bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 92, "tasks": ["pour cup"], "length": 142, "global_instruction": "Pour the contents of the orange cup into the light beige bowl.", "scene_description": "A light wooden table holds an orange cup on the left and a light beige bowl to the cup's right. A white robotic arm is at the right of the scene, white cabinets are mounted on the wall above the left of the table, and a sink area is behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps the cup, lifts it, positions it above the light beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 93, "tasks": ["pour cup"], "length": 169, "global_instruction": "Pick up the orange plastic cup and pour its contents into the beige bowl on the table.", "scene_description": "A light wooden tabletop holds an orange plastic cup on the left and a beige bowl to the right of the cup, with a white robotic arm on the right side near a sink area and white wall cabinets mounted on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the orange plastic cup on the table, grasps it with its gripper, lifts it, positions it over the beige bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 94, "tasks": ["pour cup"], "length": 132, "global_instruction": "Pour the contents of the orange cup into the beige bowl on the countertop.", "scene_description": "A light wooden countertop holds an orange cup left of a beige bowl, a robotic arm is on the right, with upper white cabinets and a sink in the background.", "global_instruction_dense": "The right robotic arm moves left toward the orange cup on the counter, grasps it, lifts and tilts it over the adjacent beige bowl to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 95, "tasks": ["pour cup"], "length": 133, "global_instruction": "Pour the contents of the orange cup into the light beige bowl on the table", "scene_description": "A tall orange cup and a light beige bowl are placed on a light wooden tabletop, with the orange cup left of the bowl, white wall cabinets above the left table, and a robotic arm to the right of the table near a sink.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps the cup with its gripper, lifts the cup, moves it above the light beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 96, "tasks": ["pour cup"], "length": 169, "global_instruction": "Pour the contents of the orange cup into the white bowl on the table.", "scene_description": "A light wooden table holds a white bowl and an orange cup, with the bowl positioned left of the cup; white upper cabinets are on the left wall, and a robotic arm is on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps and lifts it, then tilts it over the white bowl to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 97, "tasks": ["pour cup"], "length": 189, "global_instruction": "Pour the contents of the orange cup into the white bowl.", "scene_description": "An orange plastic cup and a white bowl are on a light wooden table. A robotic arm is positioned to the right of the table, with upper white cabinets on the left wall and a sink with shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, positions it above the white bowl, tilts it to pour its contents into the bowl, then holds the cup after pouring.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 98, "tasks": ["pour cup"], "length": 131, "global_instruction": "Pour the contents of the orange cup into the light beige bowl", "scene_description": "An orange upright cup and a light beige bowl are placed on a light wooden table, the cup is to the left of the bowl, a white robotic arm is positioned to the right of the table, white wall cabinets are on the left above the table, and a sink area is behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange upright cup on the wooden table, grasps and lifts it, moves it over the light beige bowl, tilts the cup, and pours its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 99, "tasks": ["pour cup"], "length": 117, "global_instruction": "Pour the contents of the orange cup into the light beige bowl", "scene_description": "A light wooden table holds an upright orange cup on its left area and a light beige bowl to the right of the cup. A white robotic arm is positioned at the right of the table, with white wall cabinets above the left side of the table and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the upright orange cup on the wooden table, grasps it, lifts it, moves it over the adjacent light beige bowl, tilts the cup, and pours its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 100, "tasks": ["pour cup"], "length": 159, "global_instruction": "Pour the contents of the orange cup into the light beige bowl", "scene_description": "A light wooden table holds an upright orange cup on its left side and a light beige bowl on its right side. A white robotic arm is positioned to the right of the table, with white overhead cabinets on the left wall and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the upright orange cup on the left of the table, grasps it, lifts it, moves it over the beige bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 101, "tasks": ["pour cup"], "length": 155, "global_instruction": "Pour the contents of the red cup into the white bowl on the table", "scene_description": "A red plastic cup and a white ceramic bowl are placed on a light wooden table, a white robotic arm is positioned to the right of the table, with white wall-mounted cabinets and a sink area with shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts it, moves it over the white bowl, and tilts the cup to pour its contents into the bowl, with some contents spilling onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 102, "tasks": ["pour cup"], "length": 130, "global_instruction": "Pick up the orange cup and pour its contents into the white bowl", "scene_description": "On a light brown wooden table, an orange plastic cup stands in the foreground, a white bowl is placed behind the cup. White upper cabinets are mounted on the left wall, and a right robotic arm is positioned above the table near the rear sink area.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps the cup, lifts and moves it above the white bowl, tilts the cup to pour its contents into the bowl, then moves the empty cup away from the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 103, "tasks": ["pour cup"], "length": 127, "global_instruction": "Pour the contents of the orange cup into the white bowl on the table.", "scene_description": "A light wooden table holds an orange cup and a white bowl, with white wall cabinets above the table's left side, a sink with shelves and windows in the background, and a robotic arm on the right.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, positions it over the white bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 104, "tasks": ["pour cup"], "length": 131, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A red cup and a white bowl are placed on a light wooden table, a robotic arm is on the right side of the table, with wall cabinets above the table and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it with the gripper, lifts the cup, tilts it over the white bowl, and pours the cup's contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 105, "tasks": ["pour cup"], "length": 142, "global_instruction": "Pour the contents of the orange cup into the light pink bowl", "scene_description": "An orange cup and a light pink bowl are placed on a light wooden table. The orange cup is left of the pink bowl, a robotic arm is positioned to the right of the table, white wall-mounted cabinets are above the left table area, and a sink is behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, tilts it over the light pink bowl, and pours the contents of the cup into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 106, "tasks": ["pour cup"], "length": 177, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "An orange cup and a green bowl are placed on a light wooden table, with the orange cup to the left of the green bowl. A robotic arm is on the right side of the scene, with white upper cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the green bowl, and tilts it repeatedly to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 107, "tasks": ["pour cup"], "length": 131, "global_instruction": "Pour the contents of the orange cup into the green bowl.", "scene_description": "A light wooden table has an upright orange cup to the left of a green bowl, with a right robotic arm positioned above the table near the bowl, and a sink, white wall cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts and moves it over the green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 108, "tasks": ["pour cup"], "length": 118, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden table has an upright orange cup on its left, a light green bowl to the right of the cup, a white robotic arm on the right of the table, and white upper cabinets on the wall above the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 109, "tasks": ["pour cup"], "length": 153, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden table holds an upright orange cup and a green bowl, with the bowl positioned to the right of the cup. A white robotic arm is on the right side of the scene, white wall cabinets are above the left of the table, and a sink area is behind the table.", "global_instruction_dense": "The right robotic arm moves toward the upright orange cup on the table, grasps it, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 110, "tasks": ["pour cup"], "length": 95, "global_instruction": "Pour the contents of the orange cup into the green bowl on the table", "scene_description": "A light wooden table holds a light green bowl on the left and an orange cup to the bowl's right. A white robotic arm is on the right side of the scene, with white wall cabinets on the left and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 111, "tasks": ["pour cup"], "length": 122, "global_instruction": "Pour the contents of the red cup into the green bowl", "scene_description": "A light wooden table holds a green bowl and a red cup, with the bowl left of the cup. White wall cabinets are on the left, a sink area is behind the table, and a robotic arm is on the right.", "global_instruction_dense": "The right robotic gripper moves toward the red cup on the table, grasps it, lifts it over the green bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 112, "tasks": ["pour cup"], "length": 109, "global_instruction": "Pour the contents of the orange cup into the light green bowl", "scene_description": "A light green bowl and an orange cup are placed on a light wooden table. The bowl is to the left of the cup, with white wall cabinets above the table and a robotic arm near the sink area to the right.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts and moves it over the light green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 113, "tasks": ["pour cup"], "length": 144, "global_instruction": "Pour the contents of the orange cup into the light green bowl on the table", "scene_description": "A light green bowl and an orange cup are placed on a wooden table, the bowl is on the left of the table, the cup is on the right, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps the cup, lifts and moves it over the light green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 114, "tasks": ["pour cup"], "length": 100, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red cup are placed on a light wooden table. The bowl is on the left of the table, the red cup is to the right of the bowl, and a robotic arm is on the right side of the scene, with white wall cabinets above the table and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps the cup, lifts it, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 115, "tasks": ["pour cup"], "length": 97, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red cup are placed on a light wooden table. The bowl is on the left of the table, the cup is on the right near the sink area behind the table, and a robotic arm is positioned to the right of the table with white upper cabinets on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts it, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 116, "tasks": ["pour cup"], "length": 108, "global_instruction": "Pour the contents of the orange cup into the light green bowl on the table", "scene_description": "A light green bowl and an orange plastic cup are placed on a wooden table. The bowl is on the left of the table, the cup is to the right of the bowl, and a white robotic arm is at the right of the table near a background sink area with upper white wall cabinets.", "global_instruction_dense": "The right robotic arm reaches toward the orange plastic cup on the wooden table, grasps the cup, lifts it, moves it over the light green bowl, tilts the cup to pour its contents into the bowl, then moves the empty cup away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 117, "tasks": ["pour cup"], "length": 112, "global_instruction": "Pour the contents of the orange cup into the light green bowl on the table", "scene_description": "A light green bowl and an orange cup are placed on a light wooden table. A white robotic arm is positioned to the right of the table, with white wall cabinets on the left and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it above the light green bowl, tilts the cup to pour its contents into the bowl, then tilts the cup back to an upright position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 118, "tasks": ["pour cup"], "length": 111, "global_instruction": "Pour the contents of the orange cup into the light green bowl", "scene_description": "A light green bowl and an orange cup are placed on a light wooden table. A robotic arm is positioned to the right of the table, with white wall cabinets on the left and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it above the light green bowl, tilts the cup to pour its contents into the bowl, then moves the empty cup away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 119, "tasks": ["pour cup"], "length": 92, "global_instruction": "Pour the contents of the orange cup into the light green bowl", "scene_description": "A light green bowl and an orange cup are placed on a light wooden table, with the bowl to the left of the cup. A white robotic arm is positioned to the right of the table, with white wall cabinets above the left side of the table and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it with its gripper, lifts it, moves it above the light green bowl, tilts the cup to pour its contents into the bowl, and remains in the tilted position over the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 120, "tasks": ["pour cup"], "length": 103, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden table has a green bowl on its left side and an orange cup on its right side, with a robotic arm positioned to the right of the table, and white wall cabinets mounted above the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the right of the wooden table, grasps the cup with its gripper, lifts the cup, moves it over the green bowl on the left of the table, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 121, "tasks": ["pour cup"], "length": 111, "global_instruction": "Pick up the orange cup and pour its contents into the light green bowl.", "scene_description": "A light green bowl and an orange cup are placed on a light wooden tabletop. The bowl is on the left side of the table, the cup is to the right of the bowl, with wall-mounted cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts the cup, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 122, "tasks": ["pour cup"], "length": 106, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red cup are placed on a light wooden table, the bowl is to the left of the cup, a robotic arm is on the right side of the scene near the cup, with a sink and shelves in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red cup on the table, grasps the cup with its gripper, lifts it, moves it above the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 123, "tasks": ["pour cup"], "length": 116, "global_instruction": "Pour the contents of the orange cup into the green bowl on the table.", "scene_description": "A light green bowl and an orange cup are placed on a light wooden table. The green bowl is on the left side of the table, the orange cup is on the right, a white robotic arm is positioned on the right side of the scene near a sink area, and white wall cabinets are mounted on the left wall above the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the right side of the wooden table, grasps the cup, lifts it, moves it leftward over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 124, "tasks": ["pour cup"], "length": 155, "global_instruction": "Pick up the red cup and pour its contents into the light green bowl.", "scene_description": "A light green bowl and a red cup are placed on a wooden table, with the bowl positioned left of the cup, and a robotic arm is near the sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it over the light green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 125, "tasks": ["pour cup"], "length": 140, "global_instruction": "Pour the contents of the orange cup into the light green bowl on the table", "scene_description": "A light green bowl and an orange cup are placed on a light wooden table. The bowl is on the left of the table, the cup is to the right of the bowl, and a robotic arm is positioned behind the table near a sink and storage rack.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 126, "tasks": ["pour cup"], "length": 119, "global_instruction": "Pour the contents of the orange cup into the light green bowl.", "scene_description": "A light green bowl and an orange plastic cup are placed on a wooden kitchen counter, with the bowl on the left and the cup on the right, and white overhead cabinets above the counter.", "global_instruction_dense": "The right robotic arm grasps the orange cup on the counter, lifts it, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 127, "tasks": ["pour cup"], "length": 243, "global_instruction": "Pour the contents of the orange cup into the light green bowl", "scene_description": "A light wooden table holds an orange cup in the foreground and a light green bowl behind it, with a robotic arm positioned to the right of the table and white wall cabinets above the left table side.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps and lifts it, tilts it above the green bowl to pour its contents into the bowl, then moves the empty cup away from the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 128, "tasks": ["pour cup"], "length": 107, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden countertop holds a green bowl on its left side and an orange cup to the right of the bowl, with white upper cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the countertop, grasps the cup, lifts it above the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 129, "tasks": ["pour cup"], "length": 138, "global_instruction": "Pour the contents of the red cup into the light green bowl.", "scene_description": "A light green bowl and a red cup are placed on a light wooden table. The green bowl is on the left side of the table, the red cup is to the right of the bowl, with white upper cabinets on the left wall and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps and lifts the cup, moves it over the light green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 130, "tasks": ["pour cup"], "length": 149, "global_instruction": "Pour the contents of the orange cup into the light green bowl on the table.", "scene_description": "A light green bowl and a bright orange cup rest on a light wooden tabletop; the bowl is closer to the foreground, the cup sits behind the bowl near a sink area, a white robotic arm is positioned to the right of the table near the sink, and white upper cabinets are mounted on the left wall above the table.", "global_instruction_dense": "The right robotic arm moves from its position near the sink toward the orange cup on the table, grasps the cup, lifts it, positions it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 131, "tasks": ["pour cup"], "length": 127, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light brown wooden table holds a mint green bowl and an orange cup, with a white robotic arm on the right, a wall-mounted white cabinet above the table, and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 132, "tasks": ["pour cup"], "length": 138, "global_instruction": "Pour the contents of the red cup onto the wooden tabletop", "scene_description": "A light green bowl and a red cup are placed on a light wooden table, with the bowl to the left of the cup; a robotic arm is on the right side of the table, with white wall-mounted cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm adjusts its position above the red cup, grasps and lifts the cup, then tilts the cup to pour its contents out onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 133, "tasks": ["pour cup"], "length": 120, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red cup are placed on a light brown wooden table. A robotic arm is positioned to the right of the table, with white cabinets mounted on the left wall and a sink area in the background.", "global_instruction_dense": "The right robotic gripper adjusts its grasp on the red cup, lifts it, moves it over the light green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 134, "tasks": ["pour cup"], "length": 117, "global_instruction": "Pour the contents of the orange cup into the light green bowl", "scene_description": "A light green bowl and an orange cup are placed on a light wooden tabletop. The bowl is on the left of the table, the cup is to the right of the bowl, and a robotic arm is positioned on the right side of the scene with a sink and shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the right side of the table, grasps it with its gripper, lifts the cup, moves it over the light green bowl, tilts the cup to pour its contents into the bowl, then lowers the empty cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 135, "tasks": ["pour cup"], "length": 141, "global_instruction": "Pour the contents of the orange cup into the green bowl.", "scene_description": "On a light wooden table, an orange cup sits in front of a green bowl. White wall-mounted cabinets are on the left, and a white robotic arm is positioned on the right next to a sink area.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 136, "tasks": ["pour cup"], "length": 169, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden table holds an orange cup and a green bowl, with white wall cabinets mounted on the wall above the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves left toward the orange cup on the table, grasps it, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 137, "tasks": ["pour cup"], "length": 160, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden table holds an orange cup and a green bowl, with the orange cup positioned in front of the green bowl. A right robotic arm is near the sink area in the background, with white wall-mounted cabinets above the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it, lifts it, moves it over the green bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 138, "tasks": ["pour cup"], "length": 124, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "A light wooden table holds an orange plastic cup and a light green bowl, with the orange cup to the left of the green bowl. A white robotic arm is positioned to the right of the table, white wall cabinets are above the left side of the table, and a sink area is behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, tilts it over the light green bowl to pour its contents, and holds the tilted position above the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 139, "tasks": ["pour cup"], "length": 141, "global_instruction": "Pour the contents of the red cup into the green bowl.", "scene_description": "A green bowl and a red cup are placed on a light wooden table, with the green bowl on the left and the red cup to its right. A robotic arm is positioned on the right side of the table, with white wall-mounted cabinets on the left and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it with its gripper, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 140, "tasks": ["pour cup"], "length": 112, "global_instruction": "Pour the contents of the orange cup into the green bowl on the tabletop", "scene_description": "A bright orange cup and a light green bowl are placed on a light wooden tabletop. The orange cup is left of the green bowl, a robotic arm is positioned to the right of the table, and white cabinets hang on the left wall above the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps it with its gripper, lifts it, positions it above the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 141, "tasks": ["pour cup"], "length": 130, "global_instruction": "Pour the contents of the orange cup into the green bowl.", "scene_description": "An orange cup and a light green bowl are placed on a light wooden tabletop, with white upper cabinets on the left wall, a sink area at the back, and a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it with its gripper, lifts the cup, and tilts it over the green bowl to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 142, "tasks": ["pour cup"], "length": 116, "global_instruction": "Pour the contents of the red cup into the green bowl on the table", "scene_description": "A bright red cup and a green bowl are placed on a light wooden table. The red cup is in front of the green bowl, a white robotic arm is on the right of the table, with white overhead cabinets on the left wall and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps the cup, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 143, "tasks": ["pour cup"], "length": 116, "global_instruction": "Pour the contents of the orange cup into the green bowl on the table.", "scene_description": "A light wooden table holds an orange plastic cup and a green bowl, with white wall-mounted cabinets on the left, a robotic arm on the right, and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, positions it over the green bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 144, "tasks": ["pour cup"], "length": 111, "global_instruction": "Pour the contents of the orange cup into the green bowl.", "scene_description": "A wooden table holds an upright orange cup and a green bowl behind the cup, a white right robotic arm is positioned above the table to the right of the cup, with white wall cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic gripper moves down to grasp the upright orange cup on the wooden table, lifts the cup, positions it over the adjacent green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 145, "tasks": ["pour cup"], "length": 131, "global_instruction": "Pour the contents of the orange cup into the green bowl", "scene_description": "An orange cup and a green bowl are placed on a light wooden table, with the orange cup in front of the green bowl, a white robotic arm is on the right of the table, and white wall-mounted cabinets are on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the wooden table, grasps the cup with its gripper, lifts it, moves it above the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 146, "tasks": ["pour cup"], "length": 156, "global_instruction": "Grasp the red cup and pour its contents into the green bowl", "scene_description": "A red cup and a green bowl are placed on a light wooden table. The red cup is to the left of the green bowl, a white robotic arm is on the right side of the table, and white cabinets are mounted on the wall above the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the left of the table, grasps it, lifts and moves it over the green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 147, "tasks": ["pour cup"], "length": 114, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red plastic cup are placed on a light wooden table. The bowl is on the left of the table, the cup is to the right of the bowl, a white robotic arm is near the sink area to the right of the table, and white upper cabinets are mounted on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it above the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 148, "tasks": ["pour cup"], "length": 139, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red plastic cup are placed on a light wooden table. The bowl is on the left of the table, the cup is to the right of the bowl, and a robotic arm is positioned on the right side of the table, with white wall-mounted cabinets above the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps the cup, lifts it, moves it above the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 149, "tasks": ["pour cup"], "length": 151, "global_instruction": "Pour the contents of the red cup into the green bowl", "scene_description": "A light wooden table holds a green bowl on the left and a red cup to the right of the bowl. A white robotic arm is positioned to the right of the table, with white wall cabinets above the left side of the table and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 150, "tasks": ["pour cup"], "length": 109, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red cup are placed on a light wooden table, the bowl is closer to the foreground, white upper cabinets are on the left wall, a sink area is behind the table, and a robotic arm is positioned on the right side.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 151, "tasks": ["pour cup"], "length": 110, "global_instruction": "Pour the contents of the red cup into the green bowl.", "scene_description": "A light wooden table holds a light green bowl at the front and a red cup behind it, with a robotic arm on the right and white upper cabinets on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps and lifts it, moves it over the green bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 152, "tasks": ["pour cup"], "length": 136, "global_instruction": "Pour the contents of the red cup into the green bowl", "scene_description": "A red plastic cup and a light green bowl are placed on a light wooden tabletop. The red cup is to the left of the green bowl, and a robotic arm is positioned to the right of the table near a sink area.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts and moves it over the green bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 153, "tasks": ["pour cup"], "length": 141, "global_instruction": "Pour the contents of the red cup into the green bowl", "scene_description": "A light wooden table holds a green bowl and a red cup, with the green bowl in front of the red cup. A right robotic arm is near the red cup, white wall cabinets are on the left, and a sink area is in the background.", "global_instruction_dense": "The right robotic arm grasps the red cup on the table, lifts it over the green bowl, tilts the cup to pour its contents into the bowl, then moves the cup away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 154, "tasks": ["pour cup"], "length": 174, "global_instruction": "Pick up the red cup and pour its contents into the green bowl", "scene_description": "A light wooden table holds a green bowl in the foreground and a red cup behind the bowl, with a robotic arm on the right, upper wall cabinets, a sink, and storage shelves in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, positions it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 155, "tasks": ["pour cup"], "length": 139, "global_instruction": "Pour the contents of the red cup into the green bowl", "scene_description": "A red plastic cup and a green ceramic bowl are placed on a light wooden table, with the red cup to the left of the green bowl. A white robotic arm is on the right side of the scene, white wall cabinets are on the left upper wall, and a metal sink area is behind the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps the cup with its gripper, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 156, "tasks": ["pour cup"], "length": 133, "global_instruction": "Pour the contents of the red cup into the green bowl", "scene_description": "A red cup and a green bowl are placed on a light wooden table, the green bowl sits behind the red cup, a robotic arm is positioned on the right of the table, with white wall cabinets on the left and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts it up, tilts it over the green bowl to pour its contents into the bowl, and holds the tilted position to finish pouring.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 157, "tasks": ["pour cup"], "length": 153, "global_instruction": "Pick up the red cup and pour its contents into the sink", "scene_description": "A red plastic cup and a green plastic bowl are on a light wooden countertop, with the red cup left of the green bowl. A robotic arm is positioned above the countertop, and a metal sink is in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the countertop, grasps the cup, lifts it, moves it over the sink, and tilts the cup to pour out its contents.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 158, "tasks": ["pour cup"], "length": 132, "global_instruction": "Pick up the red cup on the countertop and pour its contents into the sink", "scene_description": "A red plastic cup and a green bowl are placed on a light wooden countertop, the red cup is to the left of the green bowl. White upper cabinets are on the left wall above the counter, and a sink with a metal shelf is behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden countertop, grasps it with its gripper, lifts the cup, moves it over the sink, and tilts the cup to pour its contents into the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 159, "tasks": ["pour cup"], "length": 134, "global_instruction": "Pour the contents of the red cup into the light green bowl.", "scene_description": "A red cup and a light green bowl are placed on a light wooden table, with the red cup in front of the green bowl. White wall cabinets are on the left wall, a robotic arm is on the right, and a sink with shelf is in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red cup on the table, grasps the cup, lifts it, moves it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 160, "tasks": ["pour cup"], "length": 171, "global_instruction": "Pick up the red cup on the table and pour its contents into the green bowl.", "scene_description": "A red cup and a light green bowl are placed on a light wooden table. A white robotic arm is positioned above the table, with upper wall cabinets, a sink, and a storage shelf in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the red cup on the wooden table, grasps the cup, lifts it over the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 161, "tasks": ["pour cup"], "length": 133, "global_instruction": "Pour the contents of the red cup into the light green bowl on the wooden table.", "scene_description": "A red plastic cup and a light green bowl are placed on a light wooden table. A white robotic arm is positioned to the right of the table, with a stainless steel sink and metal storage shelf in the background, and white wall-mounted cabinets on the left wall.", "global_instruction_dense": "The right robotic gripper moves toward the red cup on the wooden table, grasps the cup, lifts it, positions it above the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 162, "tasks": ["pour cup"], "length": 95, "global_instruction": "Pour the contents of the red cup into the green bowl.", "scene_description": "A light brown wooden table holds a green bowl on its left side and a red plastic cup on its right side, with white upper cabinets on the left wall and a sink area behind the table.", "global_instruction_dense": "The right robotic gripper grasps the red cup on the right side of the table, lifts it, moves it over the green bowl, tilts it to pour its contents into the bowl, then lifts the empty cup away from the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 163, "tasks": ["pour cup"], "length": 97, "global_instruction": "Pour the contents of the red cup into the light green bowl", "scene_description": "A light green bowl and a red cup are placed on a light wooden table, with the bowl on the left and the cup on the right. A white robotic arm is positioned to the right of the table, upper white cabinets are mounted on the left wall, and a sink area is behind the table.", "global_instruction_dense": "The right robotic arm reaches toward the red cup on the wooden table, grasps it, lifts it, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 164, "tasks": ["pour cup"], "length": 120, "global_instruction": "Pour the contents of the red cup into the green bowl.", "scene_description": "A light wooden table holds a light green bowl on its left and a red plastic cup on its right, with white upper cabinets on the left wall, a sink and storage shelf in the background, and a robotic arm beside the table.", "global_instruction_dense": "The right robotic arm moves down toward the red cup on the table, grasps it, lifts it, moves it above the green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 165, "tasks": ["pour cup"], "length": 115, "global_instruction": "Pour the contents of the red cup into the light green bowl on the table.", "scene_description": "A light green bowl and a red cup are placed on a light wooden table. The bowl is to the left of the red cup, and a robotic arm is positioned to the right of the table near a sink area with white overhead cabinets on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps the cup, lifts it, moves it over the light green bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 166, "tasks": ["pour cup"], "length": 129, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A red plastic cup and a white bowl are on a light wooden kitchen counter, with the cup left of the bowl. A robotic arm is on the right side of the counter, with white wall cabinets above and a stainless steel sink in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the counter, grasps it with its gripper, lifts it, moves it over the white bowl, and tilts it to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 167, "tasks": ["pour cup"], "length": 115, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A light wooden table holds a white bowl on its left side and a red cup to the right of the bowl. A robotic arm is positioned to the right of the table, with white cabinets mounted on the left wall and a sink behind the table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the red cup on the wooden table, lifts the cup, moves it above the white bowl, tilts the cup to pour its contents into the bowl, and holds the cup in the tilted position above the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 168, "tasks": ["pour cup"], "length": 122, "global_instruction": "Pour the contents of the red plastic cup into the white bowl on the table", "scene_description": "A light wooden table holds a white bowl and a red plastic cup, with a robotic arm positioned behind the table near a stainless steel sink, and white wall cabinets mounted above the table.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the table, grasps it, lifts it, moves it over the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 169, "tasks": ["pour cup"], "length": 125, "global_instruction": "Pour the contents of the red plastic cup into the white bowl", "scene_description": "A light wooden table holds a white bowl in the foreground and a red plastic cup further back. A white robotic arm is positioned to the right of the table, with a sink and upper cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the table, grasps the cup, lifts it and moves it over the white bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 170, "tasks": ["pour cup"], "length": 139, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A light wooden table holds a white bowl and a red cup, with the bowl closer to the camera and the red cup behind it. A white robotic arm is positioned on the right side of the table, with a sink area and white wall cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts and positions it over the white bowl, tilts the cup to pour its contents into the bowl, then moves the cup away from the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 171, "tasks": ["pour cup"], "length": 130, "global_instruction": "Pour the contents of the red cup into the light beige bowl.", "scene_description": "A light beige bowl and a red plastic cup are placed on a light wooden table. The bowl is on the left of the red cup, a robotic arm is at the right of the frame, with white wall cabinets and a sink with a shelf in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it above the light beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 172, "tasks": ["pour cup"], "length": 121, "global_instruction": "Pour the contents of the red cup into the beige bowl", "scene_description": "A light wooden table holds a beige empty bowl on its left side and a red plastic cup on its right side, with white wall cabinets above and a sink area in the background, and a robotic arm on the right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the right of the table, grasps it, lifts it, moves it over the beige bowl on the left of the table, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 173, "tasks": ["pour cup"], "length": 156, "global_instruction": "Pick up the red cup and pour its contents into the white bowl", "scene_description": "A red plastic cup and a white bowl are placed on a light wooden table, with the red cup in the foreground and the white bowl behind it to the left. A white robotic arm is positioned at the right side of the table, with white upper cabinets on the left wall and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it with its gripper, lifts the cup, positions it over the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 174, "tasks": ["pour cup"], "length": 121, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A white bowl and a red plastic cup are placed on a light wooden table. The bowl is to the left of the cup, a white robotic arm is positioned above the table, with a sink and wall cabinets in the background.", "global_instruction_dense": "The right robotic arm lowers toward the red cup on the table, grasps it, lifts it, moves it over the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 175, "tasks": ["pour cup"], "length": 120, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A white bowl and a red cup are placed on a light wooden table, the bowl is left of the cup, a robotic arm is on the right of the table, with a sink and white overhead cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it above the white bowl, tilts the cup to pour its contents into the bowl, with some contents spilling onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 176, "tasks": ["pour cup"], "length": 98, "global_instruction": "Pour the contents of the red cup into the white bowl on the countertop.", "scene_description": "A light wooden kitchen countertop holds a white shallow bowl on its left and a red plastic cup to the right of the bowl. A robotic arm is positioned to the right of the counter, with white upper cabinets on the left wall and a sink with a rack behind the counter.", "global_instruction_dense": "The right robotic gripper grasps the red cup on the countertop, lifts it, moves it over the adjacent white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 177, "tasks": ["pour cup"], "length": 111, "global_instruction": "Pour the contents of the red cup into the light beige bowl", "scene_description": "A light beige bowl and a red cup are placed on a light wooden table, with the bowl positioned in front of the red cup. A robotic arm is on the right of the table, with white wall cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps the cup, lifts it, moves it over the light beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 178, "tasks": ["pour cup"], "length": 113, "global_instruction": "Pour contents from the red plastic cup into the white bowl on the table.", "scene_description": "A light wooden table holds a red plastic cup and a white bowl, with white upper cabinets on the left wall and a robotic arm positioned near the sink area to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the red plastic cup on the wooden table, grasps it, lifts it, positions it over the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 179, "tasks": ["pour cup"], "length": 113, "global_instruction": "Pour the contents of the red cup into the beige bowl", "scene_description": "A red plastic cup and a beige bowl are placed on a light wooden table, with the cup left of the bowl. White wall cabinets are above the left table area, a robotic arm is to the table's right, and a sink with metal shelf is in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, positions it above the beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 180, "tasks": ["pour cup"], "length": 124, "global_instruction": "Pour the contents of the red cup into the cream-colored bowl on the table.", "scene_description": "A light wooden table holds a red plastic cup and a cream-colored bowl. A robotic arm is positioned to the right of the table, with white upper cabinets on the left wall and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the wooden table, grasps it, lifts and moves it over the cream-colored bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 181, "tasks": ["pour cup"], "length": 101, "global_instruction": "Pour the contents of the red cup into the white bowl", "scene_description": "A light wooden table holds a white bowl on its left side and a red plastic cup to the right of the bowl, with a robotic arm positioned to the right of the table, white wall cabinets on the left, and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the table, grasps it, lifts it, moves it above the white bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 182, "tasks": ["pour cup"], "length": 116, "global_instruction": "Pour the contents of the red cup into the beige bowl", "scene_description": "A light wooden kitchen counter holds a red plastic cup and a beige bowl, with the cup positioned in front of the bowl. A robotic arm is to the right of the counter, white cabinets are on the left wall, and a sink area is behind the counter.", "global_instruction_dense": "The right robotic arm moves its gripper toward the red cup on the counter, grasps and lifts the cup, moves it over the beige bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 183, "tasks": ["pour cup"], "length": 113, "global_instruction": "Pour the contents of the red cup into the white bowl on the table", "scene_description": "A light wooden table holds a white bowl on the left and a red cup on the right. A right robotic arm is positioned near the red cup, with white upper cabinets and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the red cup on the right of the table, grasps it, lifts and moves it over the white bowl, tilts the cup to pour its contents into the bowl, then moves the cup downward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 184, "tasks": ["pour cup"], "length": 108, "global_instruction": "Pour the contents of the orange cup into the white bowl", "scene_description": "A light wooden table holds a white bowl and an orange cup, with the bowl closer to the camera than the cup. A white robotic arm is to the right of the table, and white wall cabinets are on the left wall above the table, with a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it over the white bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 185, "tasks": ["pour cup"], "length": 111, "global_instruction": "Pour the contents of the orange cup into the white bowl on the table.", "scene_description": "A light wooden table has a white bowl on its left side and an orange cup on its right side. A robotic arm is positioned at the right of the table, with white wall cabinets above the table and a sink area behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the table, grasps it, lifts it, moves it above the white bowl, then tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 186, "tasks": ["pour cup"], "length": 705, "global_instruction": "Rinse the blue toothbrush under running water, return it to its cup, then fill the cup with water and pour it into the sink.", "scene_description": "A bathroom granite countertop holds a white undermount sink with a running silver faucet, a silver cup containing a blue toothbrush, green liquid soap pump, white lotion bottle, clear contact solution bottle, white contact lens case, and toothpaste tube, with a toilet in the background and a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic gripper grasps the blue toothbrush from the silver cup on the counter, rinses it under the running sink faucet, places the toothbrush back into the silver cup, adjusts the faucet to control water flow, grasps the silver cup, fills it with water from the faucet, pours the water into the sink, then places the empty silver cup back onto the countertop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 187, "tasks": ["pour cup"], "length": 119, "global_instruction": "Grasp the silver metal cup on the bathroom counter and tilt it over the sink.", "scene_description": "A granite bathroom countertop with a white sink and silver faucet holds a silver metal cup near the faucet, clear contact solution bottle, contact lens case, blue razor, blue toothbrush, green soap pump, and white toothpaste. A toilet is in the background, a left robotic gripper is positioned above the sink, and a white robotic arm base sits at the right of the counter.", "global_instruction_dense": "The left robotic gripper moves down toward the silver metal cup near the faucet, grasps it, lifts it, and tilts it over the white sink to empty its contents.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 188, "tasks": ["pour cup"], "length": 342, "global_instruction": "Pour the contents of the white mug into the blue bowl on the windowsill, then return the mug to its original shelf.", "scene_description": "A light brown side table with a white round plate on its left section, a white mug on the attached small right shelf, a blue bowl on the windowsill above the shelf, a brown sofa to the left of the table, and a robotic arm station to the right.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the small wooden shelf, grasps it, lifts it, moves it over the blue bowl on the windowsill, tilts the mug to pour its contents into the bowl, tilts the mug upright, moves it back to the original shelf, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 189, "tasks": ["pour cup"], "length": 565, "global_instruction": "Pour the contents of the transparent plastic cup into the wine glass, then place the cup back on the desk.", "scene_description": "In an office space, a light wooden desk holds a black toaster with a gray top at its center, a transparent plastic cup resting on a white power strip in the foreground, a green drink bottle, small green cup, red tape, and papers to the toaster's left, a white spray can and wine glass to the toaster's right, and a white packaged item at the desk's right edge. A blue trash bin sits left of the desk, with writing-covered whiteboards and other office workstations with monitors and chairs in the background.", "global_instruction_dense": "The right robotic arm reaches toward the transparent plastic cup on the white power strip, grasps and lifts the cup, moves it over the wine glass, tilts the cup to pour its contents into the glass, then moves the cup back to the desk surface and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 190, "tasks": ["pour cup"], "length": 702, "global_instruction": "Pour the contents of the green plastic cup into the white saucepan, then place the cup back on the desk.", "scene_description": "A light wooden office desk holds a green plastic cup, a white saucepan with a wooden handle, a clear plastic bowl with white cubes, a green plastic bowl, a glass pot lid with a wooden knob, and small packaged items. Whiteboards, office chairs, computer workstations, stacked blue trash bins, and a black 'LANDFILL ONLY' bin are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the green plastic cup on the desk, grasps it, lifts it over the white saucepan, repeatedly tilts the cup to pour its contents into the saucepan, then lowers the cup back to the desk and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 191, "tasks": ["pour cup"], "length": 423, "global_instruction": "Pour liquid from the dark blue cup into the sink, then place the cup and its lid on the counter.", "scene_description": "A dark marble kitchen counter has a stainless steel sink, a metal dish rack with assorted dishes left of the sink, a blue bottle and white bowl on the counter behind the sink, a black soap dispenser on the wall above the sink, a dark blue cup and clear lid inside the sink, and a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves down into the sink, grasps the dark blue cup, lifts and tilts it to pour its liquid contents into the sink, places the inverted cup on the sink edge, grasps the clear cup lid, moves the lid to the counter behind the sink, places the lid down, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 192, "tasks": ["pour cup"], "length": 592, "global_instruction": "Pour residual liquid from the blue cup in the sink and rearrange adjacent countertop items.", "scene_description": "A dark grey kitchen counter has a stainless steel sink, wall-mounted black soap dispenser and grey paper towel dispenser, a metal dish rack with assorted kitchenware left of the sink, a blue water bottle right of the sink, and a white robotic arm above the counter.", "global_instruction_dense": "The right robotic arm first moves the blue water bottle next to the sink aside, grasps the dark blue cup in the sink, tilts it to pour out remaining liquid, sets the cup back in the sink, moves the metal cup lid to the counter edge, returns the blue water bottle to its original position, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 193, "tasks": ["pour cup"], "length": 435, "global_instruction": "Peel the foil lid off the blue snack cup and pour the cup's contents onto the table.", "scene_description": "A light wooden table holds a glass pot lid with a black knob, a brown tissue box with white tissues, a white electric rice cooker, a white patterned mug, a pink smartphone, a blue cylindrical snack cup sealed with a foil lid, a blue packaged snack, and a white plastic packet. A white robotic arm is positioned at the right side of the table on a workbench with a laptop and tools.", "global_instruction_dense": "The left robotic arm moves toward the blue sealed snack cup on the table, grasps and peels off its foil lid, drops the lid on the table, grasps the opened cup, tilts it to pour its contents onto the blue packaged snack on the table, then places the empty cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 194, "tasks": ["pour cup"], "length": 661, "global_instruction": "Pour the contents of the brown cup into the clear glass on the table", "scene_description": "A light wooden table holds a brown cup, clear glass, silver spoon, small white lidded bottle, and light cloth napkin, with a robotic arm on the right and a brown couch, chairs, and fridge in the background.", "global_instruction_dense": "The right robotic arm moves toward the brown cup on the table, grasps and lifts it, positions it over the clear glass, tilts the cup to pour its contents (spilling most across the table), then releases the empty cup onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 195, "tasks": ["pour cup"], "length": 406, "global_instruction": "Pour the contents of the copper-colored mug into the white bowl, then place the mug back on the blue cloth.", "scene_description": "A black round kitchen table has a light blue cloth laid on it. A white bowl sits on the left of the cloth, a copper-colored mug is to the right of the bowl, and a gray mug and clear glass are on the right side of the table. A white robotic arm is positioned above the table near the bowl, with kitchen cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the copper-colored mug on the blue cloth, grasps it, lifts and tilts it to pour its contents into the adjacent white bowl, then lowers the mug back onto the blue cloth and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 196, "tasks": ["pour cup"], "length": 328, "global_instruction": "Pour the contents of the copper cup into the white bowl", "scene_description": "A black round kitchen table holds a light blue cloth, a white bowl, a copper metallic cup, a grey mug, and a clear glass. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the copper cup on the blue cloth, grasps it, lifts it over the white bowl, tilts to pour its contents into the bowl, then lowers the cup back to the blue cloth and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 197, "tasks": ["pour cup"], "length": 552, "global_instruction": "Pour the contents of the copper cup into the white bowl on the table.", "scene_description": "A black round table in a kitchen holds a light blue cloth, a white bowl, and a copper cup. The white bowl sits on the left of the cloth, the copper cup is to the bowl's right, and a white robotic arm is positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the copper cup on the blue cloth, grasps it, lifts it, moves it above the white bowl, and tilts the cup to pour its contents into the bowl, with some contents spilling onto the cloth.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 198, "tasks": ["pour cup"], "length": 545, "global_instruction": "Pour the contents of the copper mug into the white bowl then place the mug back on the blue cloth.", "scene_description": "A black round table holds a light blue cloth, a white bowl on the cloth, a copper mug next to the bowl, a grey mug and clear glass to the right of the cloth. A white robotic arm is positioned to the left of the table, with kitchen cabinets and vertical blinds in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the copper mug on the blue cloth, lifts and tilts it over the white bowl to pour its contents into the bowl, then lowers the mug back onto the blue cloth and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 199, "tasks": ["pour cup"], "length": 413, "global_instruction": "Pour the contents of the copper metallic mug into the white bowl on the table.", "scene_description": "A black round table holds a light blue cloth, a white bowl, a copper metallic mug, a gray mug, a clear glass, and a white plastic container, with a white robotic arm positioned at the left side of the table.", "global_instruction_dense": "The right robotic gripper moves down to grasp the copper metallic mug on the blue cloth, lifts it, moves it over the white bowl, tilts it to pour its contents into the bowl, then holds the tilted mug in place.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 200, "tasks": ["pour cup"], "length": 612, "global_instruction": "Pour the contents of the white countertop mug into the sink, then return the mug to the counter.", "scene_description": "A white mug sits on the left side of a kitchen countertop, adjacent to a stainless steel sink holding white bowls, metal spoons, and a small white cup. White upper cabinets are mounted above the counter, with a robotic arm at the top right and a stationary white robot base on the far right of the scene.", "global_instruction_dense": "The left robotic gripper moves toward the white mug on the left kitchen counter, grasps it, lifts and moves it over the stainless steel sink, tilts it to pour water into the sink, then moves the empty mug back to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 201, "tasks": ["pour cup"], "length": 423, "global_instruction": "Pour water from the white cup into the kitchen sink.", "scene_description": "A brown kitchen counter has a stainless steel sink with a white bowl (containing a metal spoon) and a small white dish inside it, a small white cup sits on the counter edge next to the sink, two clear lidded jars are beside the cup, white cabinets are above the counter, the left robotic arm is positioned above the sink area, the right robotic arm is stationary on the right side of the counter.", "global_instruction_dense": "The left robotic arm grasps a white cup, lifts it, tilts it to pour the water inside into the kitchen sink, then moves the empty cup back to the countertop and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 202, "tasks": ["pour cup"], "length": 459, "global_instruction": "Pour the contents of the rear white counter mug into the sink and place the empty mug on the left counter near the faucet.", "scene_description": "A kitchen counter features a stainless steel sink with dishes, two pump soap dispensers by the faucet, a white mug on the left counter edge, another white mug on the rear counter, and a white robotic arm on the right side of the counter below upper white cabinets.", "global_instruction_dense": "The left robotic arm reaches toward the white mug on the rear kitchen counter, grasps it, lifts it, moves it over the sink, tilts it to pour its contents into the sink, moves the empty mug to the left side of the counter near the faucet, places it down, and retracts to its starting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 203, "tasks": ["pour cup"], "length": 457, "global_instruction": "Pick up a white left counter mug, pour its contents into a sink container, then place the mug on the rear counter.", "scene_description": "Two white mugs are on the left of a brown kitchen counter, a stainless steel sink with dishes and containers is in the center, white cabinets are above the counter, and a white robotic arm is at the counter's right.", "global_instruction_dense": "The left robotic gripper grasps a white mug from the left of the kitchen counter, lifts it over the sink to pour water into a clear container, then moves the empty mug to the rear counter and sets it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 204, "tasks": ["pour cup"], "length": 385, "global_instruction": "Pour the contents of the white mug into the sink and place the empty mug on the front counter.", "scene_description": "A kitchen counter with a stainless steel sink holding bowls and utensils, two white mugs positioned on the counter behind the sink, white upper cabinets, a toaster oven in the far background, and a robotic arm at the upper right of the frame.", "global_instruction_dense": "The left robotic arm moves toward the left white mug on the counter behind the sink, grasps it, lifts it and moves it over the sink, tilts the mug to pour its contents into the sink, then moves the empty mug to the front left counter and releases it there.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 205, "tasks": ["pour cup"], "length": 481, "global_instruction": "Pour the contents of the left white mug into the sink and place the mug on the back counter next to the other white mug.", "scene_description": "A white mug rests on the left of a brown kitchen counter, a stainless steel sink holding white bowls, utensils, and clear containers is in the center of the counter, white upper cabinets and a toaster oven are in the background, and a white robotic arm base is positioned on the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the left of the counter, grasps and lifts it, moves it over the sink, tilts it to pour out its contents, moves it to the back counter near the existing white mug, lowers it, places it on the counter, and releases the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 206, "tasks": ["pour cup"], "length": 481, "global_instruction": "Pick up the white cup from the rear kitchen counter, pour its contents into the sink, then place the cup on the front counter.", "scene_description": "A kitchen counter with a stainless steel sink holding dishes, two pump soap dispensers next to the sink, a white cup on the far left front counter, a white cup on the rear counter near a black wire basket, white cabinetry, and a white robotic arm on the right side of the scene.", "global_instruction_dense": "The left robotic arm grasps the white cup on the rear kitchen counter, lifts it, moves it over the sink, tilts it to pour its liquid contents into the sink, moves the empty cup to the front left counter next to the existing white cup, and releases it there.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 207, "tasks": ["pour cup"], "length": 376, "global_instruction": "Grasp a white mug from the counter, pour out its contents, then place the mug on the counter near the sink.", "scene_description": "A kitchen counter holds a stainless steel sink with dishes (white bowl, utensils, small white cups) inside, two white mugs on the countertop right of the sink, a clear water filter adjacent to the sink, white cabinetry, and a robotic arm positioned above the counter near the mugs.", "global_instruction_dense": "The left robotic arm reaches toward the white mugs on the countertop, grasps a white mug, lifts and tilts it to pour out its contents over the water filter next to the sink, tilts the mug back upright, moves it to the counter on the left side of the sink, lowers it, and releases the gripper to place it there.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 208, "tasks": ["pour cup"], "length": 426, "global_instruction": "Pour the contents of a white cup into the sink and place the empty cup on the rear countertop.", "scene_description": "A kitchen counter features a stainless steel sink holding a white bowl with metal spoons, a small white cup, and two clear plastic containers; soap dispensers and a curved faucet sit on the sink ledge, white upper and lower cabinets line the wall, a toaster oven is in the background, and a stationary white robotic arm is positioned on the right edge of the counter.", "global_instruction_dense": "The left robotic arm moves left to grasp a white cup from the counter, lifts it over the sink, tilts it to pour out its contents, moves the empty cup to the rear counter behind the sink, sets it down next to an existing white cup, and releases the cup before moving its gripper upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 209, "tasks": ["pour cup"], "length": 385, "global_instruction": "Pour the contents of a white cup into the sink, then place the empty cup on the left counter.", "scene_description": "A kitchen counter with a stainless steel sink, two stacked white cups on the counter behind the sink, dish soap bottles left of the sink faucet, a white bowl with a metal spoon in the sink, and a white robotic arm on the right side of the scene.", "global_instruction_dense": "The right robotic arm reaches toward the two stacked white cups behind the sink, grasps the top white cup, lifts it, moves it over the sink, tilts it to pour its liquid contents into the sink, then moves the empty cup to the left side of the sink counter, places it down, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 210, "tasks": ["pour cup"], "length": 519, "global_instruction": "Pour the contents of the rear counter white mug into the sink, then place the mug next to the large white mug on the left counter.", "scene_description": "A kitchen counter with a large white mug on the left, a sink holding dishes in the center, a smaller white mug on the rear counter near a black wire rack, white upper cabinets, and a stationary white robotic arm on the right.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the rear counter, grasps and lifts it, moves it over the sink and tilts it to pour its contents into the sink, moves it left to the area beside the large white mug, places it on the counter, and releases the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 211, "tasks": ["pour cup"], "length": 413, "global_instruction": "Pick up the small white cup from the rear counter, pour its contents into the sink, then place the cup on the front counter.", "scene_description": "A brown kitchen counter with a stainless steel sink holding white dishes, utensils and small cups sits under white upper cabinets, a small white cup rests on the rear section of the counter, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves toward the small white cup on the rear kitchen counter, grasps it, lifts it, moves it over the sink to pour out its contents, then moves the cup to the front section of the counter and releases it to set it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 212, "tasks": ["pour cup"], "length": 388, "global_instruction": "Pour the contents of a white cup into the kitchen sink, then place the cup on the back counter.", "scene_description": "A kitchen counter with a stainless steel sink holding a white bowl with a metal spoon, small white cups, and clear containers; white upper and lower cabinets line the wall, and a robotic arm is positioned above the counter to the right of the sink.", "global_instruction_dense": "The left robotic arm moves toward a white cup on the left side of the counter, grasps it, lifts and tilts it over the sink to pour out the water inside, then moves the empty cup to the far end of the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 213, "tasks": ["pour cup"], "length": 471, "global_instruction": "Pick up a white cup from the counter, pour its contents into the sink, then place the cup on the counter.", "scene_description": "A brown kitchen counter has a stainless steel sink with white dishes, a white bowl with a spoon, and transparent containers on its left side. White cabinets are positioned above and below the counter, and a white robot with arms is placed on the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white cup on the left section of the counter, grasps it, lifts it, tilts it over the sink to pour out its contents, then moves the cup to the back of the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 214, "tasks": ["pour cup"], "length": 375, "global_instruction": "Pour liquid from a white countertop cup into the sink, then place the empty cup on the left sink counter.", "scene_description": "A kitchen with a stainless steel sink holding white dishes and utensils sits under white upper cabinets. Two white cups are on the dark countertop right of the sink, with a dish rack and toaster oven further back, and a white robotic arm is on the right side of the frame.", "global_instruction_dense": "The left robotic arm moves down toward the white cup on the right side of the sink, grasps it, lifts it over the sink, tilts it to pour its liquid contents into the sink, moves the empty cup to the left side of the sink counter, releases the cup, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 215, "tasks": ["pour cup"], "length": 515, "global_instruction": "Pour the contents of the rear white mug into the sink, then place the mug on the left counter next to the other white mug.", "scene_description": "A brown kitchen counter holds a stainless steel sink with a white bowl, metal spoon, and small white cups inside; a white mug rests on the counter left of the sink, another white mug sits on the rear counter near a black dish rack, white cabinets line the wall above and below the counter, a toaster oven is against the back wall, and a left robotic arm is positioned above the sink area.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the rear counter, grasps it, lifts it, moves it over the sink and tilts it to pour its contents into the sink, then moves the empty mug to the left side of the counter, places it next to the other white mug, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 216, "tasks": ["pour cup"], "length": 398, "global_instruction": "Pour water from a white mug into the sink and place the empty mug on the counter behind the sink.", "scene_description": "A kitchen counter with a stainless steel sink holding dishes, two white mugs on the left of the counter, white upper cabinets, a toaster oven on the far counter, and two robotic arms.", "global_instruction_dense": "The left robotic gripper grasps a white mug from the left kitchen counter, tilts it over the sink to pour out the water inside, then moves the empty mug to the counter behind the sink and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 217, "tasks": ["pour cup"], "length": 511, "global_instruction": "Pour liquid from a white counter cup into the sink, then place the cup on the left counter.", "scene_description": "A kitchen with brown countertops, white upper and lower cabinets, a stainless steel sink holding dishes (white bowl, metal spoon, small white cups), two white cups on the back counter near a toaster oven, and a white robotic arm system positioned on the right side of the counter.", "global_instruction_dense": "The left robotic arm moves toward a white cup on the back counter, grasps it, lifts it, moves it over the sink, tilts it to pour the liquid inside into the sink, then moves the cup to the left side of the counter and releases it to place it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 218, "tasks": ["pour cup"], "length": 579, "global_instruction": "Pick up the white cup on the kitchen counter, pour its contents into the sink, then place the cup back on the counter.", "scene_description": "A kitchen counter with a stainless steel sink holding white dishes and utensils, a white cup on the counter next to a dish rack, white upper and lower cabinets, and a white robotic arm positioned above the counter to the right of the sink.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the counter near the dish rack, grasps it, lifts and moves it over the sink, tilts it to pour its liquid contents into the sink, moves the empty cup back to its original position on the counter, releases the cup, and retracts away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 219, "tasks": ["pour cup"], "length": 416, "global_instruction": "Pour the contents of the left counter mug into the sink, then place the mug back on the counter.", "scene_description": "A kitchen counter has a stainless steel sink with a white bowl, metal utensils and small white cups inside. A white mug sits on the left edge of the counter, another white mug is positioned further back right of the sink, with upper white cabinets, a toaster oven and two robotic arms mounted above the counter.", "global_instruction_dense": "The left robotic arm moves down to grasp the white mug on the left counter, lifts it, moves it over the sink, tilts it to pour its contents into the sink, tilts the mug back upright, moves it back to the left counter, and releases it to rest on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 220, "tasks": ["pour cup"], "length": 367, "global_instruction": "Pour the liquid from the white mug on the left counter into the sink, then place the mug back on the counter.", "scene_description": "A kitchen counter with a stainless steel sink. A white ceramic mug is on the left side of the counter, bowls and utensils sit inside the sink, white cabinets are mounted on the wall above the counter, and two robotic arms are positioned above the counter area.", "global_instruction_dense": "The left robotic arm grasps the white mug on the left counter, lifts it and moves it over the sink, tilts it to pour its liquid contents into the sink, tilts it back upright, moves it back to the left counter, and releases it to set it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 221, "tasks": ["pour cup"], "length": 410, "global_instruction": "Pour the water from the white mug over the sink and place the mug back on the counter.", "scene_description": "A kitchen counter with a stainless steel sink holding white dishes and utensils, a white mug placed on the counter to the right of the sink, white upper and lower cabinets, and a white robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the counter, grasps it, lifts and moves it over the sink, tilts it to pour out the water inside, tilts the mug back upright, moves it back to the counter near the sink, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 222, "tasks": ["pour cup"], "length": 423, "global_instruction": "Pour the contents of the white countertop mug into the sink, then return the mug to the counter.", "scene_description": "A white ceramic mug sits on a brown kitchen counter adjacent to a stainless steel sink filled with dishes, a white robotic arm is positioned on the right side of the counter, with white upper and lower cabinets in the background.", "global_instruction_dense": "The right robotic arm reaches toward the white mug on the kitchen counter, grasps it, lifts and moves it over the sink, tilts the mug to pour its contents into the sink, tilts the mug upright, moves it back to its original position on the counter, then releases the mug and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 223, "tasks": ["pour cup"], "length": 215, "global_instruction": "Pour the contents of the small clear plastic cup into the white bowl, then return the cup to the counter.", "scene_description": "A dark kitchen counter holds a tall white Blender Bottle with white powder at its bottom, a white bowl to the right of the bottle, a black WHEY protein bag, a white paper towel roll, a silver toaster oven, a small clear plastic cup in front of the toaster, and a silver kettle. White upper cabinets are mounted above the counter, and a left robotic arm is positioned near the toaster, with the robot base on the right edge of the counter.", "global_instruction_dense": "The left robotic arm moves toward the small clear plastic cup on the kitchen counter, grasps it, lifts it and moves it over the white bowl, tilts it to pour its powder contents into the bowl, moves the cup back to the counter, releases it, and lifts its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 224, "tasks": ["pour cup"], "length": 247, "global_instruction": "Pour liquid from the plastic cup into the white bowl on the kitchen counter.", "scene_description": "A kitchen with white cabinets and a brown countertop. On the counter, there is a black-and-red WHEY protein bag, a transparent plastic cup, a white bowl, a transparent shaker cup, a paper towel roll, a silver toaster oven, and a silver electric kettle. A left robotic arm is positioned above the right side of the counter, and a stationary right robotic arm is at the far right edge of the scene.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the counter, grasps it, tilts it to pour liquid into the white bowl, straightens the cup, and places it back on the countertop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 225, "tasks": ["pour cup"], "length": 573, "global_instruction": "Pour the white liquid from the clear measuring cup into the silver cooking pot", "scene_description": "A wooden table holds a silver cooking pot with black interior, a clear measuring cup filled with white liquid, multiple ceramic cups, and a cardboard box on the right; a white robotic arm with a black gripper is positioned above the left side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the clear measuring cup on the table, grasps and lifts it, positions it over the silver cooking pot, tilts it to pour the white liquid into the pot, then lowers the empty measuring cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 226, "tasks": ["pour cup"], "length": 462, "global_instruction": "Pick up the green mug on the counter, pour its contents into the sink, then place the mug back on the counter.", "scene_description": "A speckled grey bathroom countertop holds a white sink, a green mug to the right of the sink, small blue square containers, white toiletry packets, a blue mouthwash bottle behind the sink, a green toothbrush at the sink's rear edge, a white robotic arm base on the left of the counter, and a wall-mounted mirror above the sink.", "global_instruction_dense": "The right robotic arm moves down to grasp the green mug on the bathroom counter, lifts it over the sink, tilts it to pour the contained liquid into the sink, tilts the mug back upright, lowers it to its original position on the counter, releases its grip, and moves upward away from the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 227, "tasks": ["pour cup"], "length": 237, "global_instruction": "Pour the liquid from the white mug onto the white tabletop.", "scene_description": "A white round table holds a white ceramic mug with light yellow liquid, and a dark blue cloth is draped over the table's right edge onto a nearby chair. A right robotic arm is positioned to the left of the table, with an orange bucket and computer equipment visible in the left background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps it, lifts and tilts it to pour its contained liquid onto the table surface, then sets the emptied mug back down on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 228, "tasks": ["pour cup"], "length": 247, "global_instruction": "Pour the contents of the white paper cup onto the kitchen counter then place the cup back down.", "scene_description": "A white paper cup is placed on a dark marble kitchen counter, with white cabinets and QR code posters on the wall behind the counter, and a robotic arm at the left of the frame.", "global_instruction_dense": "The right robotic arm moves to grasp the white paper cup on the counter, lifts and tilts the cup to pour its small contents onto the counter, then places the emptied cup back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 229, "tasks": ["pour cup"], "length": 306, "global_instruction": "Pour the contents of the white paper cup into the clear glass bowl", "scene_description": "A dark marble kitchen counter holds a white paper cup with a green object inside and a clear glass bowl, with a white robotic arm positioned at the left of the counter.", "global_instruction_dense": "The left robotic arm grasps the white paper cup on the counter, lifts it, moves it over the clear glass bowl, tilts the cup to pour its green contents into the bowl, then tilts the cup back.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 230, "tasks": ["pour cup"], "length": 356, "global_instruction": "Pour the contents of the white cup into the wire mesh basket then place the cup back on the counter.", "scene_description": "A dark marble kitchen counter holds a white paper cup and a spherical wire mesh basket, with white cabinets with metal handles above the counter, and a white robotic arm positioned at the left side of the view.", "global_instruction_dense": "The left robotic arm moves toward the white cup on the counter, grasps and lifts it, tilts it to pour its contents into the adjacent wire mesh basket, then moves the cup back to its original position and releases it onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 231, "tasks": ["pour cup"], "length": 322, "global_instruction": "Pour the contents of the white paper cup into the clear wire basket, then return the cup to the counter.", "scene_description": "A white paper cup and a clear wire mesh basket are placed on a dark marble kitchen counter, with white handle-equipped cabinets behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup, grasps it, lifts and tilts it over the clear wire basket to pour its contents inside, then places the empty cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 232, "tasks": ["pour cup"], "length": 257, "global_instruction": "Pour the contents of the clear plastic cup onto the table.", "scene_description": "A round beige table holds a crumpled red cloth and a clear plastic cup filled with small wrapped items, in an open office with glass partitions in the background.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the table, grasps it, lifts and tilts it to pour the small wrapped items inside onto the table, then places the empty cup back onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 233, "tasks": ["pour cup"], "length": 270, "global_instruction": "Pour the contents of the turquoise cup into the light blue bowl.", "scene_description": "A dark marble kitchen counter holds a turquoise cup, an adjacent light blue bowl, and a metal tray with manuals on the right; a white robotic arm is positioned on the left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the turquoise cup on the kitchen counter, grasps it, lifts and tilts it over the light blue bowl to pour its contents into the bowl, then tilts the cup back and places it on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 234, "tasks": ["pour cup"], "length": 133, "global_instruction": "Pour the contents of the blue plastic cup into the turquoise bowl", "scene_description": "A dark marble kitchen counter holds a turquoise bowl with small white items inside, a tilted blue plastic cup beside the bowl, and a metal tray with booklets behind the cup. A white left robotic arm is positioned to the left of the counter.", "global_instruction_dense": "The left robotic arm moves toward the blue plastic cup on the kitchen counter, grasps it, lifts and tilts it over the turquoise bowl to pour its contents, then lowers the cup back to the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 235, "tasks": ["pour cup"], "length": 293, "global_instruction": "Pour the contents of the bright blue cup into the light blue bowl then place the cup back on the counter.", "scene_description": "A dark marble kitchen counter holds a light blue bowl and a bright blue plastic cup, with a white robotic arm positioned to the left of the counter, and white cabinets mounted on the wall behind the counter.", "global_instruction_dense": "The left robotic arm grasps the bright blue cup on the kitchen counter, lifts it, tilts it over the light blue bowl to pour its contents into the bowl, then places the cup back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 236, "tasks": ["pour cup"], "length": 262, "global_instruction": "Pour the contents of the blue cup into the light blue bowl on the table", "scene_description": "A yellow wooden table holds a blue cup, a light blue bowl, a purple tissue box, a colorful notebook, and an orange cloth. A left robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm grasps the blue cup on the table, lifts it, moves it over the light blue bowl, tilts it to pour its contents into the bowl, then returns the cup to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 237, "tasks": ["pour cup"], "length": 247, "global_instruction": "Pour the contents of the teal cup into the teal bowl, then place the cup back on the table.", "scene_description": "A light wooden table holds an upright teal cup, a teal bowl, a small purple box, a purple marker, an orange cloth, a colorful notebook, and a white cloth. A white robotic arm is positioned to the left of the table near background cabinets.", "global_instruction_dense": "The right robotic arm moves toward the teal cup on the table, grasps and lifts it, tilts it over the teal bowl to pour its contents into the bowl, then places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 238, "tasks": ["pour cup"], "length": 582, "global_instruction": "Pour the contents of the light blue plastic cup into the turquoise bowl, then return the cup to the counter.", "scene_description": "A white kitchen counter holds a stainless steel kettle with an orange cap, a light blue plastic cup, a turquoise plastic bowl, a small white funnel, a mini black table tennis paddle, and a black trash bin on the far right. White cabinets with a green \"Stay Safe\" sign are above the counter, with stacked red, purple, and blue boxes on top of the cabinets. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves toward the light blue plastic cup on the counter, grasps it, lifts it, tilts it to pour its contents into the turquoise bowl, tilts the cup upright, moves it back to its original position on the counter, releases the cup, and retracts away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 239, "tasks": ["pour cup"], "length": 304, "global_instruction": "Pour the contents of the blue plastic cup into the teal bowl, then place the cup back on the counter.", "scene_description": "A white kitchen counter holds a blue plastic cup, teal bowl, silver kettle with an orange lid, black trash bin, white funnel, and black ping pong paddle; snack boxes rest on the white wall cabinet above the counter, with a sink and white robotic arm adjacent to the counter.", "global_instruction_dense": "The right robotic arm grasps the blue plastic cup on the kitchen counter, lifts and tilts it to pour its contents into the teal bowl, then tilts the cup back and places it on the counter before releasing it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 240, "tasks": ["pour cup"], "length": 181, "global_instruction": "Pour from the light blue cup on the counter then return it to its original position.", "scene_description": "A white kitchen counter holds a light blue cup, teal bowl, black ping pong paddle, white funnel, two silver kettles (one with orange cap), and black trash bin. A white robotic arm rests to the left of the counter, with a white cabinet (with a green 'Stay Safe' sign) above a sink in the background, and board game boxes on the cabinet's left edge.", "global_instruction_dense": "The left robotic arm moves right toward the light blue cup on the counter, grasps and lifts it, tilts the cup to pour, tilts the cup back upright, lowers it back to its original spot on the counter, releases the cup, and retracts away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 241, "tasks": ["pour cup"], "length": 309, "global_instruction": "Pour the contents of the blue plastic cup into the light blue bowl, then place the cup back on the counter.", "scene_description": "A white kitchen countertop holds a blue plastic cup, black table tennis paddle, light blue bowl, silver bottle with an orange cap, and a black trash bin arranged from left to right. White cabinets with a green 'STAY SAFE' sign are behind the counter, with stacked snack boxes on the left side of the cabinets, and a robotic arm is positioned near the sink.", "global_instruction_dense": "The left robotic arm grasps the blue plastic cup on the counter, lifts it, moves it over the light blue bowl, tilts it to pour its contents into the bowl, then moves the cup back to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 242, "tasks": ["pour cup"], "length": 150, "global_instruction": "Pour the contents of the light blue plastic cup into the turquoise bowl on the counter.", "scene_description": "A white kitchen counter holds a light blue plastic cup, a black table tennis paddle, a turquoise bowl with small items, a silver kettle with an orange lid, and a black trash bin from left to right. White cabinets with a 'Stay Safe' sign and stacked boxes on their top are behind the counter, and a white robotic arm is positioned near the blue cup.", "global_instruction_dense": "The right robotic arm grasps the light blue plastic cup on the counter, lifts it, moves it over the turquoise bowl, tilts it to pour its contents into the bowl, then places the cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 243, "tasks": ["pour cup"], "length": 289, "global_instruction": "Pour the small capsules from the white and green mug onto the wooden table.", "scene_description": "A light wooden table holds a white-and-green mug, two small green-capped capsules, a white disposable cup, a clear container with a red lid, and a white-and-black scraping tool with a black handle and orange accent. A robotic arm is positioned to the left of the table in an office space with chairs and other furniture in the background.", "global_instruction_dense": "The right robotic gripper grasps the white and green mug on the wooden table, lifts and tilts it to pour the small capsules inside onto the table surface, then sets the empty mug back down on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 244, "tasks": ["pour cup"], "length": 218, "global_instruction": "Pour the contents of the clear plastic cup onto the purple ping pong table.", "scene_description": "A purple ping pong table holds a white thermos, clear plastic cup filled with small items, light blue bowl, and orange folded clothing from left to right, with white robotic arms on the left side of the table.", "global_instruction_dense": "The right robotic arm reaches toward the clear plastic cup on the ping pong table, grasps it, tilts it to pour its small contents onto the table surface, then moves the empty cup to a new position on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 245, "tasks": ["pour cup"], "length": 326, "global_instruction": "Pour the contents of the blue cup into the light green bowl.", "scene_description": "A white round table holds a red folded cloth, a light green bowl, a blue cup, a black-and-white cleaning brush, and a white plastic fork, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the blue cup on the table, grasps it, lifts and tilts it over the light green bowl to pour the cup's contents into the bowl, then places the blue cup back on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 246, "tasks": ["pour cup"], "length": 331, "global_instruction": "Pour the white contents from the turquoise cup into the light blue bowl", "scene_description": "A light blue bowl, a turquoise cup filled with white items, and a white dustpan with a black brush are placed on a white round table, with a white robotic arm to the left of the table and an orange chair with a pink cloth behind the table in an open office.", "global_instruction_dense": "The right robotic arm moves toward the turquoise cup on the table, grasps it, lifts and positions it over the light blue bowl, tilts it to pour the white contents into the bowl, then places the cup back onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 247, "tasks": ["pour cup"], "length": 252, "global_instruction": "Pour the contents of the clear plastic cup from the dish rack into the sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a white dish rack with a clear plastic cup, a blue container, a brown bottle, and cleaning supplies on the back counter edge, with a white plate placed in the sink.", "global_instruction_dense": "The right robotic gripper reaches for the clear plastic cup in the dish rack, grasps and lifts it, tilts it over the stainless steel sink to pour out its contents, then tilts it back upright.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 248, "tasks": ["pour cup"], "length": 222, "global_instruction": "Pour the contents of the white disposable cup onto the table then return the cup to the table.", "scene_description": "A white table holds a brown box, a black 'LANDFILL ONLY' bin, a white disposable cup, crumpled paper pieces, and two rectangular trash openings on its right, with a white robotic arm above the left table area.", "global_instruction_dense": "The right robotic arm moves toward the white disposable cup on the table, grasps it, lifts and tilts it to pour its contents onto the table surface, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 249, "tasks": ["pour cup"], "length": 352, "global_instruction": "Pour the contents of the white paper cup onto the white table, then place the cup back on the table.", "scene_description": "A white table holds a black 'LANDFILL ONLY' container, a white paper cup, and two rectangular slots on its right side; an open wooden drawer is below the table, and a white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup on the table, grasps it, lifts and tilts it to pour metal paper clips from the cup onto the table surface, then returns the upright cup to the table and retracts its gripper.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 250, "tasks": ["pour cup"], "length": 137, "global_instruction": "Pour the contents of the white cup into the black bin on the table.", "scene_description": "A white table holds a black bin on its left section, a white disposable cup to the right of the bin, a pile of silver paper clips further right, and two rectangular slots on the right half of the table; two robotic arms are positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white cup on the table, grasps it, lifts it, moves it over the black bin, tilts the cup to pour its contents into the bin, then places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 251, "tasks": ["pour cup"], "length": 261, "global_instruction": "Pour the contents of the white cup onto the kitchen counter then place the cup back on the counter.", "scene_description": "A dark marble kitchen counter holds a light yellow four-slot toaster on the right, a white cup and a white cleaning brush with a red tip in the middle, with two white robotic arms positioned above the counter and a person in an orange shirt in the left background.", "global_instruction_dense": "The right robotic arm moves toward the white cup on the counter, grasps it, lifts and tilts it to pour the small items inside onto the counter, then places the empty cup back in its original position and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 252, "tasks": ["pour cup"], "length": 258, "global_instruction": "Pour the contents of the white cup onto the kitchen counter then place the cup back on the counter.", "scene_description": "A dark grey marble kitchen counter holds a pale green 4-slot toaster on its right side, a white upright cup to the left of the toaster, a white-and-orange scraper tool left of the cup, and a small pile of wrapped candies left of the tool, with a white robotic arm positioned above the left of the counter and a human in an orange shirt partially visible at the far left.", "global_instruction_dense": "The right robotic arm moves toward the upright white cup on the kitchen counter, grasps it, lifts it, tilts it to pour its contained candies onto the counter surface, tilts it back to an upright position, places it back on the counter, and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 253, "tasks": ["pour cup"], "length": 252, "global_instruction": "Pour from the white paper cup then place it back on the kitchen counter", "scene_description": "A dark grey kitchen counter holds a light green and silver four-slot toaster on the right, a white paper cup left of the toaster, a small white and black brush left of the cup, a pile of small metal items left of the brush, and a white robotic arm on the left side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup on the kitchen counter, grasps it, lifts and tilts the cup to pour, then lowers it back to the original position on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 254, "tasks": ["pour cup"], "length": 633, "global_instruction": "Pour the contents of the small clear cup into the white saucepan, then place the empty cup back on the table.", "scene_description": "A round white table holds a white saucepan with a metal handle, a white ceramic bowl, a silver spoon, a small clear cup, a silver knife on a white plate, and a red silicone spatula with a wooden handle. A grey vase with white flowers sits at the table's back, a white robotic arm is positioned left of the table, and woven chairs, white curtains, a potted plant, and a bookshelf are in the background.", "global_instruction_dense": "The left robotic arm grasps the small clear cup from the table, lifts it, moves it over the white saucepan, tilts it to pour its liquid contents into the saucepan, then moves the empty cup to the left side of the table, releases it, and moves toward the red spatula.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 255, "tasks": ["pour cup"], "length": 601, "global_instruction": "Pour the contents of the small white cup into the white pot, then place the cup back on the table.", "scene_description": "A white round table holds a small white cup, a white pot with green contents, a white bowl, a metal fork, a metal spoon, a metal knife on a small white plate, and wooden chopsticks. A gray vase with flowers is behind the pot, with chairs around the table and a robotic arm to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small white cup on the table, grasps it, lifts and positions it over the white pot, tilts it to pour liquid into the pot, moves the cup back to the table, releases it, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 256, "tasks": ["pour cup"], "length": 868, "global_instruction": "Pour the contents of the red cup into the red bowl, then place the red cup on the wooden table.", "scene_description": "A black work desk holds two light blue cups, one red cup, and a yellow toy banana; behind it is a light brown wooden table with a red bowl and miscellaneous items, and a white robotic arm is positioned above the left side of the black desk.", "global_instruction_dense": "The left robotic gripper grasps the red cup on the black desk, lifts it, moves it to the red bowl on the adjacent wooden table, pours its contents into the bowl, shakes the cup to empty remaining contents, knocks over one light blue cup on the desk during movement, and finally places the empty red cup onto the wooden table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 257, "tasks": ["pour cup"], "length": 547, "global_instruction": "Pour the contents of the red plastic cup into the red bowl, then place the red cup back on the worktable.", "scene_description": "A white left robotic arm is on the left side of a black worktable. On the worktable, a light blue cup, a red bowl, a red plastic cup with white rim, another light blue cup, and a yellow banana are arranged from left to right, with office desks and lab equipment in the background.", "global_instruction_dense": "The left robotic gripper moves downward to grasp the red plastic cup on the worktable, lifts it and moves it above the red bowl, tilts the cup to pour its contents into the bowl, then moves the empty cup back to its original position on the worktable and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 258, "tasks": ["pour cup"], "length": 614, "global_instruction": "Pour the contents of the light blue cup into the red bowl, then place the cup back on the table.", "scene_description": "A black laboratory table holds a red bowl on the left, a light blue cup, a red cup, a dark blue cup filled with small items, a yellow banana, and a small wooden stand with an orange ball and red cube on top. A white robotic arm is positioned above the table's left side, with office desks, monitors, and storage boxes visible in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp the light blue cup on the black table, lifts it, positions it over the red bowl, tilts the cup to pour its contents into the bowl, returns the cup to an upright position, places it back on the table, and moves away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 259, "tasks": ["pour cup"], "length": 765, "global_instruction": "Pour the contents out of the dark teal cup and place the cup upright on the table.", "scene_description": "A black lab tabletop holds three plastic cups (light blue, red, dark teal from left to right, the dark teal cup contains small items), a yellow toy banana, a red plastic bowl, and small toy objects. A white robotic arm is positioned above the left side of the table, with office desks, monitors, and boxes in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark teal cup on the table, tips it over to pour out its contents, grasps the cup to pour remaining contents, sets the cup upright on the table, then moves away from the workspace.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 260, "tasks": ["pour cup"], "length": 422, "global_instruction": "Pour the contents of the white paper cup into the holiday-patterned ceramic mug.", "scene_description": "A granite kitchen countertop holds a holiday-patterned white ceramic mug at the front, a green-capped clear bottle with green dot prints, a small brown capped bottle on a white saucer, an empty white bowl, a stainless steel sink with blue dish soap, and a utensil holder near the sink.", "global_instruction_dense": "The left robotic arm moves toward the white paper cup near the sink, grasps it, lifts and moves it over the front holiday-patterned ceramic mug, tilts the cup to pour granular contents into the mug, then moves the empty cup back to the sink area, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 261, "tasks": ["pour cup"], "length": 424, "global_instruction": "Pour grains from the green-and-white decorated mug into the empty white bowl.", "scene_description": "A granite kitchen counter holds an empty white bowl, a green-and-white decorated mug filled with grains, a green clear liquid bottle, a beige insulated bottle, and a stainless steel pot with a wooden spoon; a robotic arm is positioned above the left end of the counter near the sink.", "global_instruction_dense": "The left robotic arm grasps the handle of the green-and-white decorated grain-filled mug, lifts it, moves it over the empty white bowl, tilts the mug to pour the grains into the bowl, tilts the mug upright, places it back on the counter, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 262, "tasks": ["pour cup"], "length": 450, "global_instruction": "Pour liquid from a white cup into a white bowl on the kitchen countertop.", "scene_description": "A speckled grey granite kitchen countertop holds a green-patterned white mug, a beige insulated water bottle, a green-patterned clear plastic bottle with green cap, white dishes, and a stainless steel sink with blue and white dish soap in the background; no robotic arm is visible initially.", "global_instruction_dense": "The robotic arm enters the frame, grasps the white cup behind the beige bottle, lifts it, moves it over the right-side white bowl, tilts to pour contents into the bowl, moves the cup back to its original position near the sink, releases it, and moves away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 263, "tasks": ["pour cup"], "length": 400, "global_instruction": "Pour the contents of the white paper cup into the sink and place the cup back on the counter.", "scene_description": "A speckled granite kitchen countertop holds a white paper cup with a green stripe, a clear green bottle with a green cap, a white ceramic mug, a light blue bowl, a metal mixing bowl, and assorted containers near a stainless steel sink, with a window on the left and light-colored cabinets under the counter.", "global_instruction_dense": "The left robotic arm descends to grasp the white paper cup from the countertop, lifts it, moves it over the sink, tilts it to pour its contents into the sink, then moves the cup back to the counter near the sink, releases it, and moves its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 264, "tasks": ["pour cup"], "length": 452, "global_instruction": "Pour the contents of the white paper cup into the stainless steel bowl on the kitchen counter.", "scene_description": "A speckled gray granite kitchen counter holds a white paper cup, multiple stainless steel bowls, stacked white mugs, a folded white cloth, a green plastic bottle, and a yellow bottle near the left window, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves down to grasp the white paper cup on the counter, lifts it and moves it over the stainless steel bowl, tilts the cup to pour liquid into the bowl, then rights the cup, places it back on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 265, "tasks": ["pour cup"], "length": 441, "global_instruction": "Pour the contents of the white plastic cup into the stainless steel bowl, then place the cup back on the counter.", "scene_description": "A speckled granite kitchen counter holds a stainless steel bowl with grain, a white plastic cup, green plastic bottle, beige bottle, faucet with cleaning supplies, light blue cloths, and a wooden spatula, with light wood cabinets below the counter.", "global_instruction_dense": "The right robotic gripper moves down to grasp the white plastic cup on the counter, lifts it, tilts it over the stainless steel bowl to pour its contents into the bowl, tilts the cup upright again, lowers it back to the counter, releases the cup, and moves upward away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 266, "tasks": ["pour cup"], "length": 248, "global_instruction": "Pour the contents of the green-striped white paper cup into the white bowl, then return the cup to the counter.", "scene_description": "A speckled granite kitchen counter holds a white printed ceramic mug, two white paper cups (one with a green stripe), a white bowl, a stainless steel mixing bowl, a sink with cleaning supplies, a green plastic bottle, a beige water bottle, and canned goods, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper lowers to grasp the green-striped white paper cup, lifts and tilts it over the white bowl to pour out its contents, then tilts the cup upright, lowers it back to the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 267, "tasks": ["pour cup"], "length": 450, "global_instruction": "Pour the contents of the white cup into the stainless steel grain bowl, then place the cup back on the counter.", "scene_description": "A speckled granite kitchen counter holds a stainless steel bowl of yellow grains, multiple white cups, a green dish soap bottle, a sink, and a beige squeeze bottle at the left edge, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp a white cup from the kitchen counter, lifts and positions it over the stainless steel bowl of grains, tilts the cup to pour its contents spilling some grains on the counter, returns the cup to the counter, releases it, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 268, "tasks": ["pour cup"], "length": 240, "global_instruction": "Pour liquid from the dark blue mug into the coffee maker then return the mug to the table.", "scene_description": "A light wooden table holds a dark blue mug, an orange mug, a white mug, a grey mug, a stainless steel coffee maker, and a grey storage bin with assorted items; a California Republic flag hangs on the wall behind the table, and a white robotic arm is positioned above the left side of the table near a closed white door.", "global_instruction_dense": "The left robotic arm moves down to grasp the dark blue mug on the table, lifts it and moves it over the stainless steel coffee maker, tilts the mug to pour liquid into the coffee maker, then tilts the mug upright, moves it back to its original position on the table, and releases the mug before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 269, "tasks": ["pour cup"], "length": 95, "global_instruction": "Pour the green marker out of the white cup onto the desk", "scene_description": "A light wooden desk holds a black monitor, black keyboard, and a white cup, with a white robotic arm positioned to the left of the desk.", "global_instruction_dense": "The right robotic gripper grasps the white cup on the desk, lifts and tilts it to pour the green marker inside onto the desk, then places the cup back on the desk surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 270, "tasks": ["pour cup"], "length": 119, "global_instruction": "Pour the contents out of the cup on the wooden table by tipping it over.", "scene_description": "A light brown wooden table holds a white gradient mug, a silver rectangular strip, and a black coiled cable. A white robotic gripper is positioned above the table, with the stationary robot base to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the cup on the wooden table, grasps the cup, tilts it to pour out the yellow item inside, and tips the cup fully over onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 271, "tasks": ["pour cup"], "length": 302, "global_instruction": "Pour the white contents out of the white mug onto the table then place the mug back on the table.", "scene_description": "A round light brown wooden table holds a white mug with a green band, a white cleaning brush with a black and red handle, and a blue pen. A white robotic arm is positioned to the left of the table, black office chairs surround the table, and a black TV is mounted on the wall behind the table.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the round wooden table, grasps the mug, lifts and tilts it to pour all the white objects inside onto the table, then returns the upright mug to the table surface and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 272, "tasks": ["pour cup"], "length": 739, "global_instruction": "Insert the blue pen into the white mug, then pour the mug's contents onto the table and set the mug back down.", "scene_description": "A round light brown wooden table holds a white mug with a green band, a blue pen, a pile of small white pieces, and a white dustpan with black bristles. A white robotic arm is positioned to the left of the table, two black mesh office chairs surround the table, and a black TV is mounted on the light gray wall behind the table.", "global_instruction_dense": "The left robotic arm moves to grasp the blue pen on the table, lifts and inserts the pen into the white mug, then grasps the mug, lifts and tilts it to pour the white pieces inside onto the table, before placing the mug back on the table and moving the arm away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 273, "tasks": ["pour cup"], "length": 287, "global_instruction": "Pick up the mug, pour its white contents onto the table, then place the mug back on the table.", "scene_description": "A light brown round table holds a white mug with a dark green rim, a pile of small white objects, and a white dustpan with a dark handle. A robotic arm is positioned to the left of the table, two black mesh chairs are around the table, and a black TV is mounted on the white wall behind the table.", "global_instruction_dense": "The left robotic arm moves toward the white mug on the table, grasps it, lifts and tilts the mug to pour the white objects inside onto the table, then tilts the mug upright and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 274, "tasks": ["pour cup"], "length": 258, "global_instruction": "Pour the contents of the silver cup onto the round wooden table", "scene_description": "A round light wooden table holds a silver cylindrical cup, a black pen, and a white triangular object with a red tip; a robotic arm is positioned to the left of the table in an office space.", "global_instruction_dense": "The left robotic arm moves toward the silver cup on the round wooden table, grasps it, lifts and tilts it to pour small white cubes onto the table, then places the empty cup back onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 275, "tasks": ["pour cup"], "length": 108, "global_instruction": "Pour the small white utensil out of the black cup onto the table.", "scene_description": "A light gray table holds a black pencil case on the left, a blue hardcover book, a black cup with red interior, and a dark blue folder with red scissors on top, with a blue trash bin and cabinets in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the black cup on the table, grasps and tilts the cup, and pours the small white utensil inside onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 276, "tasks": ["pour cup"], "length": 403, "global_instruction": "Pour the contents of the orange cup onto the grey plate, then place the orange cup into the small blue pan.", "scene_description": "A white table holds a light blue oven on the left, a red-and-white checkered basket of toy food, a black grill tray, a toy hamburger on a small blue plate, a grey plate with an orange cup on top, a small black pot, a small blue pan, a blue kettle, and a blue cup, with grey curtains in the background.", "global_instruction_dense": "The right robotic gripper descends toward the orange cup on the grey plate, grasps and lifts the cup, tilts it to pour two yellow items onto the grey plate, moves the cup over the small blue pan, lowers and releases the cup into the pan, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 277, "tasks": ["pour cup"], "length": 431, "global_instruction": "Pour the contents of the orange cup into the black rectangular tray on the white table.", "scene_description": "A white table holds a red polka-dot box with plush toys on the left, a teal cup, a dark circular lid, stacked multi-colored discs, a small black pot, a dark gray plate, an orange cup, a blue cup, a small burger toy, a black rectangular tray, and a mobile phone at the far end, with the left robotic arm positioned above the upper part of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange cup on the white table, grasps it, lifts and moves it over the black rectangular tray, tilts the cup to pour its yellow contents into the tray, then moves the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 278, "tasks": ["pour cup"], "length": 452, "global_instruction": "Pour the contents of the orange cup into the black rectangular tray on the table.", "scene_description": "A white table holds a red polka-dot basket with plush toys, a teal cup, a teal lid, stacked colorful discs, a small black pot, a gray plate, a miniature hamburger toy, a blue cup, a black rectangular tray, an orange cup, and a smartphone at the table rear. A Franka Emika robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the orange cup on the table, grasps it, lifts and positions it over the black tray, tilts it to pour yellow pieces into the tray, uprights the cup, places it back on the table, then releases the cup and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 279, "tasks": ["pour cup"], "length": 452, "global_instruction": "Pour the toy sauce bottles from the orange cup into the black tray, then place the orange cup back on the table.", "scene_description": "A white table holds assorted toy items: a red dotted box with plush toys on the far left, teal cups, stacked colorful toy rings, a black cooking pot, a dark gray plate, an orange cup with a red spoon inside, a blue cup, a toy hamburger, and a black tray with yellow toy fries. A robotic arm base sits to the right of the table.", "global_instruction_dense": "The left robotic gripper moves down to grasp the orange cup on the table, lifts and moves it over the black tray, tilts the cup to pour two red toy sauce bottles into the tray, then returns the cup to an upright position and places it back on the table before moving upward away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 280, "tasks": ["pour cup"], "length": 463, "global_instruction": "Pick up the orange cup, pour out its contents, then place it back on the table.", "scene_description": "A white table holds a red polka-dot basket (left, filled with plush produce), teal pot, black small pot, dark green plate, toy burger, orange cup, blue cup, and black tray with red toy bottles and yellow stick toys, with a Franka robotic arm mounted to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the orange cup on the table, grasps it, lifts and tilts it to pour out the small object inside, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 281, "tasks": ["pour cup"], "length": 678, "global_instruction": "Pour the contents of the orange and blue plastic cups into the black tray on the table.", "scene_description": "A white table holds a red polka dot box of plush toys on its far left, an orange plastic cup to the right of the box, a black tray with two red sauce bottles at its center, a blue plastic cup and toy hamburger behind the tray, and assorted small kitchen toys across its surface. A right robotic arm is positioned above the tray.", "global_instruction_dense": "The right robotic arm moves to grasp the orange plastic cup, lifts and tilts it to pour its yellow contents into the black tray, returns the orange cup to the table, then moves to grasp the blue plastic cup, lifts and tilts it to pour out its contents, returns the blue cup to the table, and moves back to a rest position above the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 282, "tasks": ["pour cup"], "length": 512, "global_instruction": "Pour the contents of the orange cup onto the dark green plate", "scene_description": "A red polka-dot box with plush toys, a dark green plate, an orange cup, a blue cup, a small black pot, a toy burger, and small circular toys are placed on a white table, with a Franka Emika robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange cup on the white table, grasps it, lifts and tilts it over the dark green plate to pour three yellow items onto the plate, then places the empty orange cup back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 283, "tasks": ["pour cup"], "length": 445, "global_instruction": "Pour yellow toy food pieces from the blue cup onto the gray plate, then return the blue cup to the table.", "scene_description": "A white table holds a gray plate with three yellow toy food pieces, an orange cup, a blue cup, a small black pot, a toy hamburger, and a red polka-dot box of plush toys on its left. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the blue cup on the table, grasps it, lifts it, tilts it over the gray plate to pour yellow toy food pieces onto the plate, then lowers the blue cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 284, "tasks": ["pour cup"], "length": 460, "global_instruction": "Pour the yellow toy food pieces out of the orange cup onto the table.", "scene_description": "A white table holds a grey plate with yellow toy food pieces, a small black cooking pot, a blue cup, a miniature toy hamburger, a red polka-dot box with plush toy food, and an orange cup, with robotic arms positioned around the table.", "global_instruction_dense": "The left robotic gripper moves toward the orange cup on the white table, grasps and lifts it, tilts it to pour out its yellow toy food contents, then lowers and releases the cup back onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 285, "tasks": ["pour cup"], "length": 467, "global_instruction": "Pour the contents of the orange plastic cup onto the gray plate, then place the cup back on the table.", "scene_description": "A white table holds a red polka dot box of plush toys at the left, an orange plastic cup, a blue plastic cup, a teal lidded container, a small black pot, stacked multicolored discs, and a gray shallow plate at the center, with a Franka robotic arm mounted to the right of the table, gripper positioned above the gray plate.", "global_instruction_dense": "The right robotic arm moves its gripper left to grasp the orange plastic cup, lifts and tilts the cup over the gray plate to pour yellow cylindrical pieces onto the plate, then moves the cup back to the table near the black pot and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 286, "tasks": ["pour cup"], "length": 469, "global_instruction": "Pour the contents of the orange cup onto the gray plate.", "scene_description": "A white table holds a blue pot, a gray plate with an orange cup resting on it, a small dark gray lid, a black pot, a small yellow wrapped object, a toy hamburger, and a black rectangular tray, with a robotic gripper positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the gray plate, grasps the cup, lifts and moves it leftward, tilts it to pour the yellow cylindrical pieces inside onto the gray plate, then lowers the cup back onto the plate.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 287, "tasks": ["pour cup"], "length": 361, "global_instruction": "Pour the contents of the blue cup into the black pot, then return the cup to the table.", "scene_description": "A white table holds a cyan pot, teal pot lid, stacked multicolored bowls, small grey clip, blue cup, black rectangular tray, toy hamburger, and black pot from left to right. A white Franka robotic arm base is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm descends toward the blue cup on the table, grasps it, lifts and moves it over the black pot, tilts it to pour out its contents, then moves the cup back to the table to release it, and finally retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 288, "tasks": ["pour cup"], "length": 373, "global_instruction": "Pour the contents of the blue cup onto the grey plate, then place the blue cup back on the grey plate.", "scene_description": "A white table holds a teal pot, black frying pan, teal lid, stacked colorful small bowls, a grey plate with a blue cup on it, a black rectangular tray, and a toy hamburger. A robotic arm is positioned at the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the blue cup on the grey plate, grasps it, lifts and tilts it to pour yellow pieces onto the grey plate, then places the blue cup back onto the grey plate and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 289, "tasks": ["pour cup"], "length": 400, "global_instruction": "Pour the yellow contents from the green cup onto the grey plate, then place the green cup onto the grey plate.", "scene_description": "A white table holds a green cup, a blue cup on a grey circular plate, a black rectangular tray, a small toy hamburger, stacked colorful small bowls, a blue pot, a black pot, and a teal lid, with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the green cup on the white table, grasps and lifts it, tilts it to pour its yellow contents onto the grey plate, moves the empty green cup onto the grey plate next to the blue cup, then releases the cup and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 290, "tasks": ["pour cup"], "length": 410, "global_instruction": "Pour the yellow contents out of the green cup onto the gray plate, then place the cup back on the table.", "scene_description": "A white table holds a green cup with yellow contents, a gray plate, a black tray with a blue cup, a small toy burger, a stack of colorful round discs, a teal pot, a black pot, a teal lid, and a small gray clip. A Franka robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the green cup on the table, grasps and lifts it, tilts it to pour the yellow pieces inside onto the gray plate, then lowers the empty cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 291, "tasks": ["pour cup"], "length": 515, "global_instruction": "Pour the yellow items inside the blue cup onto the grey plate, then place the empty blue cup on the table.", "scene_description": "A white table holds a grey plate, a black tray with a blue cup and green cup (each containing yellow cylindrical items), a small toy hamburger, a stack of multicolored small bowls, a blue pot, a black pot, and a teal lid, with robotic arms positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the black tray on the table, grasps the blue cup, lifts and positions it over the grey plate, tilts the cup to pour all yellow contents onto the plate, then places the empty blue cup on the table surface before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 292, "tasks": ["pour cup"], "length": 533, "global_instruction": "Pour the yellow contents of the green cup onto the gray plate, then stack the green cup onto the blue cup.", "scene_description": "A white table holds a gray plate with three yellow cylindrical objects, a black tray with a green cup containing one yellow object, a blue cup, a small toy hamburger, stacked small multicolored bowls, a teal cooking pot, a black cooking pot, a teal lid, and a small gray metallic tool. A stationary white robotic arm base is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the green cup resting on the black tray, grasps it, lifts it, tilts it over the gray plate to pour its yellow contents onto the plate, moves the green cup over the blue cup, lowers it to stack onto the blue cup, releases the cup, and lifts away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 293, "tasks": ["pour cup"], "length": 568, "global_instruction": "Pour the yellow contents of the blue cup with green rim onto the gray plate and black tray, then return the cup to the table.", "scene_description": "A white table holds a blue cup with green rim, a gray round plate left of the cup, a miniature hamburger toy right of the cup, a black ridged tray in front of the plate, stacked yellow-green-red small bowls left of the plate, a teal pot, black pot, teal lid, and small gray clip near the table's left edge.", "global_instruction_dense": "The left robotic arm moves down to grasp the blue cup with green rim, lifts and tilts the cup to pour its yellow contents onto the gray plate and black tray, places the cup back on the table, then moves toward the miniature hamburger toy.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 294, "tasks": ["pour cup"], "length": 542, "global_instruction": "Pour the yellow contents of the orange cup onto the gray plate, then stack the orange cup on the blue cup with green rim.", "scene_description": "A white table holds an orange cup with yellow contents, a round gray plate, a rectangular black tray, a blue cup with green rim, a small toy hamburger, stacked colorful small bowls, a blue pot, and a black cup, with a robotic gripper positioned above the table.", "global_instruction_dense": "The left robotic gripper moves toward the orange cup, grasps it, lifts and tilts it to pour its yellow contents onto the gray plate, then moves the orange cup over the blue cup with green rim and lowers it to stack on top of the blue cup before releasing the cup and moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 295, "tasks": ["pour cup"], "length": 356, "global_instruction": "Pick up the orange plastic cup, pour its yellow contents onto the grey plate, then return the cup to the table.", "scene_description": "A white table holds a grey round plate, black grooved rectangular tray, orange plastic cup, green plastic cup, blue plastic cup, toy hamburger, blue cooking pot, black cooking pot, and teal lid, with a white robotic arm mounted to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange plastic cup on the white table, grasps it, lifts and tilts it to pour yellow contents onto the grey plate, then returns the empty cup to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 296, "tasks": ["pour cup"], "length": 430, "global_instruction": "Pour the yellow items from the blue plastic cup onto the gray plate, then place the cup back on the table.", "scene_description": "A white table holds a black pot, a teal pot, a teal lid, bright green plastic cups, an orange plastic cup, a blue plastic cup, a small toy hamburger, a large gray round plate, and a black rectangular ridged tray. A robotic arm is positioned above the upper left of the table, with a fixed Franka robot base on the right side of the table, and lab furniture including bins, chairs, and cabinets in the background.", "global_instruction_dense": "The left robotic arm descends to grasp the blue plastic cup on the table, lifts the cup, moves it over the large gray plate, tilts the cup to pour its yellow contents onto the plate, then moves the empty blue cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 297, "tasks": ["pour cup"], "length": 350, "global_instruction": "Pour the contents of the blue cup onto the gray plate, then return the cup to the table.", "scene_description": "A white table holds a gray round plate, black ridged rectangular tray, blue plastic cup, orange plastic cup, green plastic cup, small toy hamburger, teal handled pot, black pot, and teal lid, with a left robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves to grasp the blue plastic cup on the table, lifts and tilts it to pour its yellow contents onto the gray plate, then moves the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 298, "tasks": ["pour cup"], "length": 355, "global_instruction": "Pour the contents of the orange cup onto the gray plate, then place the cup back on the table.", "scene_description": "A white table holds a teal pot, dark blue lid, black pot, green cup, orange cup, blue cup, gray plate, black tray, and a small toy hamburger, with a Franka robotic arm base positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup, grasps it, lifts and tilts it to pour yellow objects onto the gray plate, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 299, "tasks": ["pour cup"], "length": 320, "global_instruction": "Pour the yellow contents from the green cup onto the gray plate, then place the green cup on the table next to the plate.", "scene_description": "A white table holds various items: a green cup with yellow contents inside, a gray round plate, a black rectangular tray, an orange cup, a blue cup, a mini burger toy, stacked small colorful bowls, a teal pot, a black pot, a teal lid, with two Franka Emika robotic arms positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the green cup on the white table, grasps and lifts it, tilts it to pour its yellow contents onto the gray plate, then lowers the green cup to place it on the table next to the gray plate.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 300, "tasks": ["pour cup"], "length": 502, "global_instruction": "Pour the contents of the green cup onto the grey plate, then place the green cup on top of the orange cup.", "scene_description": "A white table holds a teal pot, black pot, teal lid, grey plate, black tray, green cup, orange cup, blue cup, small hamburger toy, and stacked small toys, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves to grasp the green cup on the table, lifts and tilts it to pour its yellow contents onto the grey plate, then moves the empty green cup to place it on top of the orange cup before releasing the cup and moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 301, "tasks": ["pour cup"], "length": 258, "global_instruction": "Pour the contents of the green top cup onto the gray plate", "scene_description": "A white table holds a red checkered basket of toy food, a gray plate with stacked colorful cups and a red ball, a toy burger on a small blue plate, and a black container, with a robotic arm at the table's upper right.", "global_instruction_dense": "The right robotic arm moves toward the green cup stacked on top of other cups on the gray plate, grasps and lifts it, tilts it to pour its contents onto the gray plate, places the emptied cup back on the plate, then moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 302, "tasks": ["pour cup"], "length": 347, "global_instruction": "Pour the yellow contents from the orange cup with green rim onto the grey plate, then return the cup to the table.", "scene_description": "A white table holds a grey circular plate, a teal pot, a teal kettle, a black cylindrical pot, an orange cup with a green rim, a blue cup, a toy hamburger, a red ball, a yellow toy item, a fruit basket with orange and purple contents, and a black rectangular tray, with tripod lighting equipment and grey curtains in the background.", "global_instruction_dense": "The right robotic arm enters from the top of the scene, moves down to grasp the orange cup with green rim, lifts it and tilts it over the grey plate to pour yellow cylindrical pieces onto the plate, then moves the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 303, "tasks": ["pour cup"], "length": 575, "global_instruction": "Pour the yellow cylindrical objects from the blue cup onto the gray plate, then return the blue cup to the table.", "scene_description": "A white table holds toy kitchen items: a teal kettle and pot at the left, a gray plate and black tray in the front, stacked orange (green-rimmed) and blue cups at the center, and a fruit basket, toy hamburger, red ball, and small dishes at the back right, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm descends into the frame from the top, grasps the blue cup at the table center, lifts and tilts it to pour its yellow cylindrical contents onto the front gray plate, then places the empty blue cup back on the table before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 304, "tasks": ["pour cup"], "length": 324, "global_instruction": "Pour the yellow toy food items from the green cup onto the gray plate, then place the empty green cup on the table.", "scene_description": "A white table holds a blue teapot at the left, a blue pot with a ball inside, a gray plate at the front center, a black baking tray at the right, green, orange and blue cups in the middle right, a black pot between the plate and cups, red and blue lids left of the black pot, a tape measure at the top left of the table, a small bowl with a yellow item, a red ball, a toy hamburger, and a red checkered fruit basket at the top right of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the green cup on the table, lifts and tilts the cup to pour its yellow toy food contents onto the front gray plate, then places the empty green cup back onto the table surface and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 305, "tasks": ["pour cup"], "length": 353, "global_instruction": "Pour the contents of the green plastic cup into the black pot then place the cup back on the table.", "scene_description": "A white table holds various items: a blue kettle at the bottom left, a blue pot with a colorful ball inside, a blue shallow pan, a gray lid, a red lid, a black pot, green, orange, blue plastic cups, a large gray plate, a black baking tray, a tape measure, a small yellow ball in a white bowl, a red ball, a toy hamburger, and a fruit-filled basket at the back right, with camera equipment around the table.", "global_instruction_dense": "The right robotic gripper grasps the green plastic cup on the table, lifts it, moves it over the black pot, tilts it to pour its contents into the pot, moves the cup back to its original position on the table, releases the cup, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 306, "tasks": ["pour cup"], "length": 588, "global_instruction": "Move the yellow cylinders from the gray plate into the black pot, then simulate pouring with the orange cup before placing it back on the table.", "scene_description": "A white table holds a gray plate with two yellow cylindrical objects, a teal kettle, teal cooking pot, blue pan, red lid, black pot, green, orange, and blue plastic cups, a toy hamburger, red ball, small bowl with a yellow ball, tape measure, black tray, and a fruit basket at the far end. No robotic arm is visible in the initial frame.", "global_instruction_dense": "The right robotic arm descends to the gray plate, transfers two yellow cylindrical objects from the plate into the black pot, then grasps the orange cup, lifts and tilts it repeatedly to simulate pouring, and finally places the orange cup back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 307, "tasks": ["pour cup"], "length": 360, "global_instruction": "Pour the contents of the green cup into the black pot, then place the green cup back on the table.", "scene_description": "A white table holds various toy kitchen items: a blue teapot at the left, blue pot with a ball inside, blue plate, red lid, orange, green, and blue plastic cups, black pot, gray plate with a pineapple toy, green leaf toy, and pink peach toy in the foreground, black tray at the right, tape measure, small yellow bowl, red ball, hamburger toy, and a pink checkered basket at the far end of the table, with gray curtains and lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the green plastic cup on the white table, grasps it, lifts it, tilts it over the black pot to pour its contents into the pot, then lowers the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 308, "tasks": ["pour cup"], "length": 311, "global_instruction": "Pour the yellow contents from the black mug onto the table and plate, then return the mug to the table.", "scene_description": "A white table holds assorted play kitchen items: a blue teapot, blue pot, grey plate with a toy pineapple, green leaves and pink peach, orange, green, and blue plastic cups, a black mug, tape measure, toy burger, and a pink-checkered basket at the far end of the table, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic gripper moves toward the black mug on the table, grasps it, lifts it to pour its yellow contents onto the table and grey plate, then places the mug back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 309, "tasks": ["pour cup"], "length": 354, "global_instruction": "Pick up the green cup, pour out its contents, then place the green cup back on the table.", "scene_description": "A light blue oven is placed on a white table, with a red spray bottle to its left, and a green cup, small dishes, and a fruit basket with toy produce to its right.", "global_instruction_dense": "The right robotic arm moves toward the green cup on the table, grasps and lifts it, tilts the cup to pour its contents onto the table, moves the empty cup back to its original position, releases it, then moves away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 310, "tasks": ["pour cup"], "length": 389, "global_instruction": "Pick up the green cup, pour its contents into the gray plate, then place the cup back on the table", "scene_description": "A white table holds a light blue small oven on the left, a red spray bottle at the far left, a green cup, gray plate, assorted small containers, and a basket of toy vegetables at the back right.", "global_instruction_dense": "The right robotic arm enters the frame, grasps the green cup on the table, lifts and tilts it to pour its yellow contents into the gray plate, then moves the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 311, "tasks": ["pour cup"], "length": 352, "global_instruction": "Pour the contents of the green-and-orange cup onto the beige plate, then place the cup back on the table.", "scene_description": "A light blue toaster oven is placed on a white table. A red bottle sits to the left of the oven, while a green-and-orange cup, beige plate, black tray, small blue lid, toy burger, and a fruit basket are positioned to the right of the oven.", "global_instruction_dense": "The right robotic arm moves toward the green-and-orange cup on the table, grasps it, lifts and tilts it to pour its yellow contents onto the beige plate, then moves the cup back to the table and releases it before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 312, "tasks": ["pour cup"], "length": 364, "global_instruction": "Pour the yellow contents of the orange cup with green rim onto the white plate, then place the cup back onto the plate.", "scene_description": "A light blue small oven sits on the left half of a white table, an orange cup with a green rim rests on a white plate to the oven's right, a toy hamburger is between the oven and the cup, a black tray is to the plate's right, a red squeeze bottle is on the table's far left edge, and a fake fruit basket is in the far table background.", "global_instruction_dense": "The right robotic arm descends toward the orange cup with green rim on the white plate to the right of the light blue oven, grasps the cup, lifts it, tilts it to pour yellow pieces onto the plate, tilts the cup back upright, places it back onto the plate, then moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 313, "tasks": ["pour cup"], "length": 356, "global_instruction": "Pour the contents of the green cup onto the beige plate.", "scene_description": "A light blue small oven, a red bottle, a green cup, an orange cup, a beige plate, a small black container, and a basket of colorful fake fruits are placed on a white table. The oven is on the left of the table, the plate is right of the oven, and the cups and fruit basket are at the back of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the green cup at the back of the table, lifts it over the beige plate, pours the yellow items inside the cup onto the plate, then returns the empty green cup to its original position and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 314, "tasks": ["pour cup"], "length": 373, "global_instruction": "Pour the yellow contents from the green cup onto the light gray plate.", "scene_description": "A light blue toaster oven is on the left of a white table, a red squeeze bottle sits on the table's far left, a light gray round plate is at the table's center-right, and a green cup, orange cup, black bowl, and fruit basket are in the table's background, with a robotic arm visible in the upper right background.", "global_instruction_dense": "The right robotic gripper moves toward the green cup on the table, grasps it, lifts and tilts it to pour its yellow contents onto the light gray plate, then moves the cup back to its original position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 315, "tasks": ["pour cup"], "length": 308, "global_instruction": "Pour the contents of the green cup onto the white plate then place the green cup on the table.", "scene_description": "A light blue and silver toaster oven sits on the left of a white table, a red bottle is at the table's left edge, a green plastic cup rests on a white plate to the right of the toaster, an orange cup is behind the plate, a black square dish is on the table's right, and a fruit basket is in the background.", "global_instruction_dense": "The right robotic arm moves toward the green cup on the white plate, grasps it, lifts and tilts it to pour its yellow contents onto the plate, then moves the cup to the right of the plate, releases it on the table, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 316, "tasks": ["pour cup"], "length": 350, "global_instruction": "Pour the contents of the green cup into the white plate and place the green cup back on the table.", "scene_description": "A light blue small oven is on the left half of a white table, a red bottle with a white label is at the far left of the table, to the right of the oven are a hamburger, a white round plate, a black square plate, an orange cup and a green cup, with a fruit-filled basket at the back of the table.", "global_instruction_dense": "The right robotic gripper moves toward the green cup on the right side of the table, grasps and lifts it, tilts it to pour its yellow contents into the white plate, then moves the green cup back to its original position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 317, "tasks": ["pour cup"], "length": 288, "global_instruction": "Pour the contents of the green plastic cup onto the white plate then return the cup to its original position.", "scene_description": "A light blue small oven sits on the left of a white table, a red spray bottle is at the table's left edge, to the right of the oven are a small burger, a white plate, a green plastic cup, an orange plastic cup, a blue small cup, a black square plate, and a fruit basket with colorful fake fruits at the table's far back.", "global_instruction_dense": "The right robotic gripper moves toward the green plastic cup on the table, grasps it, lifts it and moves it over the white plate, tilts the cup to pour its yellow contents onto the plate, then moves the cup back to its original position, releases it and retracts upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 318, "tasks": ["pour cup"], "length": 287, "global_instruction": "Pour the contents of the green plastic cup into the white plate, then return the cup to its original position.", "scene_description": "A light blue mini oven, red spray bottle, white plate, green plastic cup, orange plastic cup, blue plastic cup, black tray, and fruit basket are arranged on a white table. The oven sits on the left half of the table, cups and the basket are positioned at the far end of the table.", "global_instruction_dense": "The right robotic gripper moves to the green plastic cup on the table, grasps it, lifts and tilts it over the white plate to pour its yellow contents into the plate, then moves the cup back to its original position, releases it, and retracts away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 319, "tasks": ["pour cup"], "length": 339, "global_instruction": "Pour the yellow contents from the green cup onto the beige plate, then place the green cup onto the black plate.", "scene_description": "A light blue oven, a red spray bottle, a green cup, a beige plate, an orange cup, a blue cup, a fruit basket, a black plate, and a small burger model are placed on a white table. The oven is on the left side of the table, the green cup sits to the right of the oven near the beige plate, and the black plate is to the right of the beige plate.", "global_instruction_dense": "The right robotic arm moves toward the green cup on the white table, grasps it, lifts and tilts the cup to pour its yellow contents onto the beige plate, then moves the cup over the black plate, releases it onto the black plate, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 320, "tasks": ["pour cup"], "length": 368, "global_instruction": "Pour the contents of the green cup onto the beige plate, then place the green cup onto the plate.", "scene_description": "A white table holds a light blue appliance on the left, a toy burger, a black tray with a green cup, a round beige plate, teal, black, orange, and blue cups, assorted small lids, and a basket of fake fruits at the far end of the table.", "global_instruction_dense": "The right robotic arm approaches and grasps the green cup on the black tray, lifts it to pour its yellow contents onto the beige plate, then places the green cup onto the beige plate before retracting.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 321, "tasks": ["pour cup"], "length": 263, "global_instruction": "Pour the contents of the green cup onto the beige plate, then place the green cup back on the table.", "scene_description": "A light blue toy oven sits on the left of a white table, with a toy hamburger next to it. The table holds multiple colored cups (dark teal, dark blue, black, orange, green), a beige round plate, a black rectangular tray, and a basket of fake fruits at the far back right.", "global_instruction_dense": "The right robotic arm moves to grasp the green cup on the table, lifts it, tilts it to pour its yellow contents onto the central beige plate, then moves the green cup back to its original position, releases it, and retracts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 322, "tasks": ["pour cup"], "length": 319, "global_instruction": "Pour the yellow contents from the green plastic cup onto the beige plate, then place the cup back on the table.", "scene_description": "A light blue toy oven sits on the left of a white table. The table holds a toy hamburger, black tray, beige plate with a yellow piece, green, orange, black, blue, teal plastic cups, a fake fruit basket at the back, and small blue and red lids.", "global_instruction_dense": "The right robotic arm grasps the green plastic cup on the table, lifts and tilts it to pour its yellow contents onto the beige plate, then places the empty green cup back on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 323, "tasks": ["pour cup"], "length": 298, "global_instruction": "Pour yellow fries from the stacked orange cup onto the grey plate then replace the cup on the table.", "scene_description": "A white table holds a light blue toy oven on the left, a grey plate with a red ketchup bottle, a stacked orange cup with green lid, assorted toy kitchen items (fry pan, black pot, toy burger, black grilling tray, measuring tape), and a red checkered basket with toy food at the front.", "global_instruction_dense": "The right robotic arm moves toward the stacked orange cup with green lid on the table, grasps it, lifts and tilts it to pour yellow fries onto the grey plate, then moves the cup back to its original position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 324, "tasks": ["pour cup"], "length": 493, "global_instruction": "Pour the toy french fries from the green cup onto the grey plate, then place the green cup on the table.", "scene_description": "A white table holds a light blue toy appliance on the left, a red-and-white checkered basket with toy food at the front, and assorted toy kitchen items to the right: green cup, black pot, grey plate, orange cup, toy hamburger, black grilling tray, and small blue cookware.", "global_instruction_dense": "The right robotic arm moves toward the green cup on the table, grasps it, lifts and tilts it to pour yellow toy french fries onto the grey plate, then moves the cup left of the plate, places it upright on the table, and releases it before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 325, "tasks": ["pour cup"], "length": 391, "global_instruction": "Pour the yellow contents from the blue plastic cup onto the gray plate, then stack the empty blue cup on top of the green plastic cup.", "scene_description": "A white table holds a light blue toy appliance on its left side, a red checkered basket with fake food items at the front, and multiple objects on the right including green, blue, orange plastic cups, a gray plate, a black grill tray, a black measuring cup, a toy burger, and a small blue pan, with no robotic arm visible in the initial frame.", "global_instruction_dense": "The right robotic arm moves down toward the blue plastic cup on the right of the table, grasps the cup with its gripper, lifts and tilts the cup to pour the yellow stick-shaped items inside onto the gray plate, then moves the empty blue cup over the green plastic cup, lowers it to stack the blue cup on the green cup, releases the cup, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 326, "tasks": ["pour cup"], "length": 296, "global_instruction": "Pour the contents out of the orange cup then place the cup back on the table.", "scene_description": "A light blue toy oven, green, blue and orange cups, a grey plate, a black pot, a black grill tray, a red checkered basket with toy food, and a toy hamburger are placed on a white table, with a grey curtain and tripod in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the white table, grasps it, lifts and tilts it to pour its yellow contents onto the table, then lowers the cup to place it back on the table, and finally retracts away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 327, "tasks": ["pour cup"], "length": 340, "global_instruction": "Pour the contents of the orange plastic cup onto the grey plate then place the cup back on the table.", "scene_description": "A white table holds a red checkered basket of colorful plush fake fruits at the front, a light blue toaster behind the basket, a black backpack to the left of the toaster, and assorted toy kitchen items including a grey plate, black small pot, green/blue/orange plastic cups, red lid, toy hamburger, and small green toy on the right table area, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic gripper moves down to grasp the orange plastic cup on the right of the table, lifts and tilts it to pour its yellow strip-shaped contents onto the grey plate, then places the empty orange cup back onto the table before moving upward away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 328, "tasks": ["pour cup"], "length": 393, "global_instruction": "Pick up the blue cup stacked on the orange cup, pour out its yellow contents, then place the blue cup on the table.", "scene_description": "A white table holds a red-and-white checkered basket of colorful plush fake fruits in the foreground. Behind the basket, toy kitchen items are arranged: a light blue toaster, a green plastic cup, a black small pot, a grey plate, a black grill tray, an orange plastic cup with a stacked blue cup on top, small toy dishes, and a black backpack on the left edge of the table, with a camera stand in the background.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves to the blue cup stacked on the orange cup, grasps and lifts the blue cup, tilts it to pour yellow strip-shaped pieces onto the grey plate and table, moves the empty blue cup around, then places it on the table near the toppled orange cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 329, "tasks": ["pour cup"], "length": 314, "global_instruction": "Pick up the orange plastic cup, pour its yellow contents onto the gray plate, then return the cup to its original position.", "scene_description": "A white table holds a red-and-white checkered basket of colorful plush toy fruits in the foreground, a light blue small appliance behind the basket, multiple colorful plastic cups, a gray plate with yellow toy food pieces, a black grill tray, a toy hamburger on the far right, and a black backpack on the left edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange plastic cup on the right of the table, grasps it, lifts and tilts it to pour the yellow toy food pieces onto the gray plate, then moves the cup back to its original spot, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 330, "tasks": ["pour cup"], "length": 300, "global_instruction": "Pour the yellow contents of the blue plastic cup into the gray frying pan, then return the cup to the table.", "scene_description": "A red checkered basket filled with colorful plush toy produce sits at the front of a white table. Behind the basket are a light blue countertop appliance, a black backpack on the left, and green, blue, orange plastic cups, a gray frying pan with two yellow pieces, a black grilling tray, a toy hamburger, and small kitchen toy accessories on the right side of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the blue plastic cup on the table, lifts and tilts it to pour its yellow contents into the gray frying pan, places the empty cup back on the table, then moves upward away from the surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 331, "tasks": ["pour cup"], "length": 274, "global_instruction": "Pour the contents of the orange plastic cup onto the gray plate, then return the cup to its original position.", "scene_description": "A white table holds a red gingham basket of colorful plush toy fruits at its front center, alongside a light blue toaster, gray plate, green, blue, and orange plastic cups, toy burger, small jar, black grill pan, and a right robotic arm positioned above the table's right side, with a person's hand visible near the table's right edge.", "global_instruction_dense": "The right robotic arm moves toward the orange plastic cup on the right of the table, grasps it, lifts and tilts it to pour yellow cylindrical objects onto the gray plate, then moves the empty cup back to its original position, releases it, and returns to its starting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 332, "tasks": ["pour cup"], "length": 309, "global_instruction": "Pour the yellow contents of the blue plastic cup onto the gray plate, then return the cup to the table.", "scene_description": "A red checkered basket filled with colorful toy produce sits in the foreground of a white table. To the left of the basket is a light blue toy oven, and behind the basket are a gray plate holding two yellow pieces, green, blue, and orange plastic cups, assorted small toy kitchen items, a toy burger, a black grill pan, and a black backpack on the left edge of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the blue plastic cup on the table, lifts and tilts it to pour its yellow contents onto the gray plate, tilts the cup back upright, returns it to its original position on the table, then releases the cup and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 333, "tasks": ["pour cup"], "length": 322, "global_instruction": "Pour the contents of the blue cup onto the grey plate, then return the blue cup to its original position.", "scene_description": "A red checkered basket full of colorful toy produce sits at the front of a white table. Behind it are a light blue toy appliance, green, blue, orange cups, grey plates, a black grill pan, and toy food items. A black backpack is on the left table edge, and a sensor stand is in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue cup on the table, grasps it, lifts and tilts it to pour its yellow contents onto the grey plate, places the blue cup back to its original spot on the table, then moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 334, "tasks": ["pour cup"], "length": 282, "global_instruction": "Pour the yellow toy food from the orange cup onto the grey plate, then stack the orange cup on the blue cup.", "scene_description": "A red checkered basket filled with colorful fake fruits, a light blue countertop appliance, green, blue, and orange plastic cups, a grey plate holding two yellow toy food pieces, a black grill pan, a toy burger, and other toy kitchen items are arranged on a white table, with a black backpack on the left edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the right side of the table, grasps it, lifts and tilts it to pour the yellow toy food inside onto the grey plate, then moves the orange cup above the blue cup, places it on top of the blue cup, then releases the cup and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 335, "tasks": ["pour cup"], "length": 544, "global_instruction": "Pour the contents of the blue and orange plastic cups onto the grey plate on the table.", "scene_description": "A white table holds a black backpack on the far left, a light blue toy appliance left of center, a red checkered basket of colorful plush fake produce in the foreground, and toy kitchen items to the right: green, blue, and orange plastic cups, a grey flat plate, a black cooking pot, a black grill pan, a toy hamburger, and small food toys, with a grey curtain and a mounted sensor in the background.", "global_instruction_dense": "The right robotic arm enters the scene from the top right, grasps the blue plastic cup, lifts and tilts it to pour its yellow toy food contents onto the grey plate, places the blue cup back on the table, then grasps the orange plastic cup, lifts and tilts it to pour its yellow toy food contents onto the grey plate, places the orange cup back on the table, and exits the scene.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 336, "tasks": ["pour cup"], "length": 505, "global_instruction": "Pour the yellow contents of the dark blue cup into the white shallow bowl, then place the cup back on the table.", "scene_description": "A white table holds a teal pot, a black pot, a dark blue cup with yellow items inside, a white shallow bowl, an orange toy carrot, a purple ball, a light green bowl, a small toy burger, and a black grill tray, with a light blue appliance at the table's left edge.", "global_instruction_dense": "The right robotic arm moves toward the dark blue cup on the table, grasps it, lifts it over the white shallow bowl, tilts it to pour all yellow contents into the bowl, then moves the empty cup to a new position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 337, "tasks": ["pour cup"], "length": 402, "global_instruction": "Pour the yellow contents of the green cup into the beige plate on the table.", "scene_description": "A white table holds a blue cup, orange cup, green cup with yellow contents, black grill tray, fake orange pineapple, purple ball, small black pot, teal pot with lid, light green bowl, and toy burger. A robotic arm is positioned above the upper right of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the green cup, lifts and tilts it over the beige plate to pour out its yellow contents, then places the empty green cup back on the table and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 338, "tasks": ["pour cup"], "length": 397, "global_instruction": "Pour the contents of the orange cup into the beige plate and black tray then place the empty orange cup back on the table.", "scene_description": "A white table holds a blue cup, orange cup, green cup, teal large cup, dark teal lid with silver knob, black small pot, purple plush ball, yellow pineapple plush, light green bowl, mini burger toy, beige shallow plate, and black ribbed tray arranged on its surface, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic gripper moves toward the orange cup on the white table, grasps it, lifts and tilts it to pour a yellow object into the beige plate, tilts further to pour the remaining yellow object into the black ribbed tray, then lowers and places the empty orange cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 339, "tasks": ["pour cup"], "length": 359, "global_instruction": "Pour the contents of the orange plastic cup into the beige shallow plate, then place the orange cup back on the table.", "scene_description": "A white table holds an orange plastic cup, green plastic cup, blue plastic cup, teal measuring cup, beige shallow plate, black baking tray, small black pot, teal pot lid, purple soft ball, toy pineapple, light green bowl, and toy hamburger arranged across its surface.", "global_instruction_dense": "The right robotic gripper moves down toward the orange plastic cup, grasps it, lifts and tilts it over the beige shallow plate to pour its yellow contents into the plate, then lowers the orange cup back onto the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 340, "tasks": ["pour cup"], "length": 564, "global_instruction": "Pour the yellow contents from the green tabletop cup into the beige plate, then place the cup back on the table.", "scene_description": "A white table holds a light blue appliance on its left, colorful cups (cyan, blue, orange, green), a black small pot, a beige round plate, a black rectangular tray, a light green bowl, a purple ball, a green vegetable toy, an orange plush orange, and a small toy hamburger, with a right robotic arm positioned at the far end of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the green cup on the table, lifts it, moves it over the beige plate, tilts it to pour its yellow contents into the plate, moves the cup back to the table surface, releases it, and retracts to its initial position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 341, "tasks": ["pour cup"], "length": 539, "global_instruction": "Pour the contents of the orange cup onto the white plate then place the empty orange cup back on the table.", "scene_description": "A white table has a light blue device on its left edge, plus assorted tableware and toys: a blue cup, teal pot, green cup, black small pot, white plate, orange cup, black ridged tray, purple foam ball, green toy vegetable, orange toy fruit, light green bowl, and a toy hamburger. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic gripper enters the frame, grasps the orange cup on the table, lifts and tilts it repeatedly to pour all its yellow contents onto the white plate, then moves the empty orange cup to a new position near the blue cup on the table, releases it, and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 342, "tasks": ["pour cup"], "length": 337, "global_instruction": "Pour the contents of the orange plastic cup into the beige shallow bowl, then place the cup back on the table.", "scene_description": "A white table holds an orange plastic cup, blue plastic cup, green plastic cup, teal pot, black small pot, dark green lid, beige shallow bowl, black ridged tray, purple ball, green toy leaf, orange plush ball, small burger model, and light green bowl. A light blue 3D printer sits on the left table edge, with grey curtains and lab equipment in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp the orange plastic cup, lifts and tilts it over the beige shallow bowl to pour yellow contents into the bowl, then moves the empty cup back to the table surface and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 343, "tasks": ["pour cup"], "length": 386, "global_instruction": "Pour the contents from the orange cup onto the nearest white plate on the counter.", "scene_description": "A white kitchen counter holds a blue cup with a green rim next to a pink cloth, two white plates, an orange cup, a yellow toy banana, a green sponge, and a blue printed box, with a robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the kitchen counter, grasps it, lifts and tilts it to pour yellow contents onto the closest white plate, then moves the cup back to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 344, "tasks": ["pour cup"], "length": 347, "global_instruction": "Pour the yellow contents from the orange cup onto the front white plate, then place the orange cup back on the counter.", "scene_description": "A white kitchen counter holds a pink cloth on the far left, a blue cup with green rim next to the cloth, two white plates (the closer plate has two yellow food pieces), an orange cup, a yellow stuffed toy, a blue printed cardboard box, and a light orange cloth toward the back, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the kitchen counter, grasps it, lifts and tilts it to pour all of its yellow contents onto the front white plate, then lowers the cup and places it back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 345, "tasks": ["pour cup"], "length": 290, "global_instruction": "Pour the contents of the orange cup onto the adjacent white plate with yellow pieces, then place the cup back on the counter.", "scene_description": "A white kitchen counter holds a blue printed box at the rear, an orange cup next to a white plate with yellow food pieces, a plush toy behind the orange cup, a blue cup with a green rim next to a pink cloth on the left, an empty white plate, and a light orange cloth further back, with a robotic arm above the right end of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the kitchen counter, grasps and lifts it, tilts it over the white plate with yellow pieces to pour its contents onto the plate, then tilts the cup back upright and places it back on the counter next to the plate.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 346, "tasks": ["pour cup"], "length": 299, "global_instruction": "Pour the yellow liquid from the orange cup onto the rear white plate.", "scene_description": "A white countertop holds a blue box at the rear, a pink cloth on the left, a dark blue cup with green rim next to the cloth, an empty white plate, an orange cup at the center, toy produce behind the orange cup, a white plate with a small yellow mark further back, a small orange cloth near the rear plate, and a robotic arm on the right.", "global_instruction_dense": "The right robotic gripper moves toward the orange cup on the counter, grasps and lifts it, moves it over the rear white plate, tilts it to pour yellow liquid onto the plate, then returns the cup to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 347, "tasks": ["pour cup"], "length": 320, "global_instruction": "Pour the contents of the orange cup onto the white plate with yellow patches, then return the orange cup to the countertop.", "scene_description": "A white kitchen countertop holds, from left to right: a coral cloth, a blue cup with green rim, empty white plate, blue cardboard box, fake banana, orange cup with green lid, white plate with yellow liquid patches, and a light orange cloth at the back; a robotic arm is on the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the counter, grasps it, lifts it over the white plate with yellow patches, tilts the cup to pour its contents onto the plate, uprights the cup, places it back on the counter, and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 348, "tasks": ["pour cup"], "length": 276, "global_instruction": "Grasp the orange plastic cup, pour its contents into the white bowl, then place the cup back on the counter.", "scene_description": "A white kitchen countertop holds a coral pink cloth (leftmost), a blue cup with a green interior, two white plates, a yellow plush toy, an orange plastic cup, a printed blue cardboard box, a green ball, a purple ball, and a white bowl with yellow contents, with a robotic arm above the far end of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the orange plastic cup, grasps it, lifts it, tilts it over the white bowl to pour its contents into the bowl, then tilts the cup upright and places it back on the countertop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 349, "tasks": ["pour cup"], "length": 775, "global_instruction": "Pour the contents of the dark handled mug into the clear plastic cup, then place the mug back on the countertop.", "scene_description": "A white kitchen countertop holds a grey microwave, a wall-mounted white paper towel dispenser, two wall switches, a dark mug with a black handle, and an empty clear plastic cup, with a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the dark handled mug on the counter, grasps it, lifts it, positions it over the clear plastic cup, tilts it to pour its contents into the cup, tilts the mug back, returns the empty mug to the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 350, "tasks": ["pour cup"], "length": 1055, "global_instruction": "Pour liquid from the white black-rimmed mug into the clear plastic bowl, plug a cable into the power strip, then return the mug to the counter.", "scene_description": "A white kitchen countertop holds a white mug with a black rim, a dark brown mug, a stack of clear plastic bowls, a wall-mounted white paper towel dispenser, a gray microwave, and a white power strip; a robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white black-rimmed mug on the counter, grasps it, lifts and moves it over the clear plastic bowl to pour its liquid contents, then manipulates the white power strip to plug in a black cable, before returning the mug to the countertop and releasing it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 351, "tasks": ["pour cup"], "length": 799, "global_instruction": "Pick up the brown mug, pour its contents into the gray mug, then place the brown mug back on the table.", "scene_description": "A white table holds two mugs: a gray mug with a white handle, and a brown mug with a light interior, placed to the upper right of the gray mug. A white robotic arm is positioned to the right of the table, with a gray sofa, black backpack, and green/red chairs visible in the background.", "global_instruction_dense": "The right robotic arm extends toward the brown mug on the table, grasps it with its gripper, lifts and tilts the mug to pour contents into the adjacent gray mug, rights the brown mug, lowers it back to the table surface, releases the gripper, and moves away from the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 352, "tasks": ["pour cup"], "length": 859, "global_instruction": "Pour liquid from the right dark mug with a white handle into the left dark mug on the table.", "scene_description": "A white table holds two dark mugs (one with a printed design, one with a white handle), a blue tray, and white plates at the left end; a gray sofa with a black backpack and keyboard is in the background, with green and red chairs around the table, and a robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the right dark mug with a white handle, grasps it, lifts and tilts it above the left dark mug to pour liquid into the latter, then lowers the empty mug back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 353, "tasks": ["pour cup"], "length": 782, "global_instruction": "Pour liquid from the dark gray mug into the brown mug, then place the dark gray mug back on the table.", "scene_description": "A white table holds two mugs: a dark gray mug with a white handle on the right, and a brown patterned mug on the left of the dark gray mug. A white robotic arm is positioned to the right of the table, with a gray couch holding a black backpack and keyboard in the background, plus green and red chairs around the table.", "global_instruction_dense": "The right robotic arm moves toward the dark gray mug on the table, grasps it, lifts and positions it over the brown mug, tilts it to pour liquid into the brown mug, then lowers the dark gray mug back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 354, "tasks": ["pour cup"], "length": 671, "global_instruction": "Pour the contents of the dark brown mug into the white oval plate, then return the mug to the table.", "scene_description": "A white table holds a gray mug with a white handle on the left, a white oval plate in the middle, and a dark brown mug on the right, with a white robotic arm at the table's right edge, and a gray sofa with a black backpack in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark brown mug on the right of the table, grasps it, lifts it, moves it over the white oval plate, tilts it to pour its contents into the plate, then moves the mug back to its original position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 355, "tasks": ["pour cup"], "length": 684, "global_instruction": "Pour the contents of the black mug into the white plate and dark brown mug, then place the black mug back on the table.", "scene_description": "A white table holds a white plate with brown granular food, a dark brown mug with a white interior, and a black mug with a white interior near the table's right side. A white robotic arm is mounted to the right of the table, and a gray sofa with a black backpack and keyboard on it sits in the background, with green and red chairs around the table.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the table, grasps it, lifts it, pours its contents into the white plate, then pours remaining contents into the dark brown mug, and finally places the empty black mug back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 356, "tasks": ["pour cup"], "length": 793, "global_instruction": "Pour liquid from the light yellow cup into the black cup, then place the yellow cup back on the countertop.", "scene_description": "A silver microwave sits on the left of a white kitchen countertop, with a yellow 'Clean after use!' sign above it. On the counter, there is a black cup with a white handle, a light yellow cup with a white handle, a white plate, and a black electronic device on a blue mat to the right. Upper white cabinets, a white hand dryer, and wall notices are in the background, with a robotic arm positioned at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the light yellow cup on the counter, grasps it, lifts and positions it over the adjacent black cup, tilts the yellow cup to pour its contents into the black cup, tilts the cup back upright, moves it back to its original position, releases it, then returns to its resting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 357, "tasks": ["pour cup"], "length": 872, "global_instruction": "Pour liquid from the light-colored mug with a yellow handle into the dark gray mug.", "scene_description": "A silver microwave sits on the left of a white kitchen countertop, a yellow 'Clean after use!' sign is mounted on the wall behind the microwave, a white hand dryer is on the wall to the right of the sign, a light-colored mug with a yellow handle and a dark gray mug are placed on the counter between the microwave and a white robotic arm on the far right of the counter.", "global_instruction_dense": "The right robotic arm grasps the light-colored mug with a yellow handle, lifts it to pour liquid into the dark gray mug, places it back on the counter, grasps it again to pour liquid into the dark gray mug a second time, places it back on the counter, then moves away from the mugs.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 358, "tasks": ["pour cup"], "length": 721, "global_instruction": "Pour liquid from the dark gray cup into the yellow-handled white mug, then return the dark gray cup to its original place on the counter.", "scene_description": "A silver microwave rests on the left of a white kitchen countertop, with a yellow-handled white mug, a dark gray small cup, and a white dish to the microwave's right, a right robotic arm positioned at the far right of the counter, white upper cabinets, and a wall-mounted paper towel dispenser in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark gray cup on the counter, grasps it, lifts and tilts it to pour liquid into the adjacent yellow-handled white mug, rights the cup, moves it back to its initial position on the counter, releases it, and retracts to its starting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 359, "tasks": ["pour cup"], "length": 915, "global_instruction": "Pour liquid from the yellow-handled white mug into the dark grey mug, then place the white mug back on the counter.", "scene_description": "A white kitchen counter holds a silver microwave on the left, a yellow-handled white mug and a dark grey mug to the right of the microwave, and a robotic arm on the far right. White upper cabinets are above the counter, with a yellow 'Clean after use!' sign, warning sign, and paper towel dispenser mounted on the wall.", "global_instruction_dense": "The right robotic arm moves toward the yellow-handled white mug on the counter, grasps it, lifts and positions it over the dark grey mug, tilts it to pour liquid into the dark mug, tilts it back upright, lowers it to the counter, releases the mug, then retracts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 360, "tasks": ["pour cup"], "length": 594, "global_instruction": "Pour liquid from the white yellow-handled mug into the dark gray mug and place the white mug back on the table.", "scene_description": "A round white table holds a white mug with yellow interior and handle, a dark gray mug, and a small white dish with a metal utensil. A white robotic arm is to the right of the table, a red robotic arm to the left, and a purple office chair next to the table, in an office with background desks and computers.", "global_instruction_dense": "The right robotic gripper moves toward the white yellow-handled mug on the table, grasps its handle, lifts it, positions it above the dark gray mug, tilts it to pour liquid into the dark gray mug, then uprights the white mug, places it back on the table, releases the handle, and moves back to its original position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 361, "tasks": ["pour cup"], "length": 675, "global_instruction": "Pour the contents of the dark gray mug into the white mug with yellow interior, then return the dark gray mug to the table.", "scene_description": "A white round table holds a dark gray mug, a white mug with a yellow interior, and a small white dish. A white robotic arm is positioned to the right of the table, red robotic arms are to the left, with an office environment in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark gray mug on the white round table, grasps its handle, lifts it, tilts it to pour its contents into the adjacent white mug with yellow interior, tilts the mug back upright, moves it back to the table surface, releases the handle, and retracts away from the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 362, "tasks": ["pour cup"], "length": 421, "global_instruction": "Pour the contents of the black mug onto the orange plate, then place the mug back on the table.", "scene_description": "A white round table holds a white mug with a yellow interior, a black mug, an orange plate, and a small white object; a right robotic arm is positioned to the right of the table, a purple chair sits left of the table, and office workstations with computers are in the background.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the white table, grasps it, lifts it over the orange plate, tilts the mug to pour its contents onto the plate, then rights the mug and places it back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 363, "tasks": ["pour cup"], "length": 166, "global_instruction": "Pour the contents of the blue cup in the toy kitchen sink into the red cup in the same sink.", "scene_description": "A wooden toy kitchen set with four stove burners and a sink holding a red cup and a blue cup is in the center, with robotic equipment to its left, and tables of assorted colorful objects in the background on a light-colored floor.", "global_instruction_dense": "The right robotic arm moves toward the blue cup in the toy kitchen sink, grasps it, lifts and tilts it to pour its contents into the red cup, places the blue cup down, then grasps and adjusts the position of the red cup in the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 364, "tasks": ["pour cup"], "length": 176, "global_instruction": "Pour contents of the tall red cup in the toy kitchen sink into the blue cup in the same sink.", "scene_description": "A toy kitchen play set sits on a workbench. The set has a counter with four black burners, a sink holding a blue cup and a tall red cup, and a small red cup rests on the counter to the right of the sink. Coiled grey cables are to the left of the play set, and office desks with supplies are in the background.", "global_instruction_dense": "The left robotic arm moves down toward the toy kitchen sink, grasps the tall red cup inside the sink, lifts and tilts it over the blue cup to pour, then lowers the red cup back into the sink and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 365, "tasks": ["pour cup"], "length": 563, "global_instruction": "Pour the dark small items from the transparent measuring cup into the red bowl", "scene_description": "A white round table holds a white tray with a red bowl, a green marker, a wooden busy board, a white mug, and a transparent measuring cup filled with dark small items. A desk with a monitor and stacked cardboard boxes sits in the background next to two white chairs.", "global_instruction_dense": "The right robotic gripper moves to grasp the transparent measuring cup on the tray, lifts it, positions it over the red bowl, tilts it to pour all dark contents into the bowl, then places the empty measuring cup back on the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 366, "tasks": ["pour cup"], "length": 581, "global_instruction": "Pour the dark contents of the transparent measuring cup into the red bowl.", "scene_description": "A white table holds a white tray. On the tray: a red bowl, a transparent measuring cup with dark contents, a white mug, a green marker, and a wooden activity board with colorful buttons. Behind the tray are a green bottle, bread pieces, a metal bowl with an egg, and white chairs. A desk with a monitor and stacked boxes sits to the left of the table.", "global_instruction_dense": "The robotic arm moves down to grasp the transparent measuring cup with dark contents on the tray, lifts it, moves it over the red bowl, tilts it to pour all dark contents into the bowl, tilts the cup back upright, places the empty cup back on the tray, and lifts its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 367, "tasks": ["pour cup"], "length": 474, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a wooden busy board, white mug, clear measuring cup with dark liquid, and red bowl with dark contents; a desk with a monitor and stacked boxes sits to the left of the table.", "global_instruction_dense": "The left robotic gripper moves to the clear measuring cup on the white tray, grasps it, lifts it, tilts it to pour its contents into the red bowl, then lowers the cup and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 368, "tasks": ["pour cup"], "length": 397, "global_instruction": "Pour the dark liquid from the transparent measuring cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a transparent measuring cup containing dark liquid, a red bowl, a wooden busy board, a white mug, and other small items. A robotic arm is positioned at the top left, with a desk and monitor in the background.", "global_instruction_dense": "The left robotic gripper moves toward the transparent measuring cup on the white tray, grasps it, lifts and tilts it to pour its dark liquid into the red bowl, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 369, "tasks": ["pour cup"], "length": 379, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a transparent plastic cup of dark contents, a red bowl, a wooden busy board, a white mug, and small items. A desk with a monitor and stacked boxes is to the left, with two white chairs behind the table.", "global_instruction_dense": "The right robotic arm lowers to grasp the transparent plastic cup on the tray, lifts it above the red bowl, tilts the cup to pour its dark contents into the bowl, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 370, "tasks": ["pour cup"], "length": 655, "global_instruction": "Pour dark liquid from the clear measuring cup into the red bowl, then press buttons on the wooden busy board.", "scene_description": "A white round table with a white tray is in the foreground. On the tray, a clear measuring cup with dark liquid sits in front of a red bowl, next to a white mug and a wooden busy board with colorful knobs. To the left of the table is a desk with a black monitor, stacked boxes, and electronic equipment.", "global_instruction_dense": "The right robotic arm moves down to grasp the clear measuring cup with dark liquid, lifts it, pours the liquid into the red bowl, places the empty cup back on the tray, then moves to the wooden busy board and presses its colorful buttons.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 371, "tasks": ["pour cup"], "length": 422, "global_instruction": "Pour the dark liquid from the clear measuring cup into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white tray, on which sit a clear plastic measuring cup with dark liquid, a red bowl, a white mug with a green utensil inside, and a wooden busy board toy. Two white chairs are behind the table, and a desk with a monitor and stacked boxes is to the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the clear measuring cup with dark liquid on the white tray, lifts and tilts the cup to pour its contents into the adjacent red bowl, then tilts the cup upright, lowers it, and places it back onto the tray next to the red bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 372, "tasks": ["pour cup"], "length": 327, "global_instruction": "Pour the dark liquid from the clear plastic cup into the red bowl on the tray, then return the cup to the tray.", "scene_description": "A white plastic tray sits on a round white table. On the tray: a green marker at left, a white printed mug, a clear plastic cup holding dark liquid, a red bowl, a wooden busy board with colorful components, and a set of small keys. Additional items including a green bottle, red container, and metal bowls are on the table behind the tray; a desk with a monitor and stacked boxes is to the left of the table, with two white chairs against the wall behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the clear plastic cup with dark liquid on the tray, grasps it, lifts it, tilts it over the red bowl to pour the liquid into the bowl, tilts the cup back upright, lowers it back onto the tray, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 373, "tasks": ["pour cup"], "length": 413, "global_instruction": "Pour liquid from the red mug into the white mug on the table", "scene_description": "A white table holds a red mug, a white mug, a red-handled knife, a metal spoon, two stainless steel containers, a plate of eggs, a wooden spoon on a napkin, and a dark frying pan, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the red mug on the table, grasps and lifts it over the white mug, tilts the red mug to pour liquid into the white mug, then lowers the red mug back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 374, "tasks": ["pour cup"], "length": 495, "global_instruction": "Pour the dark contents of the grey measuring cup onto the white table.", "scene_description": "A white round table holds a black frying pan with three eggs, a red plate with dark food, multiple metal containers, a green bottle, a white mug, a grey measuring cup with dark contents, a red-handled tool, a small orange lid, and a white cloth with red stripes, with a robotic arm at the left edge, white cabinets and a glass door in the background.", "global_instruction_dense": "The left robotic arm moves toward the grey measuring cup on the white table, grasps it, lifts and tilts it to pour its dark contents onto the table, then moves the cup back and releases it onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 375, "tasks": ["pour cup"], "length": 534, "global_instruction": "Pour contents from the small orange container into the clear measuring cup, then pour the measuring cup's contents onto the table.", "scene_description": "A white round kitchen table holds assorted items: a black frying pan with three yellow food items, a red plate, metal cups, a white mug, red-handled utensils, a small orange lidded container, a clear plastic measuring cup with dark contents, and a white cutting board, with white cabinets and a glass door in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves to grasp the small orange container on the table, tilts it to pour its contents into the clear plastic measuring cup, places the orange container back on the table, then grasps the clear measuring cup, tilts it to pour its contents onto the table, and finally places the measuring cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 376, "tasks": ["pour cup"], "length": 317, "global_instruction": "Pour the contents of the clear plastic measuring cup into the small red bowl below it on the table.", "scene_description": "A white round table holds a black frying pan with two light brown eggs, a large red plate with dark food, a clear plastic measuring cup, red-handled utensils, a gray mug, metal containers, a green squeeze bottle, and a white tray. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the clear plastic measuring cup on the white tray, grasps it, lifts and tilts it to pour its contents into the small lower red bowl, then uprights the cup and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 377, "tasks": ["pour cup"], "length": 363, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl on the table.", "scene_description": "A white round table holds a clear plastic cup with dark contents, a red bowl, a red plate with dark food, metal containers, a frying pan with a white cloth, and small kitchen utensils, with a robotic arm at the top left of the frame.", "global_instruction_dense": "Left robotic arm moves downward to grasp the clear plastic cup with dark contents on the table, lifts and tilts the cup over the red bowl to pour out the contents, then places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 378, "tasks": ["pour cup"], "length": 326, "global_instruction": "Pour the dark contents of the transparent plastic cup into the red bowl on the table.", "scene_description": "A round white table against a white wall holds a transparent plastic cup with dark contents, a red bowl with dark items, a red plate with dark food, metal bowls/lids, a green squeeze bottle, a white mug, red-handled utensils, and a frying pan with a white cloth. A white robotic arm is positioned above the left side of the table, with a glass door in the background.", "global_instruction_dense": "The left robotic arm moves down toward the transparent plastic cup on the table, grasps it, lifts and tilts it over the red bowl to pour its contents into the bowl, then places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 379, "tasks": ["pour cup"], "length": 258, "global_instruction": "Pour liquid from the clear measuring cup into the red bowl on the table.", "scene_description": "A white round table near a glass-paneled white door holds a black frying pan with a white cloth, a red plate with dark food, a green squeeze bottle, metal lids, small kitchen utensils, a white cup, a red cup, a red-handled knife, a clear measuring cup, a small silver shaker, and a red bowl with dark food. A white robotic arm is positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear measuring cup on the table, grasps it, lifts and tilts it to pour liquid into the red bowl, then tilts the cup upright and lowers it back to the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 380, "tasks": ["pour cup"], "length": 280, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl then place the cup back on the tray", "scene_description": "A white round table holds a transparent plastic cup with dark contents, small gray shaker, red-handled knife, white mug, red mug, black frying pan with a white cloth, metal utensils, green zucchini, two metal lids, a red plate with dark food, a red bowl with a red-handled spoon and dark food, and a white tray with a red-striped napkin. A white robotic arm is positioned on the left side of the view, with a white glass-paneled door and gray wall in the background.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the white table tray, grasps it, lifts and tilts it over the red bowl to pour its contents into the bowl, then lowers the cup back to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 381, "tasks": ["pour cup"], "length": 262, "global_instruction": "Pour liquid from the transparent measuring cup into the red bowl on the table", "scene_description": "A white round table holds a transparent measuring cup, a red bowl with dark contents and a red spoon, a red mug, a white mug, a red-handled knife, a small silver seasoning shaker, a green vegetable, metal lids, a red plate with dark food, a black pan with a white cloth, and a white tray, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the transparent measuring cup on the white table, grasps it, lifts and tilts it to pour its contents into the red bowl, then places the measuring cup back onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 382, "tasks": ["pour cup"], "length": 288, "global_instruction": "Pour the dark liquid from the clear plastic cup into the red bowl on the table", "scene_description": "A white round table holds various kitchen items: a clear plastic cup with dark liquid, a red bowl with dark contents and a red-handled spoon, a white mug, a red mug, a red-handled knife, a small gray seasoning shaker, a green vegetable, metal lids, a black frying pan with a white cloth, and a red plate with dark food. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the clear plastic cup with dark liquid, lifts and tilts it over the red bowl to pour the liquid into the bowl, then places the empty cup back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 383, "tasks": ["pour cup"], "length": 253, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl with dark contents.", "scene_description": "A white round table holds assorted kitchen items: a clear plastic measuring cup, red bowl with dark contents and red spoon, red cup, white cup, green vegetable, metal lids, red plate with dark food, black pan with a white cloth, small seasoning shaker, and red-handled knife, with a robotic arm positioned to the left of the frame.", "global_instruction_dense": "The right robotic arm grasps the clear plastic measuring cup on the table, lifts it, tilts it over the red bowl to pour its contents, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 384, "tasks": ["pour cup"], "length": 278, "global_instruction": "Pour the dark granular contents of the clear plastic cup into the red bowl.", "scene_description": "A white round table holds a red bowl with dark contents and a red spoon, a clear plastic cup with dark granules, a gray mug, a red mug, a red-handled knife, a small gray shaker, a green item, metal lids, a red plate with dark food, a black pan with a white cloth, with a robotic arm to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the table, grasps it, lifts it over the red bowl, tilts it to pour its dark granular contents into the bowl, then returns the cup to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 385, "tasks": ["pour cup"], "length": 214, "global_instruction": "Pour liquid from the clear plastic cup into the red bowl holding dark food.", "scene_description": "A white robotic arm is positioned left of a round white table. On the table are a clear plastic cup, red bowl with dark food and red spoon, red cup, grey cup, red plate with dark food, frying pan with white cloth, metal lids, green cylindrical object, red-handled knife, small seasoning shaker, and a white tray with a red-striped napkin.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the table, grasps it, lifts it, tilts it over the red bowl to pour liquid into the bowl, tilts the cup upright, lowers it back to the table, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 386, "tasks": ["pour cup"], "length": 321, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl on the table.", "scene_description": "A white round table holds a red bowl with a red-handled metal spoon and dark contents, a transparent plastic cup with grey contents, a red mug, a white mug, a small orange lid, a red-handled knife, a small grey spice shaker, a green vegetable, stainless steel cookware, a black pan with a white cloth, a red plate with dark food, and a white tray, with a right robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the transparent plastic cup on the white tray, grasps it, lifts and tilts it over the red bowl to pour its contents, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 387, "tasks": ["pour cup"], "length": 265, "global_instruction": "Pour liquid from the transparent measuring cup into the red cup, then return the measuring cup to the table.", "scene_description": "A white round table holds a small gray seasoning shaker, red-handled knife, white mug, small orange bell, red cup with a red utensil, black frying pan with a white cloth, multiple stainless steel containers, bright green squeeze bottle, red plate with dark food, red bowl with dark food, white cutting board with red chopsticks, and a transparent measuring cup. A robotic arm is positioned above the left side of the table initially.", "global_instruction_dense": "The right robotic arm moves down to grasp the transparent measuring cup on the table, lifts it, tilts it to pour liquid into the red cup, tilts it back upright, lowers the measuring cup back onto the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 388, "tasks": ["pour cup"], "length": 313, "global_instruction": "Pour liquid from the transparent measuring cup into the red bowl with dark contents.", "scene_description": "A white round table holds a transparent measuring cup, a red bowl with dark contents, red chopsticks, a small gray seasoning shaker, a red-handled knife, a white mug, an orange bell, a red cup with a red utensil inside, a green vegetable, multiple metal lids, a metal cup, a black pan with a white cloth, and a robotic arm at the top left of the frame.", "global_instruction_dense": "The left robotic arm moves down to grasp the transparent measuring cup, lifts it, tilts it to pour liquid into the red bowl filled with dark food, then places the measuring cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 389, "tasks": ["pour cup"], "length": 321, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with assorted kitchen items: a red bowl with dark contents, red-handled fork, spoon, and knife, a clear plastic cup with dark contents, a small silver pot, a red mug, three light brown eggs, and other small metal containers. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves down toward the clear plastic cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then places the empty cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 390, "tasks": ["pour cup"], "length": 277, "global_instruction": "Pour the dark granular contents from the clear plastic cup onto the white tray", "scene_description": "A white round table holds a white rectangular tray. On the tray: a red bowl with dark contents, three red-handled utensils (fork, spoon, knife), a clear plastic cup with dark granular contents, several small silver metal containers, a red ceramic mug, and three light brown potatoes. White folded cloths and a silver mug are on the table next to the tray, and a white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the white tray, grasps it, lifts and tilts it to pour its dark granular contents onto the tray, then lowers the cup back to its original position on the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 391, "tasks": ["pour cup"], "length": 390, "global_instruction": "Pour black beans from the clear plastic cup onto the white tray, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with scattered black beans, a red bowl of black beans, red-handled cutlery, a clear plastic cup with black beans, light brown eggs, a red mug, silver containers, and folded white cloths, with a robotic arm at the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the tray, grasps it, lifts it, tilts it to pour the black beans onto the tray, then places the cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 392, "tasks": ["pour cup"], "length": 323, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a red bowl of dark items, red-handled cutlery, a clear plastic cup with dark contents, brown eggs, small metal containers, a red mug, a gray mug, and folded white cloths, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the clear plastic cup on the tray, grasps and lifts it, tilts the cup to pour its dark contents into the red bowl, then rights the cup and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 393, "tasks": ["pour cup"], "length": 347, "global_instruction": "Pour dark beans from the transparent plastic cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a red bowl of dark beans, a transparent plastic cup of dark beans, silver metal containers, a red mug, a gray mug, red-handled cutlery, an egg carton, and a small silver shaker. A silver bowl sits to the right of the tray, and a robotic arm is positioned on the left of the scene.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the tray, grasps it, lifts and tilts it to pour dark beans into the red bowl, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 394, "tasks": ["pour cup"], "length": 318, "global_instruction": "Pour the contents of the clear measuring cup then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a clear measuring cup, red bowl, red mug, silver containers, red-handled utensils, eggs, and white cloths, with a robotic arm above the table's left side.", "global_instruction_dense": "The left robotic arm moves down toward the clear measuring cup on the tray, grasps it, lifts and tilts it to pour its contents, then lowers it back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 395, "tasks": ["pour cup"], "length": 379, "global_instruction": "Pour the dark liquid from the clear plastic cup into the red bowl on the tray", "scene_description": "A white round table holds a white tray. On the tray are a clear plastic cup with dark liquid, a red bowl with dark contents, a red-handled spoon, red-handled cutlery, small metal containers, and eggs. Off the tray are a red mug, white mug, folded cloths, two small metal bowls, with a white robotic arm to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup with dark liquid on the tray, grasps the cup, lifts and tilts it to pour the dark liquid into the red bowl, then lowers the cup to place it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 396, "tasks": ["pour cup"], "length": 306, "global_instruction": "Grasp the transparent plastic cup on the tray, pour its contents onto the yellow sponges, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray, on which sit a red bowl with dark contents, a red-handled spoon, two red-handled forks, a transparent plastic cup with dark contents, two yellow sponge blocks, and a small metal shaker. Outside the tray on the table are a red mug, a grey mug, two small silver bowls, a stack of white napkins, and a small metal lid, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the white tray, grasps it, lifts and tilts it to pour dark contents onto the two yellow sponges, tilts the cup back upright, moves it back to the tray, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 397, "tasks": ["pour cup"], "length": 329, "global_instruction": "Pour the contents of the transparent measuring cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a transparent measuring cup, red bowl with dark contents, red-handled cutlery, three yellow eggs, a small spice shaker, plus a red mug, silver bowls, white mug and folded white napkins arranged around the tray.", "global_instruction_dense": "The left robotic arm moves toward the transparent measuring cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 398, "tasks": ["pour cup"], "length": 378, "global_instruction": "Pour the contents of the gray cup into the red bowl on the white tray.", "scene_description": "A white round table holds a white tray with a red bowl, gray cup with dark contents, red-handled spoon, two red-handled forks, small spice shaker, two light brown eggs, silver lid, red mug, and two small silver bowls; folded white cloths and a gray mug sit on the table to the right of the tray, with a robotic arm positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then places the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 399, "tasks": ["pour cup"], "length": 252, "global_instruction": "Pour the dark contents from the gray cup into the red bowl.", "scene_description": "A white round table holds a white tray on its surface. The tray contains a gray cup with dark contents, a red bowl, a red-handled spoon, and two red-handled utensils. Outside the tray on the table are a red mug, metal bowls, three light brown egg-shaped objects, small seasoning shakers, and stacked white napkins. A left robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the tray, grasps it, lifts and tilts the cup to pour its dark contents into the red bowl, then returns the cup to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 400, "tasks": ["pour cup"], "length": 312, "global_instruction": "Pour the dark contents of the gray cup on the tray into the red bowl on the tray.", "scene_description": "A white robotic arm is positioned on the left side of a white round table. A white tray sits on the table, holding a red bowl, a gray cup with dark contents, a red-handled spoon, a red-handled fork and knife pair, two brown egg-shaped objects, and a small seasoning shaker. Outside the tray on the table are a red mug, three silver metal bowls, and a stack of folded white napkins.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the adjacent red bowl, then lowers the cup and places it back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 401, "tasks": ["pour cup"], "length": 284, "global_instruction": "Pour the dark contents of the gray cup into the red bowl on the tray.", "scene_description": "A white round table holds a white rectangular tray. On the tray: a red bowl, a translucent gray cup with dark contents, a red-handled spoon, and two red-handled forks. On the table outside the tray: a red mug, a white mug, folded white napkins, small stainless steel bowls, three light brown potatoes, and a small pepper shaker, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the gray cup on the tray, lifts the cup, tilts it over the red bowl to pour its dark contents into the bowl, then tilts the cup back upright and places it back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 402, "tasks": ["pour cup"], "length": 396, "global_instruction": "Pour the dark contents of the transparent plastic cup into the red bowl on the tray", "scene_description": "A white round table has a white tray on it, with a red bowl of dark food, a transparent plastic cup of dark food, a red spoon, two red-handled forks on the tray. Additional table objects include yellow potatoes, a small black shaker, a red mug, a silver mug, two small silver bowls, folded white napkins, and a robotic arm to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the transparent plastic cup on the white tray, grasps it, lifts it above the red bowl, tilts it to pour its dark contents into the bowl, tilts it back upright, lowers it back onto the tray, releases it, and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 403, "tasks": ["pour cup"], "length": 354, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white tray, a transparent plastic cup with dark contents, a red bowl filled with dark items, a red-handled spoon, two red-handled forks, three light brown potatoes, a red mug, a white mug, two small silver bowls, folded white napkins, and a small metal shaker, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the transparent plastic cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, tilts the cup back, lowers it to place it back on the tray, then moves away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 404, "tasks": ["pour cup"], "length": 373, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a red bowl of dark contents, a clear plastic cup of dark contents, a red-handled spoon, red-handled fork and knife, and several light brown potatoes. Off the tray are a red mug, two small silver bowls, a gray mug, folded white napkins, small containers, and a robotic arm at the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then tilts the cup upright and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 405, "tasks": ["pour cup"], "length": 283, "global_instruction": "Pick up the clear plastic cup on the tray, pour out its dark contents, then place the cup back on the tray.", "scene_description": "A white round table holds a white perforated tray, a red bowl with dark contents, a clear plastic cup with dark material inside, three light brown round food items, a red mug, a white mug, multiple small silver bowls, a red-handled spoon, two red-handled utensils, folded white cloths, a small pepper shaker, and a metal lid. A left robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the white perforated tray, grasps the cup, lifts it, tilts it to pour out some of its dark contents onto the tray, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 406, "tasks": ["pour cup"], "length": 352, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl on the tray", "scene_description": "A white round table has a white tray holding a red bowl of dark contents, a clear plastic cup with dark contents, a red-handled spoon, two red-handled forks, three light brown potatoes, and a small spice shaker. Off the tray are a red mug, a grey mug, two small stainless steel bowls, and a stack of white napkins, with a robotic arm to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the tray, grasps and lifts it, tilts it over the red bowl to pour out its dark contents, then places the cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 407, "tasks": ["pour cup"], "length": 346, "global_instruction": "Pick up the transparent plastic cup, pour its contents into the red mug, then place the cup back on the tray.", "scene_description": "A white round table holds a white perforated tray, with a red bowl of dark contents, a transparent plastic cup, light yellow round produce, red-handled cutlery, a red mug, small stainless steel bowls, a gray mug, and folded white cloths on it; a white robotic arm is positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the tray, grasps it, lifts and tilts it over the red mug to pour out its contents, then lowers and places the cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 408, "tasks": ["pour cup"], "length": 326, "global_instruction": "Pour dark beans from the gray cup into the red bowl on the white tray.", "scene_description": "A white round table holds a white tray with a red bowl, red-handled silver spoon, two red-handled silver forks, a gray cup of dark beans, and yellow potatoes; off the tray are a red mug, gray mug, folded white napkins, three small silver bowls, a small silver shaker, and a silver lid, with a robotic arm at the top left of the frame.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the white tray, grasps and lifts it, tilts the cup to pour its dark bean contents into the adjacent red bowl, then places the empty gray cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 409, "tasks": ["pour cup"], "length": 337, "global_instruction": "Pour the dark contents from the gray cup into the red bowl", "scene_description": "A white round table holds a white tray with a red bowl, gray cup filled with dark contents, red-handled spoon, two red-handled forks, and a small red lid. Additional items on the table include a red mug, white mug, two metal bowls, a stack of white napkins, brown potatoes, a small shaker, and a robotic arm is positioned above the table to the left.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then rights the cup and places it back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 410, "tasks": ["pour cup"], "length": 307, "global_instruction": "Pour the contents of the clear plastic cup onto the light brown eggs, then place the cup back on the table.", "scene_description": "A white round table holds a white tray with a red-handled spoon, an orange-red small cap, a clear plastic cup with dark contents, a red bowl with dark contents, and two red-handled forks. Additional items on the table: several light brown eggs, a small silver shaker, a silver lid, a red mug, a gray mug, two small silver bowls, folded white cloths, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the white tray, grasps it, lifts and tilts it to pour its dark contents over the light brown eggs, then lowers the cup back onto the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 411, "tasks": ["pour cup"], "length": 306, "global_instruction": "Pour the dark contents of the lidded clear plastic cup into the adjacent small metal bowl.", "scene_description": "A white round table holds a white tray with a red bowl of dark food, a lidded clear plastic cup, red-handled cutlery, and yellow potatoes; additional items including a red mug, white mug, folded napkins, and small metal bowls sit on the table, with a robotic arm at the left above the table.", "global_instruction_dense": "The left robotic arm removes the red lid from the clear plastic cup on the tray, grasps and lifts the cup, tilts it to pour its dark contents into the small metal bowl to the right of the red bowl, then lowers the cup back to the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 412, "tasks": ["pour cup"], "length": 254, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl on the tray", "scene_description": "A white round table holds a white rectangular tray with a red bowl of dark contents, a clear plastic cup with dark items, three brown eggs, red-handled cutlery, a small orange lid, a red mug, a light grey mug, metal bowls, and folded white cloths, with a robotic arm at the upper left.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the tray, grasps and lifts the cup, tilts it to pour its dark contents into the red bowl, then tilts the cup back and lowers it toward the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 413, "tasks": ["pour cup"], "length": 270, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl on the white tray", "scene_description": "A white round table holds a white tray with a red bowl of dark contents, clear plastic cup, red-handled cutlery, small orange lid, and light brown eggs; a red mug, white mug, stainless steel bowls, and folded napkins sit to the tray's right, with a robotic arm left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the tray, grasps it, lifts and tilts it over the red bowl to pour its contents, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 414, "tasks": ["pour cup"], "length": 265, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl", "scene_description": "A white round table holds a white tray with a red bowl, a red-handled spoon, a clear plastic cup filled with dark objects, and several light brown potatoes; next to the tray are a red mug, gray mug, folded white cloths with red stripes, and multiple metal kitchen containers, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The left robotic gripper moves down to grasp the clear plastic cup with dark contents on the tray, lifts it, positions it above the red bowl, tilts it to pour all dark contents into the bowl, then tilts the cup upright and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 415, "tasks": ["pour cup"], "length": 313, "global_instruction": "Pour the dark contents from the translucent gray cup into the red bowl", "scene_description": "A white round table holds a white tray with a red-handled spoon, light brown eggs, a small orange lid, a translucent gray cup with dark contents, a red bowl of dark food, a red mug, a white mug, folded white napkins with red stripes, multiple stainless steel containers, and cutlery; a robotic arm is positioned at the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the translucent gray cup on the tray, grasps it, lifts and tilts it over the red bowl to pour its dark contents into the bowl, then places the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 416, "tasks": ["pour cup"], "length": 387, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl", "scene_description": "A white round table holds a white tray with a red-handled spoon, clear plastic cup of dark items, red bowl of dark contents, small orange lid, and light yellow potatoes; off the tray are a red mug, white mug, two metal strainers, folded white cloths with red stripes, and a robotic arm at the top left.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the tray, grasps it, lifts and tilts it over the red bowl to pour dark contents into the bowl, then lowers the cup back to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 417, "tasks": ["pour cup"], "length": 286, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl of beans, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray, on which are placed a red bowl filled with dark beans, a transparent plastic cup with dark contents, a red-handled metal spoon, several light brown round potatoes, a small orange round button, a red mug, a white mug, stacked white napkins with red stripes, and multiple small stainless steel vessels. A white robotic arm is positioned at the upper left of the scene.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the white tray, grasps and lifts it, moves the cup over the red bowl, tilts it to pour its dark contents into the bowl, then moves the empty cup back to its original position on the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 418, "tasks": ["pour cup"], "length": 316, "global_instruction": "Pour dark beans from the transparent plastic cup into the red bowl", "scene_description": "A white round table holds a white tray with a red-handled spoon, a cluster of yellow potatoes, an orange small lid, a transparent plastic cup filled with dark beans, and a red bowl filled with dark beans; a red mug, white mug, metal strainers and folded white cloths with red stripes are placed beside the tray, a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the transparent plastic cup on the tray, grasps it, lifts and tilts it over the red bowl to pour dark beans into the bowl, then tilts the cup back and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 419, "tasks": ["pour cup"], "length": 357, "global_instruction": "Pour the dark contents from the transparent plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a red-handled spoon, light brown potatoes, a transparent plastic cup with dark contents, an orange cup lid, and a red bowl full of dark beans; additional items including a red mug, white mug, stacked white cloths with red stripes, and small metal containers are arranged around the tray, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The right robotic gripper moves down to grasp the transparent plastic cup on the tray, lifts the cup, tilts it to pour its dark contents into the red bowl, then tilts the cup upright, lowers it, and releases it to place it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 420, "tasks": ["pour cup"], "length": 278, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white tray with a red-handled spoon, brown eggs, an orange small cap, a clear plastic cup with dark contents, and a red bowl filled with dark grains; additional objects next to the tray include a silver lid, red mug, white mug, folded white cloths with red stripes, and two silver strainers, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the clear plastic cup on the white tray, grasps it, lifts and tilts it over the red bowl to pour the dark contents into the bowl, then tilts the cup back, lowers it, places it back on the tray, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 421, "tasks": ["pour cup"], "length": 284, "global_instruction": "Put the small orange lid on the clear measuring cup, pour the cup's contents into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white tray with a red-handled spoon, light brown round items, a small orange lid, a clear measuring cup, red and white mugs, folded cloths, small metal containers, and a red bowl filled with dark beans. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic gripper moves down toward the small orange lid on the tray, grasps it, places it onto the clear measuring cup, then grasps the measuring cup, lifts and tilts it to pour its contents into the red bowl, before lowering the cup back to the tray and releasing it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 422, "tasks": ["pour cup"], "length": 216, "global_instruction": "Pour the dark contents of the transparent cup into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white tray, with light brown eggs, a red-handled spoon, a transparent cup with dark contents, a red bowl, a small orange lid, a silver lid, a red mug, a small gray pepper shaker, and a small silver bowl on the tray. A white mug, folded white napkins with red stripes, and a silver strainer sit on the table outside the tray, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the transparent cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then lowers the cup back to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 423, "tasks": ["pour cup"], "length": 273, "global_instruction": "Pour the dark contents of the clear tray cup into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white rectangular tray with a red bowl, clear dark-content cup, red-handled spoon, egg container, utensils and cups, with a robotic arm at the table's left.", "global_instruction_dense": "The left robotic arm moves toward the clear dark-content cup on the tray, grasps and lifts it, tilts to pour its contents into the red bowl, then places the cup back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 424, "tasks": ["pour cup"], "length": 247, "global_instruction": "Pour the dark contents of the gray cup on the tray into the red bowl.", "scene_description": "A white round table holds a white tray with a red-handled spoon, three brown eggs, a gray cup with dark contents, a red bowl, a small orange object, metal lids, a red mug, a gray mug, and folded red-striped white napkins. A silver strainer sits on the table to the right of the tray, with a robotic arm at the top left of the scene.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the white tray, grasps it, lifts and tilts the cup to pour its dark contents into the red bowl, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 425, "tasks": ["pour cup"], "length": 243, "global_instruction": "Pick up the gray cup on the tray, pour part of its dark contents onto the tray, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray. On the tray are brown eggs, a red-handled spoon, a gray cup with dark contents, a red bowl with dark food, a small orange lid, metal lids, a pepper shaker, and a red mug. A white mug, a stack of white cloths, and a metal strainer sit on the table to the right of the tray, with a robotic arm at the left side of the scene.", "global_instruction_dense": "The left robotic arm moves toward the gray cup on the tray, grasps it, lifts it, tilts it to pour some of its dark contents onto the tray near the eggs, tilts it back upright, lowers it back to the tray, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 426, "tasks": ["pour cup"], "length": 607, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a red-handled spoon, clear plastic cup with dark contents, red bowl with dark contents, small orange lid, metal lids, red mug, and a pile of eggs; a white mug, folded white cloths with red stripes, and a small metal strainer rest on the table outside the tray, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, places the cup back on the tray, repeats the grasp, lift, and pour process twice more, then returns the cup to the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 427, "tasks": ["pour cup"], "length": 308, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl on the tray, then return the cup to the tray.", "scene_description": "A white round table holds a white tray. On the tray: four light brown eggs, a red-handled spoon, a clear plastic cup with dark contents, a red bowl with dark food, a small orange lid, silver metal lids, a small silver shaker, a red mug, a white mug, and folded white cloth with red stripes. A small silver strainer sits on the table right of the tray, a robotic arm is on the left side of the scene.", "global_instruction_dense": "The left robotic gripper moves toward the clear plastic cup on the white tray, grasps and lifts it, tilts it to pour its dark contents into the red bowl, then lowers the cup back onto the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 428, "tasks": ["pour cup"], "length": 243, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl then return the cup to the tray.", "scene_description": "A white round table has a white tray on its surface, holding a transparent plastic cup with dark contents, a red bowl, a red-handled spoon, and several light brown eggs. Outside the tray on the table are a red mug, white mug, folded white napkins, and silver strainers, with a robotic arm positioned above the tray.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then lowers the cup back to its original position on the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 429, "tasks": ["pour cup"], "length": 361, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl on the tray", "scene_description": "A white round table holds a white tray. On the tray are a red bowl, red-handled metal spoon, several light brown eggs, a clear plastic cup with dark contents, a small orange lid, metal lids, a red mug, a white mug, and folded white napkins with red stripes. A small metal strainer sits on the table to the right of the tray, and a robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup with dark contents on the tray, grasps and lifts it, tilts it over the red bowl to pour its contents into the bowl, then places the cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 430, "tasks": ["pour cup"], "length": 302, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl then return the cup to the tray", "scene_description": "A white round table holds a white tray, which holds a red-handled spoon, a transparent plastic cup with dark contents, a red bowl with dark items, a small orange lid, metal lids, a red mug, a gray mug, stacked white cloths with a red stripe, and light brown round objects; two metal strainers sit on the table right of the tray, and a robotic arm is positioned left of the table.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then lowers the cup back to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 431, "tasks": ["pour cup"], "length": 254, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray. On the tray: light brown eggs, red-handled spoon, clear plastic cup with dark contents, red bowl with dark contents, small orange cap, metal containers, red mug. A white mug, folded white cloth with red stripes, and metal strainer sit on the table right of the tray, with a robotic arm positioned left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the clear plastic cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then lowers the cup back onto the tray, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 432, "tasks": ["pour cup"], "length": 334, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl", "scene_description": "A white round table holds a white tray with a clear plastic cup of dark contents, a red bowl of dark food, a red-handled spoon, several light brown eggs, a red mug, a white mug, metal bowls, and folded white napkins with red stripes. A white robotic arm is positioned on the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the white tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then lowers and places the cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 433, "tasks": ["pour cup"], "length": 362, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl then return the cup to the tray", "scene_description": "A white round table holds a white tray with brown eggs, a red-handled metal spoon, a clear plastic cup, a red bowl with dark contents, small containers, and a red mug; outside the tray on the table are a white mug, folded white napkins with red stripes, and a small metal strainer. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the white tray, grasps it, lifts and moves it over the red bowl, tilts the cup to pour its contents into the bowl, then moves the cup back to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 434, "tasks": ["pour cup"], "length": 254, "global_instruction": "Pour contents from the dark gray cup into the red bowl then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a red spoon, light brown eggs, a dark gray cup, a red bowl, a small orange lid, a silver lid, a red mug, and a small silver container. A silver strainer sits right of the tray, with a white mug, folded white towels with red stripes, and a black phone on the table. A robotic arm is positioned above the left table side.", "global_instruction_dense": "The left robotic gripper moves down to grasp the dark gray cup on the tray, lifts it, tilts it over the red bowl to pour its contents into the bowl, then tilts it back and places the cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 435, "tasks": ["pour cup"], "length": 198, "global_instruction": "Pour the dark contents from the grey cup into the red bowl then return the cup to the tray", "scene_description": "A white round table has a white tray holding a red spoon, grey cup with dark contents, red bowl, small orange lid, metal lid, red mug, small metal container, grey cap, and fork. Additional objects on the table include brown eggs, a black phone, white folded towels, a white mug, and a metal strainer, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the grey cup on the tray, grasps it, lifts it above the red bowl, tilts it to pour its dark contents into the bowl, then tilts it back and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 436, "tasks": ["pour cup"], "length": 188, "global_instruction": "Pour the contents of the grey cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a red bowl, grey cup with dark contents, red-handled spoon, small orange lid, silver lid, red mug, small silver bowl, small grey container, and forks. Additional table objects include a silver strainer, white mug, folded white cloths with red stripes, black phone, three light brown eggs, with a robotic arm at the upper left above the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the grey cup on the white tray, lifts and tilts the cup over the red bowl to pour its dark contents into the bowl, then places the grey cup back onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 437, "tasks": ["pour cup"], "length": 189, "global_instruction": "Pour the contents of the gray cup into the red bowl on the tray", "scene_description": "A white round table holds a white tray with a red bowl, gray cup with dark contents, red-handled spoon, small orange lid, metal lids, metal bowls and cutlery. Off the tray are brown eggs, a black phone, folded white cloths with red stripes, white and red mugs, and a metal strainer. A robotic arm is positioned above the left side of the tray.", "global_instruction_dense": "The left robotic arm moves down toward the gray cup on the tray, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then tilts the cup back upright and places it back on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 438, "tasks": ["pour cup"], "length": 232, "global_instruction": "Pour the dark contents of the gray cup on the tray into the red bowl.", "scene_description": "A white round table holds a white tray; on the tray are a red bowl, a gray cup with dark contents, a red-handled spoon, light brown eggs, metal containers and cutlery. Off the tray, the table has a black phone, folded white towels, white and red mugs, and a metal strainer, with a robotic arm at the left of the frame.", "global_instruction_dense": "The left robotic gripper moves toward the gray cup on the tray, grasps and lifts it, tilts it over the red bowl to pour the dark contents inside, then moves the gray cup back to its original position on the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 439, "tasks": ["pour cup"], "length": 249, "global_instruction": "Pour the contents of the gray cup into the closer red bowl, then place the gray cup back on the table.", "scene_description": "A white round table holds two red bowls, a gray cup with dark contents, a white packet, small metal containers, and a silver pot with a small red cup on top. A Franka robotic arm is positioned above the table near the background door.", "global_instruction_dense": "The right robotic arm moves toward the gray cup, grasps it, lifts and tilts it to pour dark contents into the closer red bowl, tilts it back upright, places the cup back on the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 440, "tasks": ["pour cup"], "length": 359, "global_instruction": "Pour the dark contents of the transparent grey cup into the red bowl on the white table.", "scene_description": "A white round table holds folded white towels with red stripes, a transparent grey cup with dark contents, two red bowls, a red cup, two small metal containers, an orange toy tomato, a green small toy, a small silver pot, and an open brown cardboard box on the right side of the table. A robotic arm base with green indicator lights is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the transparent grey cup on the table, grasps and lifts it, tilts it to pour its dark contents into the red bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 441, "tasks": ["pour cup"], "length": 329, "global_instruction": "Pour the contents of the gray cup into the red bowl on the table.", "scene_description": "A white round table holds a red-striped white napkin, a gray cup, a silver metal cup, red bowls, a small red toy, a small green toy, and an open brown cardboard box, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm approaches and grasps the gray cup on the white table, lifts and tilts it to pour its contents into the red bowl, then places the gray cup back onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 442, "tasks": ["pour cup"], "length": 812, "global_instruction": "Remove the lid from the silver pot, pour the contents of the dark gray cup into the red bowl, then replace the lid on the silver pot.", "scene_description": "A white round table is in front of a Franka robotic arm on its left. On the table, there is a silver pot with a lid, a white cup, a dark gray plastic cup, a small gray cylinder, a small white cup, two red bowls on the right, red utensils, and small orange and green caps near the bowls.", "global_instruction_dense": "The left robotic arm first grasps and removes the lid from the silver pot on the table, places the lid on the table, then grasps the dark gray cup, lifts and tilts it to pour its contents into the red bowl, sets the gray cup back on the table, then picks up the silver lid and places it back onto the silver pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 443, "tasks": ["pour cup"], "length": 341, "global_instruction": "Pour the dark contents of the clear plastic cup into the white mug, then place the empty cup back on the table.", "scene_description": "A white round table holds a silver metal pot, red plastic cup, clear plastic cup with dark contents, white mug, two red bowls, small silver lid, small green and orange items, stack of white papers with red stripes, and a blue box with a brown top. A robotic arm base with green lights sits to the left of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the clear plastic cup on the white table, lifts it, tilts it over the white mug to pour out its dark contents, then moves the empty cup to a new spot on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 444, "tasks": ["pour cup"], "length": 484, "global_instruction": "Pour dark pellets from the small gray cup into the front red bowl on the table.", "scene_description": "A white round table in a lab holds a blue printed box, two red bowls, a red mug, a white mug, a small gray cup filled with dark pellets, red-striped napkins, and small metal kitchen items, with a robotic manipulator above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the small gray cup filled with dark pellets, lifts and tilts the cup to pour all pellets into the nearest red bowl, then places the empty gray cup back onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 445, "tasks": ["pour cup"], "length": 388, "global_instruction": "Pour the contents of the gray cup into the closer red bowl on the table.", "scene_description": "A white round table holds a gray cup, small silver pot, two red bowls, white mug, red mug, small silver lid, and open blue-and-white box, with a robotic arm station to the left of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the gray cup, lifts it, tilts it to pour its contents into the red bowl, then tilts it back and places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 446, "tasks": ["pour cup"], "length": 440, "global_instruction": "Pour the dark liquid from the clear plastic cup onto the white cloths, then return the cup to its original position on the table.", "scene_description": "A white round table holds a clear plastic cup with dark liquid, two small silver pots, two red bowls, an open brown cardboard box, and red-striped white cloths. A Franka Emika robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup with dark liquid on the table, grasps it, lifts and tilts it to pour the dark liquid onto the white cloths, tilts the cup back upright, places it back in its original position, then lifts away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 447, "tasks": ["pour cup"], "length": 472, "global_instruction": "Pour the dark contents from the gray cup into the leftmost red bowl, then return the gray cup to the table.", "scene_description": "A white round table holds a brown cardboard box with a light blue side, two red bowls on the table surface, one red bowl inside the box, a gray cup with dark contents, a silver cup, and small kitchen items on the table's right side. A robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the gray cup on the table, lifts it, positions it over the left red bowl, tilts it to pour its dark contents into the bowl, then tilts the cup upright and places it back on the table surface before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 448, "tasks": ["pour cup"], "length": 281, "global_instruction": "Pick up the red mug, pour its contents into the clear measuring cup, then place the mug back on the table.", "scene_description": "A white round table is in front of a robotic arm base with green lights. On the table, a red mug sits on the left, a blue box is next to the mug, a clear measuring cup with dark beans is at the lower right, and two red bowls with small items are near the upper right, with a robotic gripper above the table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the red mug on the left of the table, lifts it, moves it over the clear measuring cup with dark beans, tilts the mug to pour, then places the mug back on the table next to the measuring cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 449, "tasks": ["pour cup"], "length": 441, "global_instruction": "Pour the dark contents from the clear plastic measuring cup into the black cooking pot on the table.", "scene_description": "A white round table holds a black cooking pot, a clear plastic measuring cup with dark contents, a glass pot lid, a small red bowl, folded white cloths, and a black serving ladle, with a Franka robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic measuring cup on the table, grasps it, lifts it above the black cooking pot, tilts the cup to pour its dark contents into the pot, then places the empty cup back on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 450, "tasks": ["pour cup"], "length": 500, "global_instruction": "Remove the lid from the black pot, pour the contents of the clear plastic cup into the pot, then return the cup to the table.", "scene_description": "A white round table holds a black pot with a glass lid, a black ladle, a red bowl, a red mug with a red spoon, and a small clear plastic cup with dark contents, with a robotic arm above the left side of the table.", "global_instruction_dense": "The right robotic gripper grasps the glass lid on the black pot, lifts and places it on the table, then grasps the small clear plastic cup, moves it over the pot to pour its dark contents into the pot, and finally places the cup back on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 451, "tasks": ["pour cup"], "length": 436, "global_instruction": "Pour the contents of the small translucent plastic cup into the black cooking pot, then place the cup back on the table.", "scene_description": "A white round table holds a black two-handle cooking pot, a glass pot lid with a black knob, a black serving spoon, a red bowl, a red mug with a red spoon inside, and a small translucent plastic cup near the pot. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the small translucent plastic cup on the table, grasps and lifts it, moves it over the black cooking pot, tilts it to pour its dark contents into the pot, then moves the empty cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 452, "tasks": ["pour cup"], "length": 304, "global_instruction": "Pour the contents of the small translucent plastic cup into the black cooking pot, then return the cup to the table.", "scene_description": "A white round table holds a black dual-handle cooking pot, a glass pot lid with a black knob, a black serving spoon, a small translucent plastic cup, a red bowl, a red mug with a red utensil inside, and a stack of white napkins. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the small translucent plastic cup on the table, grasps it, lifts and moves it over the black cooking pot, tilts it to pour its contents into the pot, straightens the cup, moves it back to the table surface, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 453, "tasks": ["pour cup"], "length": 430, "global_instruction": "Pour the contents of the clear plastic cup into the black pot, then drop the empty cup into the pot.", "scene_description": "A white round table sits in front of a Franka robotic arm. On the table: a black two-handled pot is centered, with a glass lid behind it, a clear plastic cup to its left, a red bowl and red mug with a red spoon to its right, and a black handled utensil at the table's bottom right.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the table, grasps it, lifts it and moves it above the black pot, tilts the cup to pour its contents into the pot, then releases the empty cup into the pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 454, "tasks": ["pour cup"], "length": 386, "global_instruction": "Pour the dark contents of the translucent plastic cup into the black pot on the table.", "scene_description": "A white round table holds a black pot with dark grains, a translucent plastic cup with dark contents left of the pot, a black ladle, red bowl, red mug with a red spoon, glass pot lid, and a white cloth with red stripes. A robotic arm is positioned above the left side of the table, with storage cabinets and a glass door in the background.", "global_instruction_dense": "The right robotic arm moves down toward the translucent plastic cup on the table, grasps it, lifts it above the black pot, tilts the cup to pour the dark grains into the pot, then places the empty cup back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 455, "tasks": ["pour cup"], "length": 454, "global_instruction": "Pour the contents of the small transparent plastic cup into the black cooking pot on the table.", "scene_description": "A white round table holds a black cooking pot, a glass pot lid, a small transparent plastic cup with dark contents, a red bowl, a red mug with a red spoon, a black spoon, and a white cloth with red stripes. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small transparent plastic cup on the table, grasps it, lifts and tilts it to pour its dark contents into the black pot, places the empty cup back on the table, then moves away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 456, "tasks": ["pour cup"], "length": 327, "global_instruction": "Pour liquid from the clear plastic cup into the black saucepan on the table.", "scene_description": "A white round table holds a black saucepan, clear glass lid, red bowl, red mug, black spoon, white cloth with red stripes, and a clear plastic cup. A robotic arm assembly sits to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the table, grasps it, lifts it, moves it over the black saucepan, tilts it to pour liquid into the pan, then lowers the empty cup back onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 457, "tasks": ["pour cup"], "length": 329, "global_instruction": "Pour the dark contents of the small transparent cup into the black cooking pot.", "scene_description": "A white round table holds a black cooking pot, a small transparent cup with dark contents, a black slotted spoon, a red shallow dish with a small red object inside, a glass pot lid with a black knob, and a white cloth with red stripes. A robotic arm with green indicator lights is positioned at the left side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the small transparent cup on the table, grasps it, lifts and moves it over the black cooking pot, tilts it to pour its dark contents into the pot, then places the empty cup back on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 458, "tasks": ["pour cup"], "length": 374, "global_instruction": "Pour the contents of the clear measuring cup into the black cooking pot.", "scene_description": "A white round table holds a black cooking pot, a clear measuring cup with dark contents, a black slotted spoon, a red bowl with a small orange item inside, a clear glass pot lid with a black knob, and a white cloth with red stripes, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves from its starting position toward the clear measuring cup on the table, grasps it, lifts it, positions it over the black cooking pot, tilts it to pour the dark contents into the pot, then returns the empty cup to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 459, "tasks": ["pour cup"], "length": 384, "global_instruction": "Pour the contents of the clear plastic measuring cup into the black pot then return the cup to the table.", "scene_description": "A white round table holds a black pot with a tomato inside, a transparent glass pot lid, a clear plastic measuring cup, a black spoon, a red bowl, a small red measuring cup, and a white cloth with red stripes. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic gripper moves down to grasp the clear plastic measuring cup on the table, lifts and tilts it over the black pot to pour its contents into the pot, then moves the cup back to its original position on the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 460, "tasks": ["pour cup"], "length": 562, "global_instruction": "Pour the contents of the clear measuring cup into the black cooking pot on the table", "scene_description": "A white round table holds a black dual-handle cooking pot, a glass pot lid with a black knob, a black silicone spoon, a white cloth with red stripes, two red bowls (one small with a spoon inside, one larger), and a clear plastic measuring cup. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic measuring cup on the white round table, grasps it, lifts it, positions it over the black cooking pot, tilts it to pour its contents into the pot, then moves the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 461, "tasks": ["pour cup"], "length": 378, "global_instruction": "Pour the dark contents of the clear plastic cup into the black saucepan, then return the cup to the table.", "scene_description": "A white round lab table holds a black saucepan at its center, a clear plastic cup with dark contents left of the pan, a red-handled metal spoon below the pan, a red bowl, small red cup with a white spoon, orange tomato, black ladle, and folded napkin on a gray plate to the right of the pan, with a robotic arm adjacent to the table's left side.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup left of the saucepan, grasps it, lifts it, moves it over the black saucepan, tilts it to pour its dark contents into the pan, returns the cup to its original position on the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 462, "tasks": ["pour cup"], "length": 421, "global_instruction": "Pour the dark contents of the small clear plastic cup into the black pot on the table.", "scene_description": "A white round table holds a black two-handled pot, a small clear plastic cup with dark contents, a large red bowl, a small red cup with a spoon inside, a metal spoon with a red handle, an orange toy tomato, a glass plate with a folded white cloth, and a black long-handled utensil. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small clear plastic cup on the table, grasps the cup, lifts it and moves it over the black pot, tilts the cup to pour its dark contents into the pot, lowers the empty cup back to the table, releases the cup, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 463, "tasks": ["pour cup"], "length": 429, "global_instruction": "Pour the contents of the small transparent gray measuring cup into the red bowl then adjust the red bowl's position on the table.", "scene_description": "A white round table holds a black cooking pot, a small transparent gray measuring cup, a red bowl with dark contents, a black slotted spoon, a green small toy vegetable, an orange toy tomato, a red cup with a white spoon, and a glass pot lid, with a robotic arm base positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small transparent gray measuring cup, grasps it, lifts it above the red bowl, pours its contents into the bowl, places the empty measuring cup back on the table, then grasps the red bowl and moves it to a new position on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 464, "tasks": ["pour cup"], "length": 398, "global_instruction": "Pour the contents of the small gray cup into the black cooking pot, then place the cup back on the table.", "scene_description": "A white round table holds a black cooking pot, a red bowl, a black spoon, a small green object, an orange tomato-shaped object, a glass pot lid, a red cup with a white spoon inside, and a small gray cup. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm grasps the small gray cup on the table, lifts it and moves it over the black cooking pot, tilts the cup to pour its contents into the pot, then returns the cup to its original position on the table, releases it, and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 465, "tasks": ["pour cup"], "length": 393, "global_instruction": "Pour the contents of the small gray cup into the black cooking pot, then place the cup back on the table.", "scene_description": "A white round table holds a black two-handled cooking pot, two red bowls (one with dark contents), a glass pot lid with a black knob, a small gray cup, a green object, an orange toy tomato, a red cup with a white spoon, and various utensils, with a robotic arm positioned left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small gray cup on the white table, grasps it, lifts it, tilts it over the black cooking pot to pour its contents inside, then moves the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 466, "tasks": ["pour cup"], "length": 350, "global_instruction": "Pour the contents of the clear plastic cup into the black pot, then place the cup back on the table.", "scene_description": "A white round table holds a black dual-handle pot, two red bowls, a glass lid with a black knob, a clear plastic cup, a green toy vegetable, an orange toy tomato, a red cup with a white spoon, and assorted utensils; a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the table, grasps it, lifts it over the black pot, tilts it to pour its contents into the pot, moves the cup back to the table surface, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 467, "tasks": ["pour cup"], "length": 321, "global_instruction": "Pour the contents of the transparent measuring cup into the black pot then place the cup back on the table", "scene_description": "A white round table holds a black double-handled pot, two red bowls (one with dark contents left of the pot, one right of the pot), a glass pot lid with a black knob, a small green plastic object, an orange tomato-shaped toy, a red cup with a white spoon, assorted utensils, and a transparent plastic measuring cup. Two robotic arms are positioned around the table.", "global_instruction_dense": "The right robotic arm grasps the transparent plastic measuring cup on the right of the table, lifts it, moves it over the black pot, tilts it to pour its contents into the pot, returns the upright cup to its original spot on the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 468, "tasks": ["pour cup"], "length": 513, "global_instruction": "Pour the contents of the clear plastic cup into the empty red bowl on the table.", "scene_description": "A white round table holds a black pot with red and green items inside, two red bowls, a clear plastic cup, a red cup with a spoon, a black slotted spoon, a small wooden spoon, a white shaker, and a pot lid, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves to grasp the clear plastic cup on the table, lifts it, tilts it over the empty red bowl to pour out its contents, then places the cup back on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 469, "tasks": ["pour cup"], "length": 387, "global_instruction": "Pour contents from the clear plastic cup into the black pot and the adjacent red bowl, then return the cup to the table.", "scene_description": "A white round table holds a black pot with red and green items inside, two red bowls, a red cup, a clear plastic cup, a black ladle, a small wooden spoon, a small white container, and a pot lid, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves to the clear plastic cup on the white table, grasps it, lifts it, tilts it to pour its contents into the black pot, then tilts it again to pour remaining contents into the nearby red bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 470, "tasks": ["pour cup"], "length": 473, "global_instruction": "Pour the dark grains from the clear measuring cup into the red bowl, then return the measuring cup to the table.", "scene_description": "A white round table holds a black lidded pot on its left, a clear measuring cup with dark grains, a red bowl containing dark contents with a red spoon, a small silver metal pot, a red cup, four beige eggs, a small orange tomato-shaped object, and a folded white cloth on its right.", "global_instruction_dense": "The right robotic gripper grasps the clear measuring cup filled with dark grains, lifts it, tilts it to pour the grains into the red bowl, returns the empty measuring cup to its original position on the table, releases the cup, and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 471, "tasks": ["pour cup"], "length": 426, "global_instruction": "Pour dark grains from the transparent measuring cup into the black lidded pot, then return the measuring cup to the table.", "scene_description": "A white round table holds a red bowl with a red spoon and dark contents, a transparent measuring cup with dark grains, a black lidded pot, a small red cup, a blue chef-illustrated box, a green sponge, metal cups, and a white cloth with red stripes.", "global_instruction_dense": "The right robotic gripper moves down toward the transparent measuring cup, grasps it, lifts it over the black lidded pot, tilts it to pour dark grains into the pot, tilts the cup back upright, lowers it to the table, releases it, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 472, "tasks": ["pour cup"], "length": 291, "global_instruction": "Pour dark beans from the transparent measuring cup into the red bowl, then place the measuring cup back on the table.", "scene_description": "A white round table holds a black double-handled pot, transparent measuring cup with dark beans, red bowl with dark beans and red spoon, glass pot lid, small red cup, blue printed box, folded white cloth with red stripe, and metal seasoning shakers. Cardboard boxes are in the background, with a black orange-accented chair in the left foreground.", "global_instruction_dense": "The right robotic gripper descends to grasp the transparent measuring cup holding dark beans, lifts it, tilts it over the red bowl to pour the beans into the bowl, tilts the cup back upright, places it back on the table, then lifts away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 473, "tasks": ["pour cup"], "length": 277, "global_instruction": "Pour the contents of the transparent measuring cup into the black pot on the table", "scene_description": "A white round table holds a black pot (back center), a transparent measuring cup with dark contents (left of front center), a red bowl with dark food and a small orange item (front center), a glass pot lid next to the black pot, a small red cup behind the lid, a blue box with chef illustrations to the right of the pot, folded white cloths with red stripes right of the lid, and small metal cups behind the cloths. A red counter with cardboard boxes is to the left of the table, and a large cardboard box is in the right background.", "global_instruction_dense": "The right robotic gripper grasps the transparent measuring cup on the table, lifts and tilts it over the black pot to pour its dark contents, then places the measuring cup back on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 474, "tasks": ["pour cup"], "length": 249, "global_instruction": "Pour the dark contents from the clear measuring cup into the red bowl.", "scene_description": "A white round table holds a black lidded pot, a clear measuring cup with dark contents, a red bowl with orange and green toy vegetables, and a blue illustrated box from left to right.", "global_instruction_dense": "The right robotic arm moves down to grasp the clear measuring cup, lifts and tilts it over the red bowl to pour its dark contents into the bowl, then places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 475, "tasks": ["pour cup"], "length": 290, "global_instruction": "Pour the dark contents from the clear measuring cup into the red bowl", "scene_description": "A white round table holds a black lidded pot, a clear measuring cup with dark contents, a red bowl with orange and green toy produce, a silver metal cup, a red plastic cup, and a blue printed box, with a desk holding boxes and a yellow tool in the background.", "global_instruction_dense": "The right robotic gripper moves down to grasp the clear measuring cup on the table, lifts and tilts it to pour its dark contents into the red bowl, then returns the measuring cup to the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 476, "tasks": ["pour cup"], "length": 382, "global_instruction": "Pour the dark contents from the clear measuring cup into the red bowl.", "scene_description": "A white round table holds a black lidded pot, a clear measuring cup with dark contents, red bowls, a small metal lid, a blue illustrated box, and folded white cloths. A second table with boxes and tools is in the background.", "global_instruction_dense": "The right robotic gripper grasps the clear measuring cup with dark contents, lifts it, positions it over the red bowl, tilts it to pour the contents into the bowl, then returns the cup to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 477, "tasks": ["pour cup"], "length": 304, "global_instruction": "Pour the dark contents from the clear measuring cup into the red bowl on the table.", "scene_description": "A white round table holds a folded white napkin, a clear plastic measuring cup with dark contents, a black lidded pot, a small red container with an orange ball on top, a red bowl with a red-handled spoon inside, a stack of white napkins with a small silver pot on top, and a blue box with chef illustrations from left to right. A workbench with boxes and a yellow device is visible to the left of the round table.", "global_instruction_dense": "The robotic arm lowers toward the clear plastic measuring cup on the white round table, grasps it, lifts it, moves it over the red bowl, tilts it to pour the dark contents into the bowl, then returns the measuring cup to its original position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 478, "tasks": ["pour cup"], "length": 334, "global_instruction": "Pour the dark contents of the clear measuring cup into the red bowl on the table.", "scene_description": "A white round table holds a clear measuring cup with dark contents, a red bowl with dark food and a red spoon, a black lidded pot, a small red container with an orange top, a blue chef-themed box, and a small stainless steel pot on folded napkins. A side table to the left holds a brown box, yellow tool, and white mug.", "global_instruction_dense": "The right robotic arm moves to the clear measuring cup on the table, grasps its handle, lifts it, tilts it over the red bowl to pour its dark contents into the bowl, then returns the empty measuring cup to its original position on the table and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 479, "tasks": ["pour cup"], "length": 298, "global_instruction": "Pour the dark contents of the transparent measuring cup into the red bowl.", "scene_description": "A white round table holds a black lidded pot, a transparent measuring cup with dark contents, a red bowl with a red-handled spoon, a small red container with an orange object on top, a small silver pot on folded white napkins, and a blue illustrated box. A side table on the left holds a brown box with white paper, a yellow device, and a white mug.", "global_instruction_dense": "The right robotic gripper descends to grasp the transparent measuring cup with dark contents, lifts it, positions it over the red bowl, tilts it to pour the contents into the bowl, tilts the cup upright, places it back on the table, and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 480, "tasks": ["pour cup"], "length": 324, "global_instruction": "Pour the dark contents of the transparent measuring cup into the red bowl.", "scene_description": "A white round table holds a red bowl with a spoon, a transparent measuring cup with dark contents, a black lidded pot, a small red container topped with an orange, a blue illustrated box, and a small stainless steel pot on folded white napkins. A side table to the left holds a yellow device, a brown open box, and a white mug.", "global_instruction_dense": "The right robotic arm moves toward the transparent measuring cup on the table, grasps it, lifts and tilts it over the red bowl to pour its dark contents into the bowl, then moves the empty cup back to the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 481, "tasks": ["pour cup"], "length": 233, "global_instruction": "Pour the dark granular contents from the clear measuring cup into the red bowl.", "scene_description": "A white round table holds a red bowl with a red-handled metal spoon, a clear plastic measuring cup filled with dark granular contents, a black lidded cooking pot, a small red container topped with an orange object, a blue box printed with chef illustrations, and a small silver metal pot resting on stacked white napkins. An adjacent table to the left holds open brown boxes, a yellow tool with an orange knob, and a white mug.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic measuring cup on the white table, grasps it, lifts and tilts it over the red bowl to pour its dark contents into the bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 482, "tasks": ["pour cup"], "length": 293, "global_instruction": "Pour the dark contents of the clear measuring cup into the red bowl, then return the cup to the table.", "scene_description": "A white round table holds a red bowl with a red spoon and dark contents, a clear measuring cup with dark contents, a black lidded pot, a small red container, a blue illustrated box, and a small silver pot on folded napkins. A desk with boxes and a mug sits to the left of the table.", "global_instruction_dense": "The right robotic gripper descends to grasp the clear measuring cup on the table, lifts and tilts it to pour its dark contents into the red bowl, returns the cup to an upright position, lowers it back to the table, releases it, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 483, "tasks": ["pour cup"], "length": 306, "global_instruction": "Pour the dark contents from the clear plastic measuring cup into the red bowl on the table.", "scene_description": "A white round table holds a red bowl with a red spoon, a clear plastic measuring cup with dark contents, a black lidded pot, a small red container with an orange ball on top, a blue printed card, and a small silver pot resting on folded white napkins, with a background counter holding a brown box and other items.", "global_instruction_dense": "The right robotic gripper descends to grasp the clear plastic measuring cup with dark contents, lifts it, tilts it over the red bowl to pour the contents into the bowl, returns the empty measuring cup to the table, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 484, "tasks": ["pour cup"], "length": 337, "global_instruction": "Pour dark liquid from the clear measuring cup into the red bowl on the white tray.", "scene_description": "A white round table holds a white rectangular tray. On the tray: a black lidded pot (left), a red bowl with a red spoon (middle), a clear measuring cup with dark liquid (right of the bowl), a small white bottle next to the measuring cup, and a folded white cloth with red stripes (right end of the tray). Cardboard boxes are in the background against white walls.", "global_instruction_dense": "The right robotic arm moves down to grasp the clear measuring cup with dark liquid on the tray, lifts it, tilts it over the red bowl to pour the liquid inside, then returns the upright cup to the tray and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 485, "tasks": ["pour cup"], "length": 292, "global_instruction": "Pour the contents of the transparent measuring cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a black lidded pot, a red bowl with a red spoon inside, a transparent measuring cup with dark contents, and a small white bottle. A white cloth with red stripes sits to the right of the tray, with cardboard boxes and a gray bag in the background.", "global_instruction_dense": "The right robotic arm moves downward from above the table, grasps the transparent measuring cup with dark contents, lifts it, tilts it to pour its contents into the red bowl, tilts the cup back upright, places it back onto the tray, then releases it and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 486, "tasks": ["pour cup"], "length": 366, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a black lidded pot, a red bowl with an orange spoon, a clear plastic cup with dark contents, and a folded white cloth with red stripes; a cardboard box leans against the wall right of the table, with boxes on a shelf left of the table.", "global_instruction_dense": "The right robotic gripper descends to grasp the clear plastic cup on the tray, lifts and tilts it to pour its contents into the red bowl, tilts the cup upright, lowers it back onto the tray, releases it, and moves upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 487, "tasks": ["pour cup"], "length": 379, "global_instruction": "Pour the dark contents of the transparent measuring cup into the black lidded pot.", "scene_description": "A white round table holds a white tray with a black lidded pot, a red bowl with a red spoon, a transparent measuring cup with dark contents, a small bottle, and a folded white cloth with red stripes. A large cardboard box is in the right background, and other boxes are on the left.", "global_instruction_dense": "The right robotic arm moves toward the transparent measuring cup on the table's tray, grasps it, lifts and tilts it to pour its dark contents into the black lidded pot, then returns the measuring cup to the tray and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 488, "tasks": ["pour cup"], "length": 364, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray with a black lidded pot, a red bowl with a red spoon, a clear measuring cup with dark contents, a small white bottle, and a white cloth with red stripes; cardboard boxes and a backpack are in the background.", "global_instruction_dense": "The right robotic arm descends toward the clear measuring cup on the white tray, grasps it, lifts and tilts it to attempt pouring its contents into the adjacent red bowl, then places the measuring cup back onto the tray and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 489, "tasks": ["pour cup"], "length": 375, "global_instruction": "Pour the dark contents from the clear measuring cup into the red bowl on the tray.", "scene_description": "A white round table holds a white tray, with a black lidded pot on the left of the tray, a red bowl with a red spoon in the tray's center-left, a clear plastic measuring cup with dark contents in the tray's center-right, and a folded white cloth with red stripes on the tray's right. Brown cardboard boxes are in the background, with a red shelf holding boxes on the left.", "global_instruction_dense": "The right robotic arm descends toward the clear measuring cup on the tray, grasps it, lifts and tilts it over the red bowl to pour its dark contents, places the cup back onto the tray, then moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 490, "tasks": ["pour cup"], "length": 347, "global_instruction": "Pick up the clear measuring cup, perform a pouring motion, then place it back on the tray.", "scene_description": "A white round table holds a white tray with a black lidded pot, red bowl with a red spoon, clear measuring cup with dark contents, small white bottle, and white cloth with red stripes; cardboard boxes are in the background.", "global_instruction_dense": "The right robotic arm moves toward the clear measuring cup on the tray, grasps it, lifts it, tilts it in a pouring motion, lowers it back to the tray, releases it, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 491, "tasks": ["pour cup"], "length": 374, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray. On the tray: a black lidded pot, a red bowl with a red spoon, a clear plastic cup, a small white bottle, and a folded white cloth with red stripes. Cardboard boxes and a bag on another table are in the background.", "global_instruction_dense": "The left robotic gripper descends to the clear plastic cup on the tray, grasps and lifts it, moves it over the red bowl, tilts it to pour its contents into the bowl, moves the cup back to the tray, releases it, and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 492, "tasks": ["pour cup"], "length": 269, "global_instruction": "Pour the dark contents of the clear measuring cup into the red bowl, then return the cup to the tray.", "scene_description": "A white round table holds a white tray. On the tray: a black lidded pot on the left, a red bowl with a red spoon inside, a clear measuring cup with dark contents to the bowl's right, a small white bottle, and a white cloth with red stripes next to the bottle. A large cardboard box is in the right background, and small boxes are in the left background.", "global_instruction_dense": "The right robotic gripper descends toward the clear measuring cup, grasps and lifts it, tilts it over the red bowl to pour its dark contents into the bowl, returns the cup to its original position on the tray, releases it, then lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 493, "tasks": ["pour cup"], "length": 312, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a black lidded cooking pot, red bowl with red spoon, clear plastic cup of dark contents, small white bottle, and folded white towel with red stripes. A large brown cardboard box leans against the wall in the background, with other boxes on a left shelf and a grey bag on a right side table.", "global_instruction_dense": "The right robotic gripper moves down to grasp the clear plastic cup on the tray, lifts and tilts the cup to pour its dark contents into the red bowl, tilts the cup upright, lowers it back to the tray, releases the cup, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 494, "tasks": ["pour cup"], "length": 308, "global_instruction": "Pour the dark contents of the transparent measuring cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray with a black lidded pot, red bowl with red spoon, transparent measuring cup with dark contents, small red cup, and a blue carton behind the tray. A folded white cloth with red stripes is to the right of the tray, cardboard boxes are in the right background, and boxes rest on a red shelf to the left.", "global_instruction_dense": "The robotic arm moves down toward the transparent measuring cup on the tray, grasps it, lifts it, tilts it over the red bowl to pour its dark contents into the bowl, tilts the cup back upright, moves it back to the tray, places it down, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 495, "tasks": ["pour cup"], "length": 319, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl then place the cup back on the tray.", "scene_description": "A white round table holds a white rectangular tray. On the tray: a black lidded pot on the left, a red bowl with an orange-handled spoon inside, a clear plastic cup holding dark material to the right of the bowl. A white cloth with red stripes rests on the tray's right edge. Cardboard boxes are against the wall behind the table, a dark chair is partially visible at left, and a side shelf with bags is at the right.", "global_instruction_dense": "The right robotic arm enters the frame from the top, descends to grasp the clear plastic cup on the tray, lifts the cup, tilts it over the red bowl to pour its dark contents, tilts the cup back upright, lowers it to place it back on the tray, then retracts upward out of the frame.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 496, "tasks": ["pour cup"], "length": 334, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then place the cup back on the tray.", "scene_description": "On a white round table, a white tray holds a black lidded cooking pot, a red bowl with a red spoon, a clear plastic cup with dark contents, a small red cup, and a blue printed box. A white cloth with red stripes sits to the right of the tray, a large brown cardboard box leans against the rear wall, and shipping boxes rest on a red shelf to the left.", "global_instruction_dense": "The right robotic arm descends to grasp the clear plastic cup holding dark contents on the tray, lifts and tilts it to attempt pouring its contents into the red bowl, then returns the cup to its original position on the tray and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 497, "tasks": ["pour cup"], "length": 359, "global_instruction": "Pour the dark contents from the clear measuring cup into the red bowl, then place the cup back on the tray.", "scene_description": "A white round table holds a white tray, on which a black lidded pot sits leftmost, a red bowl with a red spoon is next to the pot, a clear measuring cup with dark contents is to the right of the bowl, and a folded white cloth with red stripes is at the tray's right end. A blue printed box is behind the tray, a large brown cardboard box is in the right background, and smaller boxes are on the left background.", "global_instruction_dense": "The right robotic gripper moves toward the clear measuring cup on the white tray, grasps and lifts it, tilts it over the red bowl to pour its dark contents into the bowl, tilts the cup upright, lowers it back onto the tray, releases it, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 498, "tasks": ["pour cup"], "length": 387, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl with a red spoon inside and a clear plastic measuring cup. A white desk with a computer monitor, office supplies, and boxes is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the clear measuring cup on the table, grasps it, lifts and tilts it over the red bowl to pour its contents into the bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 499, "tasks": ["pour cup"], "length": 299, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl on the table", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl with a red spoon, a clear measuring cup with dark contents, a small white cap, and a small gray cup. A desk with a monitor and office items is to the left of the table, and a robotic arm is at the top of the frame.", "global_instruction_dense": "The right robotic arm moves toward the clear measuring cup on the checkered table, grasps it, lifts and tilts it over the red bowl to pour its contents into the bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 500, "tasks": ["pour cup"], "length": 356, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl with a red spoon inside, a clear plastic measuring cup, a small white shaker, and a gray shaker. A robotic arm is positioned at the upper left of the table, with an office desk and computer in the background.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic measuring cup on the table, grasps it, lifts and tilts it over the red bowl to pour its contents into the bowl, then places the empty cup back on the table and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 501, "tasks": ["pour cup"], "length": 343, "global_instruction": "Pour liquid from the transparent measuring cup into the red bowl on the checkered table.", "scene_description": "A round table with a blue-white checkered tablecloth holds a red bowl with a red-handled brush inside, a transparent measuring cup, a small white cup, and a small gray cup. A robotic arm is above the table, and a desk with office supplies is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the transparent measuring cup, grasps it, lifts and tilts it to pour liquid into the red bowl, places the cup back on the table, then releases it and moves upward away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 502, "tasks": ["pour cup"], "length": 347, "global_instruction": "Pour the contents of the transparent measuring cup into the red bowl.", "scene_description": "A round table with blue-and-white checkered tablecloth holds a red bowl with a red-handled spoon, a large transparent measuring cup with dark contents, a small white cup, and a small gray cup; a robotic arm is positioned above the top left of the table, with a work desk and computer in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the transparent measuring cup on the table, lifts and tilts it to pour its dark contents into the red bowl, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 503, "tasks": ["pour cup"], "length": 281, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl with a red-handled spoon, a clear plastic measuring cup with dark contents, a small white bottle, and a small gray bottle. A desk with a computer monitor and keyboard is to the left of the table, with a person operating the keyboard.", "global_instruction_dense": "The left robotic arm moves down to grasp the clear plastic measuring cup on the table, lifts and tilts it over the red bowl to pour its contents, then places the measuring cup back on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 504, "tasks": ["pour cup"], "length": 291, "global_instruction": "Pour the contents of the transparent measuring cup into the red bowl then place the cup back on the table", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl with a red spoon inside, a transparent plastic measuring cup, a small white container, and a small gray container. A robotic gripper is positioned above the table.", "global_instruction_dense": "The left robotic gripper moves down to grasp the transparent measuring cup on the table, lifts and tilts it over the red bowl to pour its contents into the bowl, then places the empty cup back on the table and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 505, "tasks": ["pour cup"], "length": 706, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl on the checkered table.", "scene_description": "A round table with blue and white checkered tablecloth holds a red bowl with a red-handled utensil inside, a clear plastic measuring cup, a small white container, and a small gray container. A robotic arm is positioned above the top left area of the table.", "global_instruction_dense": "The left robotic gripper first adjusts the red-handled utensil in the red bowl, then moves to grasp the clear measuring cup, lifts and tilts it to pour its contents into the red bowl, then places the measuring cup back on the table and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 506, "tasks": ["pour cup"], "length": 381, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl, then return the cup to the table.", "scene_description": "A round table with a blue-and-white checkered tablecloth holds a red bowl (with dark food and a red spoon) and a clear plastic measuring cup. A robotic arm is at the top left, and a desk with office equipment is to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic measuring cup on the table, grasps and lifts it, tilts it over the red bowl to pour its contents into the bowl, tilts the cup back upright, lowers it back to the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 507, "tasks": ["pour cup"], "length": 313, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl then place the cup back on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl with dark contents and a clear plastic measuring cup. A desk with a computer is to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the clear measuring cup on the checkered table, grasps it, lifts and tilts it above the red bowl to pour its contents, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 508, "tasks": ["pour cup"], "length": 279, "global_instruction": "Pour the dark liquid from the transparent measuring cup then place the cup back on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl and a transparent measuring cup with dark liquid. A robotic gripper is positioned above the table, and an office desk with equipment is in the left background.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the transparent measuring cup on the table, lifts and tilts the cup to pour out its dark contents, tilts the cup back upright, lowers it back to the table, releases the cup, and lifts away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 509, "tasks": ["pour cup"], "length": 236, "global_instruction": "Pour the contents of the transparent measuring cup into the red bowl", "scene_description": "A round table covered with blue and white checkered tablecloth holds a red bowl, a transparent plastic measuring cup with dark contents, and a red-handled utensil. A robotic arm is positioned at the upper left, and a desk with a computer is in the left background.", "global_instruction_dense": "The left robotic arm moves toward the transparent measuring cup on the table, grasps it, lifts and tilts it over the red bowl to pour its contents, then places the cup back on the table and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 510, "tasks": ["pour cup"], "length": 296, "global_instruction": "Pick up the clear plastic cup, pour its contents into the red bowl, then place the cup back on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a clear plastic cup with dark contents, a red bowl with dark food, and a red-handled spoon. A robotic arm is positioned above the left side of the table, with a work desk holding office items in the background.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the table, grasps it, lifts it, tilts it over the red bowl to pour its contents, then tilts the cup back upright, lowers it, places it back on the table, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 511, "tasks": ["pour cup"], "length": 299, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl on the table.", "scene_description": "A round table covered with blue-and-white checkered tablecloth holds a transparent plastic cup with dark contents, a red bowl with dark food, and a red-handled spoon. A robotic arm is positioned at the upper left, with a work desk and computer visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the table, grasps and lifts it, tilts it over the red bowl to pour its contents, then places the cup back onto the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 512, "tasks": ["pour cup"], "length": 310, "global_instruction": "Pour the contents of the clear measuring cup into the red bowl, then place the cup back on the table.", "scene_description": "A round table with a blue-and-white checkered tablecloth holds a red bowl of dark food, a clear plastic measuring cup, and a red-handled metal spoon. A desk with a working person and a robotic arm are in the background.", "global_instruction_dense": "The left robotic gripper moves toward the clear plastic measuring cup on the table, grasps it, lifts it, tilts it above the red bowl to pour its contents, then lowers the cup back to the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 513, "tasks": ["pour cup"], "length": 343, "global_instruction": "Pour the contents of the transparent measuring cup into the red bowl on the checkered table.", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl of dark food, a red-handled metal spoon, and a transparent plastic measuring cup. A desk with a computer and a seated person are in the background.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic measuring cup on the checkered table, grasps it, lifts and tilts it above the red bowl to pour its contents, then lowers and places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 514, "tasks": ["pour cup"], "length": 348, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl on the table.", "scene_description": "A table with a blue and white checkered tablecloth holds a red bowl of dark food, a red-handled metal spoon, a clear plastic cup, a white salt shaker and a grey pepper shaker, with a robotic arm above the upper left of the table, and a person working at a desk in the background.", "global_instruction_dense": "Left robotic arm moves toward the clear plastic cup on the table, grasps and lifts it, tilts it over the red bowl to pour its dark contents into the bowl, tilts the cup back upright, places it back on the table, then moves away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 515, "tasks": ["pour cup"], "length": 403, "global_instruction": "Pour the contents from the clear plastic cup into the red bowl on the table.", "scene_description": "A round table covered with blue and white checkered tablecloth holds a red bowl of dark food, a red-handled spoon, and a clear plastic cup. A desk with a working person is to the left of the table, and a robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the table, grasps and lifts it, tilts it over the red bowl to pour, then lowers the cup back onto the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 516, "tasks": ["pour cup"], "length": 333, "global_instruction": "Pour the contents of the transparent plastic cup into the red bowl, then place the cup back on the table.", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl of dark contents, a red-handled metal spoon, and a transparent plastic cup. A robotic arm is positioned near the table, with a person working at a desk in the background.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic cup on the table, grasps it, lifts it, tilts it over the red bowl to pour out its contents, tilts the cup back upright, lowers it back to the table, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 517, "tasks": ["pour cup"], "length": 349, "global_instruction": "Pick up the transparent measuring cup, pour its contents into the white mug, then place the cup back on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth is in the center of the view, holding a red bowl, an orange-handled metal spoon below the bowl, a transparent plastic measuring cup to the right of the bowl, and a white mug near the wall behind the bowl. A desk with a computer and a seated person is to the left of the table, and a robotic arm is at the upper left edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the transparent measuring cup on the table, grasps and lifts it, tilts the cup to pour its contents into the white mug behind the red bowl, stops pouring, lowers the cup back to the table, then releases it and moves upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 518, "tasks": ["pour cup"], "length": 388, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl on the table.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl with dark contents, an orange-handled metal spoon, a clear plastic measuring cup, a white mug, and a red mug. A robotic arm is positioned above the upper left of the table, with a desk and seated person to the table's left.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic measuring cup on the table, grasps it, lifts and tilts it over the red bowl to pour its contents, then lowers the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 519, "tasks": ["pour cup"], "length": 365, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl on the table.", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl of dark food, an orange-handled metal spoon, a clear plastic measuring cup with dark contents, and white and red mugs at the far end of the table; an office desk with a computer monitor sits to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the clear measuring cup, lifts and tilts it over the red bowl in a pouring motion, rights the cup, places it back on the table, then retracts upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 520, "tasks": ["pour cup"], "length": 482, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl on the table.", "scene_description": "A round table with blue and white checkered tablecloth holds a red bowl of dark contents, a clear plastic measuring cup with dark liquid, a red-handled spoon, and two mugs at the far edge; a robotic arm is above the table, and a person works at a desk to the left.", "global_instruction_dense": "The right robotic gripper moves down toward the clear plastic measuring cup, grasps it, lifts and moves it over the red bowl, tilts it to pour contents into the bowl, moves the cup back to the table, releases it, and lifts upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 521, "tasks": ["pour cup"], "length": 317, "global_instruction": "Pour contents from the clear plastic cup then place the cup back on the table.", "scene_description": "A round table covered with blue and white checkered tablecloth holds a red bowl of dark food, a red-handled metal spoon, a clear plastic cup, and several mugs at the far end, with a desk and seated person to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the table, grasps and lifts it, tilts the cup to pour out its contents, then lowers the cup back to the table surface and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 522, "tasks": ["pour cup"], "length": 289, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl, then return the cup to the table.", "scene_description": "A round table with a blue and white checkered tablecloth holds an orange-handled metal spoon, a red bowl of dark food, a clear plastic measuring cup, and several mugs. A robotic arm is positioned above the top of the frame, and a person sits at a desk with a computer to the left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the clear plastic measuring cup on the table, grasps it, lifts and tilts it to pour its contents into the red bowl, tilts the cup back upright, lowers it back to the table surface, releases it, then moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 523, "tasks": ["pour cup"], "length": 309, "global_instruction": "Pour the dark contents from the clear plastic cup into the red bowl then place the cup back on the table.", "scene_description": "A table covered with a blue and white checkered tablecloth holds a red bowl, a red-handled metal spoon, a stack of white napkins with red stripes, and a clear plastic cup with dark contents. A robotic arm is positioned at the upper left, an office chair is behind the table, and a whiteboard with writing is on the right wall.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the checkered table, grasps it, lifts and tilts it to pour its dark contents into the red bowl, then tilts the cup upright and places it back onto the table before releasing it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 524, "tasks": ["pour cup"], "length": 341, "global_instruction": "Pour the contents of the clear plastic measuring cup into the red bowl on the table.", "scene_description": "A table covered with a blue and white checkered tablecloth holds a red bowl, clear plastic measuring cup with dark contents, metal spoon, stacked papers, and small white cup. A white robotic gripper is positioned above the table, with a whiteboard, office chair, glass door, and black rolling suitcase in the background.", "global_instruction_dense": "The right robotic arm lowers toward the clear measuring cup on the table, grasps it, lifts it, tilts it over the red bowl to pour its contents, places the cup back on the table, and lifts upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 525, "tasks": ["pour cup"], "length": 309, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then place the cup back on the table.", "scene_description": "A round table covered with a blue-and-white checkered tablecloth holds a red bowl of dark grains, an orange-handled spoon, a clear plastic cup, and a stack of white napkins. A robotic arm is positioned above the table, with a whiteboard, office chair, door, and black suitcase in the background.", "global_instruction_dense": "The left robotic arm lowers toward the clear plastic cup on the table, grasps it, lifts it, moves it over the red bowl, tilts it to pour its dark contents into the bowl, rights the cup, moves it back to the table, releases it, and lifts its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 526, "tasks": ["pour cup"], "length": 330, "global_instruction": "Pour the dark contents of the transparent plastic cup into the red bowl, then place the cup back on the table.", "scene_description": "A round table with a blue-and-white checkered tablecloth holds a red bowl, a transparent plastic cup with dark contents, and a red-handled spoon. A robotic gripper is above the table, with a whiteboard, doors, office chairs, and a black rolling suitcase in the background.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the transparent plastic cup, lifts and tilts it to pour its dark contents into the red bowl, places the upright cup back on the table, then retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 527, "tasks": ["pour cup"], "length": 303, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl and place the cup back on the table.", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl with dark contents, a clear plastic cup, and a red-handled spoon. A robotic arm is above the table, with a whiteboard, office chairs, a door, and a black suitcase in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the clear plastic cup on the table, grasps the cup, lifts and tilts it over the red bowl to pour its contents, then lowers the cup back to the table, releases it, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 528, "tasks": ["pour cup"], "length": 349, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then place the cup to the right of the red bowl.", "scene_description": "A round table with blue and white checkered tablecloth is in a lab room. On the table, a red bowl is centered, a clear plastic cup is left of the bowl, a red-handled spatula is right of the bowl, and white napkins are at the far end. A white robotic arm is positioned above the table, with a formula-covered whiteboard in the background.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup left of the red bowl, grasps it, lifts and tilts it over the red bowl to pour its contents, moves the cup to the right of the bowl, lowers it onto the table, releases it, and moves back upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 529, "tasks": ["pour cup"], "length": 254, "global_instruction": "Pour the contents of the clear plastic cup into the red bowl, then return the cup to the table.", "scene_description": "A round table with blue and white checkered tablecloth holds a red bowl, a clear plastic cup with dark contents, stacked white napkins, a small red-handled tool, and a tiny gray container. A robotic arm is positioned above the table, with a whiteboard, office chair, door, and black rolling suitcase in the background.", "global_instruction_dense": "The left robotic arm lowers toward the clear plastic cup on the table, grasps it, lifts it, moves it over the red bowl, tilts the cup to pour its contents into the bowl, moves the cup back to its original position on the table, releases it, and lifts back to its initial position above the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 530, "tasks": ["pour cup"], "length": 295, "global_instruction": "Pour the dark grains from the clear plastic cup into the red bowl.", "scene_description": "A round table covered with a blue and white checkered tablecloth holds a red bowl, a clear plastic cup filled with dark grains, white cloths, and small tools. A white robotic arm is positioned to the left of the table, with a whiteboard, door, and black rolling suitcase in the background.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup on the table, grasps it, lifts and tilts it over the red bowl to pour the dark grains into the bowl, then returns the cup to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 531, "tasks": ["pour cup"], "length": 269, "global_instruction": "Pour the dark contents of the clear plastic cup into the red bowl, then return the cup to the table.", "scene_description": "A round table covered with blue and white checkered tablecloth holds a red bowl filled with dark beans and a clear plastic cup filled with dark granular contents, with a robotic arm positioned above the table, and a whiteboard with writing, a door, an office chair, and a black suitcase in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the clear plastic cup on the table, lifts it, positions it over the red bowl, tilts it to pour its dark granular contents into the bowl, tilts the cup back upright, places it back on the table, then releases the cup and lifts its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 532, "tasks": ["pour cup"], "length": 194, "global_instruction": "Pour the contents of the transparent cup into the red bowl on the table", "scene_description": "A round table with blue-and-white checkered tablecloth holds a red bowl of dark beans, a transparent cup with dark contents, and a stack of white cloths, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp the transparent cup, lifts it, tilts it over the red bowl to pour its contents into the bowl, then places the cup back on the table and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 533, "tasks": ["pour cup"], "length": 365, "global_instruction": "Pour contents from the clear plastic cup into the red bowl then return the cup to the table.", "scene_description": "A round table with a blue and white checkered tablecloth holds a red bowl, a clear plastic cup with dark contents, a white cloth, and a metal spoon. A robotic arm is positioned above the table, with a whiteboard and lab doors in the background.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic cup, grasps it, lifts it, tilts it over the red bowl to pour, tilts the cup back upright, lowers it to the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 534, "tasks": ["pour cup"], "length": 315, "global_instruction": "Pour liquid from the clear plastic cup into the red bowl then place the cup back on the table.", "scene_description": "A round table with blue and white checkered tablecloth holds a red bowl, a clear plastic cup with dark liquid, a metal spoon, and folded white towels with red stripes. A robotic arm is on the left of the table, with a whiteboard, white door and black suitcase in the background.", "global_instruction_dense": "The left robotic arm moves down to grasp the clear plastic cup, lifts it over the red bowl, tilts the cup to pour liquid into the bowl, rights the cup, places it back on the table, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 535, "tasks": ["pour cup"], "length": 178, "global_instruction": "Pour the contents of the red cup, then place the cup back on the kitchen counter", "scene_description": "A white kitchen counter holds a red plate with a red cup on it, assorted food packages, metal containers, and cooking bottles, with white wall shelves of food items above. A left robotic arm is at the left edge of the frame.", "global_instruction_dense": "The left robotic arm moves from its initial left position toward the red cup on the red plate, grasps the cup, lifts and tilts it to pour its contents, then lowers and places the cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 536, "tasks": ["pour cup"], "length": 757, "global_instruction": "Pour the contents of the red mug into the stainless steel bowl on the table.", "scene_description": "A round white table holds a red mug, a stainless steel bowl with dark granular contents, a black lidded cooking pot, and a red bowl with a large silver spoon, with a stationary robotic arm on a platform to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red mug on the table, grasps it, lifts and tilts it over the stainless steel bowl to pour its contents into the bowl, then places the empty mug back on the table and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 537, "tasks": ["pour cup"], "length": 611, "global_instruction": "Pour the contents of the red mug into the silver bowl, then place the red mug back on the table.", "scene_description": "A white round table holds a red mug (left), lidded black pot (center), white napkin on a tray (right of the pot), red bowl with a silver spoon (rightmost), and silver bowl (behind the pot), with a robotic arm setup to the left of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the red mug on the white table, lifts it, moves it over the silver bowl behind the black pot, tilts the mug to pour its contents into the bowl, then returns the mug to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 538, "tasks": ["pour cup"], "length": 698, "global_instruction": "Pour the contents of the red mug onto the white table then place the mug back on the table.", "scene_description": "A white round table holds a black cooking pot with a metal spoon inside, a red mug left of the pot, a glass pot lid below the mug, a red bowl on the table's right, and a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red mug on the white table, grasps and lifts it, tilts the mug to pour its dark granular contents onto the table surface, then moves the mug back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 539, "tasks": ["pour cup"], "length": 2808, "global_instruction": "Pour the contents of the transparent measuring cup on the stacked boxes onto the box, then return the cup to its original position.", "scene_description": "A transparent plastic measuring cup rests on top of stacked brown cardboard boxes with dark blue sealing strips, located in an open office with gray office chairs, white desks holding black monitors, and a blue recycling bin in the background.", "global_instruction_dense": "The right robotic gripper descends toward the transparent measuring cup on the stacked cardboard boxes, grasps and lifts the cup, tilts it repeatedly to pour all its small hardware contents onto the box surface, then places the empty cup back onto the boxes and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 540, "tasks": ["pour cup"], "length": 612, "global_instruction": "Pour the contents of the red mug and place the mug back on the kitchen counter.", "scene_description": "A light gray kitchen counter holds a red plate with a red bowl on top, a red mug next to the plate, a silver toaster, a white mug containing utensils, cleaning supplies next to a stainless steel sink, a black coffee maker, and three clear glasses on a tray at the left edge of the counter.", "global_instruction_dense": "The right robotic arm extends toward the red mug on the kitchen counter, grasps it, lifts and tilts it to pour out its contents, tilts the mug back to an upright position, lowers it to the counter, and releases the red mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 541, "tasks": ["pour cup"], "length": 267, "global_instruction": "Pour the contents of the red cup into the clear plastic bowl and return the cup to the counter.", "scene_description": "A grey kitchen counter holds a black cooking pot, dark purple frying pan, glass lid, white napkins with red stripes, red plastic cup, clear plastic bowl, white paper towel roll, spray bottle, two silver shakers, small containers on a white plate, clear glass, and yellow printed cloth; a robotic arm is positioned above the upper left of the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the red cup, lifts it, moves it over the clear plastic bowl, tilts it to pour its contents into the bowl, moves the cup back to the counter, releases it, and lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 542, "tasks": ["pour cup"], "length": 737, "global_instruction": "Pour the contents of the white printed paper cup into the orange bowl on the left side of the table.", "scene_description": "On a white table, an orange bowl sits on the left, a white printed paper cup is near the center, surrounded by a dark blue mug, small wooden box, yellow, blue, green, red small blocks and tiny trinkets; a robotic arm is on the table's right, with office chairs to the left, a wooden wall and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the white printed paper cup, grasps it, lifts and moves it over the orange bowl, tilts the cup to pour its small colored bead contents into the bowl, then moves the cup back and places it on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 543, "tasks": ["pour cup"], "length": 263, "global_instruction": "Pour the contents of the dark blue mug onto the white table", "scene_description": "A dark blue mug with small items inside is at the center of a white table, a robotic arm base with blue lights is on the left of the table, and large windows are in the background.", "global_instruction_dense": "The right robotic arm moves into the frame toward the dark blue mug on the white table, grasps the mug, tilts it to pour the items inside onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 544, "tasks": ["pour cup"], "length": 322, "global_instruction": "Pour the contents of the clear plastic cup on the table after removing the marker inside it.", "scene_description": "A dark wooden table holds a yellow tennis ball, a clear plastic cup, crumpled white plastic, and small miscellaneous items. A Franka Emika robotic arm is positioned on the right side of the table, with a lit doorway and person in the distant background.", "global_instruction_dense": "The right robotic arm lowers toward the clear plastic cup on the dark table, grasps the marker inside the cup, moves the marker to the left side of the table and places it down, then returns to grasp the cup and tilts it to pour its contents onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 545, "tasks": ["pour cup"], "length": 890, "global_instruction": "Grasp the clear plastic cup on the counter, repeatedly tilt it to pour liquid, then place it upright back on the counter.", "scene_description": "A white kitchen counter near a window with blinds holds a clear plastic cup with green liquid, an orange toy car, a yellow rabbit figurine, and other small items; a white robotic arm is mounted on a workbench to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic cup on the left counter, grasps it, repeatedly tilts the cup to pour liquid before returning it to an upright position each time, then places the cup back upright on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 546, "tasks": ["pour cup"], "length": 440, "global_instruction": "Pour the contents of the blue measuring cup into the white bowl, then place the cup back on the counter.", "scene_description": "A white granulated sugar box sits on the left of a white tiled kitchen countertop. Further right on the counter are a white plate, a white bowl with a white spoon inside, a blue measuring cup behind the bowl, and a clear container with a red lid at the back of the counter. A black clock is mounted on the left tiled wall, and white cabinets are positioned above the counter and in the right background.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves to grasp the blue measuring cup on the counter, lifts and tilts the cup over the white bowl to pour its contents, then lowers the cup back to its original position on the counter, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 547, "tasks": ["pour cup"], "length": 733, "global_instruction": "Pour the contents of the blue measuring cup onto the white plate and adjust the spoon in the white bowl.", "scene_description": "A white granulated sugar box, white plate, white bowl with a white plastic spoon, blue measuring cup, and clear container with a red lid are placed on a white tiled kitchen counter. A black vintage clock is mounted on the tiled wall behind the counter, and a robotic arm is positioned at the doorway in the background.", "global_instruction_dense": "The right robotic arm moves toward the blue measuring cup on the kitchen counter, grasps and lifts it, tilts the cup to pour its contents onto the white plate, places the cup back on the counter, adjusts the white spoon in the white bowl, then moves upward away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 548, "tasks": ["pour cup"], "length": 618, "global_instruction": "Place the green lid on the trash bin, then pour the contents of the red cup into the trash bin.", "scene_description": "A table with a yellow lemon-patterned tablecloth holds a white trash bin with a light green liner, a red plastic cup, a small snack packet, a green trash lid, and a cardboard box with a QR code. Wooden chairs are behind the table, floral-curtained windows and a white kitchen are in the background, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first lowers to grasp the trash bin, tilts it to place the green lid on the bin, then moves to grasp the red cup, lifts it to pour its contents into the trash bin, places the cup back on the table, and returns to its starting position above the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 549, "tasks": ["pour cup"], "length": 305, "global_instruction": "Pour the contents out of the white floral mug on the table then place the mug back down.", "scene_description": "A dining table covered in a blue tablecloth printed with yellow lemons and green leaves holds a purple tablet, yellow travel cup with purple lid, light gray bowl, white mug with orange floral print, blue soda can, white trash bin with green liner, white shallow bowl, bananas, and small colorful toys. Wooden chairs, floral-patterned window curtains, and wall art are in the background, with a robotic arm mounted to the right of the table.", "global_instruction_dense": "The right robotic arm descends toward the white floral mug on the table, grasps it, lifts and tilts it to pour out the spoon inside, lowers the mug back to the table, releases it, and begins retracting upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 550, "tasks": ["pour cup"], "length": 761, "global_instruction": "Pour liquid from the white orange-flower printed mug into the patterned white bowl then return the mug to the table.", "scene_description": "A table covered with a yellow and green lemon-patterned tablecloth holds a white mug printed with orange flowers, a white bowl with dark leaf patterns, a metal spoon, green cloths, and small tools. Wooden chairs are positioned behind the table, floral-patterned curtains cover the windows, and a gold-framed picture hangs on the wall. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the handle of the white mug with orange flower prints, lifts the mug, moves it over the patterned white bowl, tilts the mug to pour its liquid contents into the bowl, tilts the mug back to an upright position, moves it back to its original position on the table, and releases the mug handle.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 551, "tasks": ["pour cup"], "length": 691, "global_instruction": "Pour liquid from the white mug on the table into the bowl, then place the mug back on the table.", "scene_description": "A table is covered with a blue tablecloth printed with yellow lemons and green leaves. On the table, there is a white ceramic mug, green cloth napkins, a metal spoon, a dark-handled knife, small purple items, a light brown woven basket at the left edge, and a partially visible white bowl at the bottom frame edge. The background has wooden chairs, windows with floral curtains, and an adjacent kitchen area.", "global_instruction_dense": "The left robotic gripper moves toward the white mug on the table, grasps and lifts it, tilts the mug to pour its liquid into the bowl positioned below, rights the mug, lowers it back to the table, releases the grip, and retracts away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 552, "tasks": ["pour cup"], "length": 500, "global_instruction": "Pour liquid from the black measuring cup into the clear tall glass container.", "scene_description": "A white tiled kitchen counter holds a black measuring cup, a clear tall glass container, a small green object, and a white plastic jug, with a white sink and white overhead cabinets in the background, and a right robotic arm positioned above the counter near the sink.", "global_instruction_dense": "The right robotic gripper moves toward the black measuring cup on the kitchen counter, grasps it, lifts it, positions it above the clear tall glass container, tilts it to pour liquid into the glass, and holds the tilted position until pouring is complete.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 553, "tasks": ["pour cup"], "length": 831, "global_instruction": "Pour the contents of the black measuring cup into the clear glass on the kitchen counter.", "scene_description": "A white tiled kitchen counter holds a black measuring cup, a clear glass with light liquid, a small green object, and a large white plastic bottle with a red label near the sink; a Franka Emika robotic arm is positioned above the counter on the right.", "global_instruction_dense": "The right robotic arm moves to grasp the black measuring cup on the counter, lifts and positions it over the clear glass, tilts the cup to pour its contents into the glass, then returns the cup to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 554, "tasks": ["pour cup"], "length": 389, "global_instruction": "Pour the contents of the black mug on the dining table then place the mug back on the table.", "scene_description": "A wooden dining table holds a black mug with a spoon inside, a white plate with a silver fork, a green cloth, a remote control, and assorted small items. A white dresser below windows with blinds, a wooden chair, and a chandelier are in the background, with a doorway leading to a living room with a gray couch.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the wooden dining table, grasps it, lifts and tilts it to pour its contents, rights the mug, places it back on the table surface, releases the gripper, and moves away from the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 555, "tasks": ["pour cup"], "length": 395, "global_instruction": "Pour the contents of the black mug onto the black rectangular base on the dining table.", "scene_description": "A wooden dining table holds a white empty plate, a black mug, silver utensils on a white napkin, a black rectangular base, a small potted plant, and other small miscellaneous items, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper grasps the black mug on the wooden dining table, lifts it, moves and positions it over the black rectangular base, tilts the mug to pour its small metal contents onto the base, then places the emptied mug back onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 556, "tasks": ["pour cup"], "length": 396, "global_instruction": "Pour the contents of the white measuring cup into the black bowl on the kitchen counter.", "scene_description": "A white tiled kitchen counter holds a left-side microwave topped with a wooden rolling pin, a pink and white sugar box, a green cloth, a black alarm clock, a clear water bottle, black small bowls, utensils, plates, and a robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm reaches toward the white measuring cup on the counter, grasps it, lifts it over the black bowl, pours its contents into the bowl twice, then places the measuring cup back on the counter and retracts to its starting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 557, "tasks": ["pour cup"], "length": 470, "global_instruction": "Pour the contents of the black mug onto the white plate on the wooden table.", "scene_description": "A wooden dining table holds a white plate with small silver decorative pieces, a black mug, a small clear bottle, a woven brown basket, metal utensils, and assorted clutter. A white robotic arm is positioned at the right of the frame, with a white dresser, chairs, and windows visible in the dining room background.", "global_instruction_dense": "The left robotic arm moves toward and adjusts the small clear bottle on the wooden table, then grasps the black mug, lifts and tilts it over the white plate to pour its contents onto the plate, then lowers the mug back toward the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 558, "tasks": ["pour cup"], "length": 518, "global_instruction": "Pick up the black mug from the table, simulate pouring, then place it back onto the table.", "scene_description": "A black mug, small black scoop, and blue item sit on a light patterned table. Behind the table are two yellow posts with black-yellow caution tape, a grey tower fan, a wooden chair with a blue cushion, a white door with an arched top window, and a white robotic arm mounted on a right workbench with green lights.", "global_instruction_dense": "The right robotic arm moves toward the black mug on the table, grasps it, lifts and tilts it to simulate pouring, lowers it back to the table, releases the mug, and lifts its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 559, "tasks": ["pour cup"], "length": 718, "global_instruction": "Pour liquid from the small black cup into the metal saucepan, then place the lid onto the saucepan.", "scene_description": "A white tiled kitchen counter holds a white drip coffee maker, a small black plastic cup, a metal saucepan with a black handle, a white paper coffee filter, a metal saucepan lid, and purple dish soap near a stainless steel sink, with a white Franka Emika robotic arm positioned above the counter on the right.", "global_instruction_dense": "The right robotic arm moves toward the small black cup on the kitchen counter, grasps it, lifts and tilts it over the metal saucepan to pour its liquid contents into the pan, places the empty cup back on the counter, then moves to grasp the metal saucepan lid, lifts it, and sets it securely on top of the saucepan.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 560, "tasks": ["pour cup"], "length": 346, "global_instruction": "Pour the contents of the black measuring cup into the silver frying pan on the kitchen counter", "scene_description": "A white tiled kitchen counter holds a silver frying pan, a black handled measuring cup, a purple soap dispenser, a glass coffee pot, and a blue cloth, with a sink at the rear and white overhead cabinets. A robotic arm is positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the black measuring cup on the kitchen counter, grasps it, lifts and moves it over the silver frying pan, tilts it to pour its contents into the pan, then places the empty measuring cup back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 561, "tasks": ["pour cup"], "length": 351, "global_instruction": "Pour the contents of the long-handled black measuring cup into the smaller black cup on the kitchen counter.", "scene_description": "A white tiled kitchen counter has a double sink, purple soap dispenser, white glass coffee pot, small black cup, long-handled black measuring cup at the left edge, and a Franka robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the long-handled black measuring cup at the left edge of the kitchen counter, grasps and lifts it, moves it over the smaller black cup, pours its contents into the smaller cup, tilts the measuring cup upright, then places it back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 562, "tasks": ["pour cup"], "length": 316, "global_instruction": "Pour the contents of the black measuring cup on the kitchen counter, then place the cup back down.", "scene_description": "A white tiled kitchen counter holds a black measuring cup, a clear glass coffee pot, and a purple soap dispenser near a white sink, with white upper cabinets above the counter and a robotic arm at the right side of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the black measuring cup on the kitchen counter, grasps and lifts it, tilts it to pour out its contents, then places the emptied cup back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 563, "tasks": ["pour cup"], "length": 674, "global_instruction": "Adjust the toaster oven rack, pour contents from the black measuring cup into the toaster oven, then place the cup on the toaster oven top.", "scene_description": "A wooden table holds an open white toaster oven (topped with blue painter's tape), a black keyboard, crumpled white tissue, beige wide-brimmed hat, small white bowl, and black measuring cup, with a Franka Emika robotic arm mounted on the table's right side.", "global_instruction_dense": "The left robotic arm first reaches into the open toaster oven to adjust its internal rack, then picks up the black measuring cup from the table, lifts and tilts it above the toaster oven to pour contents into the oven, moves the cup to the toaster oven's top, places it on the blue tape, and releases the gripper.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 564, "tasks": ["pour cup"], "length": 421, "global_instruction": "Pour the contents of the black measuring cup onto the white plate on the table.", "scene_description": "A wooden tabletop workspace contains a black keyboard, white desktop device, large light brown round hollow object, white plate, small miscellaneous items, and a white Franka Emika robotic arm mounted on a wooden platform to the right of the table.", "global_instruction_dense": "The left robotic arm enters the tabletop workspace, grasps the black measuring cup resting on the table, moves it over the white plate on the left side of the table, pours the cup's contents onto the plate, then moves the empty cup away from the plate.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 565, "tasks": ["pour cup"], "length": 742, "global_instruction": "Pour liquid from the black measuring cup into the white blue-patterned mug on the kitchen counter", "scene_description": "A white tiled kitchen counter holds a black measuring cup, a white mug with blue floral patterns, and a clear plastic bottle. To the right is a white gas stove with a blue cloth on a hanger, a wooden knife block, and a dark green kettle, with white upper cabinets above the counter.", "global_instruction_dense": "The right robotic gripper descends to the kitchen counter, grasps the black measuring cup, lifts it over the white blue-patterned mug, tilts it to pour liquid into the mug, then moves the measuring cup back and places it on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 566, "tasks": ["pour cup"], "length": 546, "global_instruction": "Pour liquid from the white blue-patterned mug into the small black bowl, then return the mug to the counter.", "scene_description": "A white tiled kitchen counter holds a white blue-patterned mug, small black bowl, clear bottle with a pink label, striped container, and crumpled white tissue. Above the counter are white cabinets with a white hanger holding a green cloth hooked on their knobs, and a white gas stove with a blue cloth and dark teal kettle sits to the counter's right.", "global_instruction_dense": "The right robotic gripper moves down to grasp the white blue-patterned mug on the kitchen counter, lifts it and moves it over the small black bowl, tilts the mug to pour liquid into the bowl, tilts the mug back upright, moves it back to its original position on the counter, releases the mug, then retracts upward away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 567, "tasks": ["pour cup"], "length": 806, "global_instruction": "Pour contents from the black measuring cup into the white blue-flowered mug on the kitchen counter.", "scene_description": "Grey upper cabinets with silver knobs are above a white tiled kitchen counter. A white hanger hooked on the cabinet knobs holds a green cloth. On the counter: a clear water bottle with a pink label, a striped utensil holder, a white mug with blue floral prints, a black measuring cup, a crumpled white tissue, and a white gas stove to the right with a blue folded cloth on its burners and a dark teal kettle on the stove edge.", "global_instruction_dense": "The right robotic arm moves the striped utensil holder aside, grasps the black measuring cup on the counter, lifts it, positions it over the white blue-flowered mug and tilts to pour, accidentally knocks the white hanger and green cloth off the cabinet, then places the measuring cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 568, "tasks": ["pour cup"], "length": 529, "global_instruction": "Pour liquid from the white blue-patterned mug into the small black bowl on the stove.", "scene_description": "A white tiled kitchen counter holds a white mug with blue flower patterns, a clear plastic water bottle, and a small black bowl on the adjacent white gas stove. Upper cabinets are above the counter, a knife block and dark kettle sit on the stove, and a white refrigerator is in the background.", "global_instruction_dense": "The right robotic arm moves down to grasp the white blue-flowered mug on the kitchen counter, lifts it, positions it over the small black bowl, tilts the mug to pour liquid into the bowl, then moves the mug back to the counter, releases it, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 569, "tasks": ["pour cup"], "length": 472, "global_instruction": "Pour the contents of the black cup into the red bowl, then place the cup on the left side of the table.", "scene_description": "A wooden table holds a black keyboard, black mouse, pink-and-white striped cloth, green tube, red bowl, small black cup, green item in a white dish, and other small objects, with a white toaster oven and white cabinets in the background, and a robotic arm positioned at the upper right outside the table surface.", "global_instruction_dense": "The right robotic arm moves toward the small black cup on the table, grasps it, lifts and moves it over the red bowl, tilts the cup to pour its contents into the bowl, then moves the cup to the left side of the table and places it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 570, "tasks": ["pour cup"], "length": 421, "global_instruction": "Remove the blue ring from the dark mug, pour the spoon out of the mug, then place the mug back on the table.", "scene_description": "A wooden worktable holds a black keyboard, white over-ear headphones, a red plastic bowl, a dark mug with a blue ring on top, a striped cloth, and small tools, with a white toaster oven at the table's left, white cabinets under a background window, and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm grasps the blue ring on the dark mug, lifts and places the ring on the table, then grasps the dark mug, lifts and tilts it to pour the metal spoon out onto the towel, and finally places the mug back upright on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 571, "tasks": ["pour cup"], "length": 576, "global_instruction": "Pour liquid from the brown mug into the small black cup, then place the brown mug back on the table.", "scene_description": "A cluttered wooden table holds a black keyboard, white over-ear headphones, a brown ceramic mug, a small black cup, a green tennis ball, a red bowl, blue tape, a striped cloth, and other small items; a white toaster oven sits at the left end of the table, with white cabinets and a window in the background, and a robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the brown mug on the table, grasps it, lifts it upward, tilts it over the adjacent small black cup to pour liquid into the cup, tilts the mug back to an upright position, moves the mug back to its original position on the table, then lowers and releases the mug to set it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 572, "tasks": ["pour cup"], "length": 332, "global_instruction": "Pour the contents of the green cup into the blue bowl then place the cup back on the washing machine top.", "scene_description": "A translucent green cup, a blue bowl with grains, three colored spoons (yellow, red, silver), an orange Tide detergent box, and a silver bowl with orange interior are placed on a white washing machine top, with windows showing outdoor trees in the background.", "global_instruction_dense": "The right robotic gripper first adjusts the position of the blue bowl, then grasps the translucent green cup, lifts and tilts it over the blue bowl to pour its contents, then lowers the cup back onto the washing machine top and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 573, "tasks": ["pour cup"], "length": 344, "global_instruction": "Pour the contents of the white dotted paper cup onto the white cloth then place the cup back on the desk.", "scene_description": "A wooden desk has a black desk lamp on its left, a blue pegboard, a white cloth, a white dotted paper cup, a mermaid-covered book, a dark purple book, and a yellow object behind the pegboard; a white robotic arm is at the right of the desk near the cloth.", "global_instruction_dense": "The right robotic arm moves toward the white dotted paper cup on the desk, grasps it, lifts and tilts it to pour yellow circular pieces onto the white cloth, then tilts it upright and places the cup back on the desk.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 574, "tasks": ["pour cup"], "length": 165, "global_instruction": "Pour liquid from the light green cup into the glass dish and return the cup to the counter.", "scene_description": "A grey kitchen counter holds a clear spray bottle, light blue measuring cup, dark rectangular object, glass dish with a metal rack inside, blue-handled utensil, wooden bowl, and light green cup at the far end. A right robotic arm is positioned above the counter, and a silver foil tray sits on the left side of the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the light green cup on the far end of the counter, lifts and tilts the cup to pour liquid into the glass dish below, tilts the cup upright, lowers it back to its original position on the counter, then releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 575, "tasks": ["pour cup"], "length": 179, "global_instruction": "Pour the contents of the green cup into the lower container, then place the green cup back into the clear dish.", "scene_description": "A grey tabletop holds a clear spray bottle, light blue measuring scoop, small black rectangular object, metal tray with a clear dish containing a green cup and purple cup, a wooden bowl on a stand behind the tray, and an aluminum baking tray on the left table edge. A robotic arm is on the left of the scene, a yellow door is in the background, and camera equipment is mounted on the upper right.", "global_instruction_dense": "The right robotic arm moves toward the green cup in the clear dish on the metal tray, grasps the cup, lifts and tilts it to pour its contents into the lower container, then places the green cup back into the clear dish, releases it, and moves upward away from the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 576, "tasks": ["pour cup"], "length": 864, "global_instruction": "Retrieve a purple cup from the dish rack, place it in the bathtub, and pour water into it from the faucet.", "scene_description": "A white bathtub containing a small blue brush sits below a window with horizontal white blinds. A silver wall-mounted faucet is installed on the tiled wall above the tub, a dish rack with various items rests on the counter to the tub's right, and a robotic arm is positioned on the right edge of the scene.", "global_instruction_dense": "The right robotic arm extends to the dish rack, grasps a purple cup, moves it into the bathtub and releases it, then manipulates the faucet handle to turn on water to fill the cup, before turning the faucet off and moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 577, "tasks": ["pour cup"], "length": 547, "global_instruction": "Turn on the faucet to fill the purple cup with water, pour the water out, then return the cup to the sink.", "scene_description": "A white kitchen sink contains a purple cup and a small blue plastic tool. A metallic faucet is mounted on the tiled wall above the sink, horizontal blinds cover the window above the faucet, and a white robotic arm is positioned at the right side of the sink.", "global_instruction_dense": "The right robotic arm moves to the sink faucet, turns it on to fill the purple cup below with water, turns the faucet off, grasps the purple cup in the sink, lifts and tilts the cup to pour the water out, lowers the cup back into the sink, releases it, and moves away from the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 578, "tasks": ["pour cup"], "length": 510, "global_instruction": "Pour the contents of the white ceramic mug into the white colander, then place the mug back on the table.", "scene_description": "A wooden table holds a white plastic colander on the left, a white ceramic mug near the center, a yellow cloth bag of small square tiles below the mug, metal cutlery, a small blue bowl, and scattered white square tiles. The background has a window with white blinds, a white door, and a yellow-black safety barrier near the door.", "global_instruction_dense": "The right robotic gripper grasps the white ceramic mug on the table, lifts it, moves it over the white colander, tilts it to pour its contents into the colander, then moves the mug back to the table, lowers it, and releases it on the tabletop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 579, "tasks": ["pour cup"], "length": 589, "global_instruction": "Pour water from the green cup into the purple cup inside the kitchen sink.", "scene_description": "A white kitchen sink below a louvered window contains a green cup, a purple cup, and a blue toothbrush, with a robotic arm positioned at the right edge of the sink.", "global_instruction_dense": "The right robotic arm moves down toward the green cup in the sink, grasps it, lifts and tilts it to pour water into the purple cup, then rights the green cup, lowers it back into the sink, and releases it before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 580, "tasks": ["pour cup"], "length": 461, "global_instruction": "Pour the contents of the purple cup into the green cup in the sink", "scene_description": "A white kitchen sink holds a purple cup, a green cup, and a blue toothbrush. The sink sits under a window with blinds, with soap dispensers and a dish rack on the adjacent counter.", "global_instruction_dense": "The right robotic arm moves into the sink area, grasps the purple cup, lifts and tilts it to pour its contents into the green cup, then places the purple cup back on the sink surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 581, "tasks": ["pour cup"], "length": 227, "global_instruction": "Pour contents from the pink cup into the pan on the kitchen stovetop", "scene_description": "A cream tiled kitchen wall with three-tier metal spice racks holding various seasoning jars, a stainless steel kettle above the racks, a stove below the racks, and a white robotic arm positioned on the right side.", "global_instruction_dense": "The right robotic arm moves to retrieve the pink cup, positions it over the stovetop pan, tilts the cup to pour its contents into the pan, then tilts the cup upright and moves away from the stove.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 582, "tasks": ["pour cup"], "length": 266, "global_instruction": "Pick up the white paper cup on the desk, pour its contents, then place it back on the desk shelf.", "scene_description": "A dark brown wooden desk is in the room, a white disposable paper cup rests on the desk's lower open shelf, papers and a small orange object are on the desk's top surface, and a white robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup on the dark brown desk's lower shelf, grasps the cup, lifts it, tilts it to pour its contents, then lowers the cup back onto the shelf and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 583, "tasks": ["pour cup"], "length": 169, "global_instruction": "Pour liquid from the two white mugs placed on the work surface.", "scene_description": "A clear hand sanitizer pump bottle rests on the left of a dark brown countertop. On the light wood work surface below, there is a light blue plastic scoop, a green and white striped towel, two white ceramic mugs, a clear plastic water bottle, a black cloth, and a blue joystick-style tool. A white colander holding a stainless steel pot sits in an aluminum foil tray at the back of the counter, and a white robotic arm with orange fastening straps is positioned on the right side of the workspace.", "global_instruction_dense": "The right robotic arm moves to the farther of two white mugs on the work surface, grasps it, lifts and tilts it to pour, sets it back down, then grasps the nearer white mug and lifts it to pour.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 584, "tasks": ["pour cup"], "length": 226, "global_instruction": "Pour contents from the small measuring cup into the Quaker Oats canister and place the lid on the canister.", "scene_description": "A kitchen counter has a white microwave at the left, an open white upper cabinet with stored kitchen items, a small white box next to the microwave, a white bowl, small grey measuring cup, orange lid, Quaker Oats canister, dish soap beside a sink with a metal kettle, and a blue dish rack on the sink's right end.", "global_instruction_dense": "The right robotic arm moves toward the small grey measuring cup on the counter, grasps it, lifts it to pour its contents into the Quaker Oats canister, places the empty cup back on the counter, then grasps the orange lid and places it on top of the Quaker Oats canister.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 585, "tasks": ["pour cup"], "length": 321, "global_instruction": "Pour the contents of the beige patterned paper cup into the clear plastic water bottle.", "scene_description": "A white gas stove sits in a kitchen, with a small glass spice jar on its left burner. A white cutting board on the stove's right surface holds a beige patterned paper cup, a blue bowl with a clear plastic water bottle inside, and a grey block. Metal spice racks full of containers are mounted on the wall above the stove, with a robotic arm positioned at the upper right.", "global_instruction_dense": "The right robotic gripper moves downward toward the beige patterned paper cup on the cutting board, grasps the cup, lifts and positions it over the mouth of the clear plastic water bottle, then tilts the cup to pour its contents into the bottle.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 586, "tasks": ["pour cup"], "length": 544, "global_instruction": "Fill a clear plastic cup with water from the faucet then pour the water into the sink.", "scene_description": "A stainless steel sink with a curved silver faucet is set into a light-colored kitchen countertop, a white robotic arm is positioned at the upper right, a window is behind the sink, a small blue soap dispenser sits next to the faucet, and a yellow emergency stop device is at the lower right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the sink faucet, turns on the water flow, grasps a clear plastic cup, holds it under the running water to fill it, tilts the cup to pour all water into the sink, then moves the empty cup away from the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 587, "tasks": ["pour cup"], "length": 326, "global_instruction": "Pour the contents of the small white cup into the sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a small white cup to the sink's right, a blue sponge inside the sink, dish soap next to the sink, coffee pods on the counter's left, and a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves toward the small white cup on the right of the sink, grasps it, lifts it, moves it over the sink to pour its contents into the sink, then moves the empty cup to the left side of the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 588, "tasks": ["pour cup"], "length": 291, "global_instruction": "Pour liquid from the patterned paper cup into the sink, then return the cup to the countertop.", "scene_description": "A stainless steel sink with a chrome faucet sits in a white kitchen countertop. A blue sponge is inside the sink, a soap dispenser is left of the faucet. To the sink's right, a patterned white paper cup, small white container, stack of white boxes, paper towel roll, and small potted green plant are on the counter near a window, with a robotic arm above the right counter.", "global_instruction_dense": "The right robotic gripper moves to grasp the patterned paper cup right of the sink, lifts and tilts it to pour its liquid contents into the sink, then moves the cup back to its original counter position, releases it, and retracts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 589, "tasks": ["pour cup"], "length": 268, "global_instruction": "Pour the contents of one patterned paper cup into the other patterned paper cup on the countertop.", "scene_description": "A white countertop holds a stack of patterned white paper cups on a wooden holder at left, a stainless steel appliance with a green indicator light, a coffee machine with headphones on top, a wooden organizer with small packets, a coffee pod carousel, two patterned white paper cups near the center, and a monitor arm at the right.", "global_instruction_dense": "The right robotic arm moves to grasp the front patterned paper cup, lifts it, tilts it to pour its contents into the rear patterned paper cup, then tilts the cup upright and places it back on the countertop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 590, "tasks": ["pour cup"], "length": 328, "global_instruction": "Pour the contents of the patterned paper cup without utensils on the tray into the adjacent patterned paper cup with utensils, then return the empty cup to the tray.", "scene_description": "A white kitchen counter holds a stainless steel sink with a paper cup inside, a chrome faucet, a blue dish soap bottle, a standing paper towel roll, and a black tray with two patterned paper cups (one containing orange and white utensils) on its right side, with a robotic arm at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the patterned paper cup without utensils on the tray, grasps it, lifts it to pour its contents into the adjacent patterned paper cup holding utensils, then moves back to place the emptied cup onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 591, "tasks": ["pour cup"], "length": 299, "global_instruction": "Pick up a patterned paper cup from the gray tray, pour its contents onto the tray, then place the cup on the countertop.", "scene_description": "A white kitchen counter holds a stainless steel sink with a patterned paper cup inside, a silver faucet, a blue dish soap bottle next to the faucet, a roll of white paper towels to the right of the sink, a gray tray with two patterned paper cups to the right of the paper towels, and a robotic arm at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward a patterned paper cup on the gray tray, grasps and lifts the cup, tilts it to pour its contents onto the tray, then moves the cup to the countertop beside the tray, lowers it, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 592, "tasks": ["pour cup"], "length": 793, "global_instruction": "Fill a patterned paper cup with water from the kitchen faucet and leave the filled cup in the sink.", "scene_description": "A stainless steel kitchen sink with a silver faucet sits on a white counter. A clear spray bottle is left of the faucet, two patterned paper cups are on the right counter, a dish soap bottle is on the ledge behind the sink, and a robotic arm is positioned at the right of the frame.", "global_instruction_dense": "The right robotic arm grasps a patterned paper cup from the right counter, moves it into the stainless steel sink, turns on the faucet, positions the cup under running water to fill it, turns off the faucet, then moves back toward the counter leaving the filled cup upright in the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 593, "tasks": ["pour cup"], "length": 359, "global_instruction": "Pour water from the paper cup in the sink into the drain, then place the cup back into the sink.", "scene_description": "A stainless steel sink with a silver faucet sits on a white countertop. A patterned paper cup is inside the sink, a clear spray bottle is left of the sink, dish soap is on the ledge behind the sink, a white plate is right of the sink, and a robotic arm is positioned to the right of the sink.", "global_instruction_dense": "The right robotic arm moves toward the paper cup in the sink, grasps it, lifts it, tilts it to pour water into the sink drain, then tilts the cup upright and places it back inside the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 594, "tasks": ["pour cup"], "length": 578, "global_instruction": "Pick up the patterned paper cup on the right counter, pour its contents into the patterned cup in the sink, then place the cup back on the counter.", "scene_description": "A stainless steel sink is centered under a chrome faucet on a white counter. A clear plastic bottle is left of the faucet, dish soap is behind the faucet to the right, one patterned paper cup sits in the sink, another identical patterned paper cup is on the right counter near the window, a white plate is on the far right counter, and a robotic arm is at the right frame edge.", "global_instruction_dense": "The right robotic arm moves toward the patterned paper cup on the right counter, grasps it, lifts and positions it over the patterned paper cup in the sink, tilts to pour the contents into the lower cup, then moves the empty cup back to the original right counter position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 595, "tasks": ["pour cup"], "length": 717, "global_instruction": "Pour liquid from a patterned paper cup into the sink, then place two patterned paper cups onto the round tray.", "scene_description": "A stainless steel sink with a silver faucet is set into a white kitchen counter. A clear plastic spray bottle sits left of the sink, two light gray patterned paper cups are positioned to the sink's right, a blue dish soap bottle is placed behind the cups, a round tray with stacked dishes is further right on the counter, and a robotic arm is visible at the top right of the frame.", "global_instruction_dense": "The right robotic arm grasps the left patterned paper cup, lifts and tilts it over the sink to pour out its liquid contents, places the cup back on the counter, then grasps two patterned paper cups, moves them over the round tray on the right side of the counter, and releases them onto the tray.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 596, "tasks": ["pour cup"], "length": 469, "global_instruction": "Empty the patterned paper cup on the white saucer and place it back upright on the saucer.", "scene_description": "A white kitchen counter holds a stainless steel sink with a silver faucet, a patterned paper cup left of the faucet, a clear squeeze bottle next to that cup, dish soap on the windowsill behind the sink, an identical patterned paper cup on a white saucer right of the sink, and a right robotic gripper above the right patterned cup.", "global_instruction_dense": "The right robotic gripper grasps the patterned paper cup on the white saucer right of the sink, lifts and tilts it to empty its contents, places the tilted cup on the counter, adjusts the cup's position to re-grasp it, lifts the cup, moves it over the white saucer, sets it upright on the saucer, then moves away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 597, "tasks": ["pour cup"], "length": 439, "global_instruction": "Pour the contents of the white printed paper cup into the silver metal container after opening the container's lid.", "scene_description": "A white kitchen counter has a metal cup rack with red and white cups on its left side, a small green cloth next to the rack, a closed silver square metal container to the right of the cloth, a white printed paper cup further right of the container, a right robotic arm positioned near the silver container, an open dark cabinet below the counter, and a window in the background.", "global_instruction_dense": "The right robotic arm first lifts the lid off the closed silver metal container and places the lid behind the container, then grasps the white printed paper cup, tilts the cup over the open container to pour its contents, then sets the cup back upright on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 598, "tasks": ["pour cup"], "length": 416, "global_instruction": "Remove the lid from the cup in the sink, pour liquid from the lid into the sink, then replace the lid on the cup.", "scene_description": "A white kitchen counter with a stainless steel sink has a white disposable cup with a white lid inside the sink, two chrome faucets to the left of the sink, cleaning supplies, plates, and bowls at the rear of the sink, and a left robotic arm positioned to the right of the sink.", "global_instruction_dense": "The left robotic arm moves toward the cup in the sink, grasps its white lid, lifts and tilts the lid to pour contained liquid into the sink, places the lid back onto the cup, then releases the lid and moves upward away from the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 599, "tasks": ["pour cup"], "length": 649, "global_instruction": "Pour the contents of one paper cup into another paper cup over the kitchen sink.", "scene_description": "A stainless steel sink is embedded in a white kitchen countertop, with two metallic taps to the sink's left. Two white patterned paper cups sit on saucers near the sink's rear edge, alongside a blue bowl, a dish soap bottle, and a white robotic arm positioned on the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the left paper cup on the counter, grasps it, lifts it over the second paper cup placed in the sink, tilts to pour its contents into the sink cup, then returns the empty cup to its original saucer on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 600, "tasks": ["pour cup"], "length": 525, "global_instruction": "Pour the water out of the clear plastic cup in the sink and place the empty cup back into the sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a clear plastic cup sits inside the sink under a running high faucet, a blue bowl on a white plate is positioned to the right of the sink, two light-colored plastic utensils lie on the counter left of the sink, and a robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup in the sink, grasps the cup, lifts and tilts it to pour out the water inside, moves the now-empty cup back over the sink, lowers it, and releases it into the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 601, "tasks": ["pour cup"], "length": 445, "global_instruction": "Pour the contents of the patterned white paper cup into the sink, then place the cup back on the counter.", "scene_description": "A white kitchen counter holds a stainless steel sink, two patterned white paper cups left of the sink, two bowls (one white, one blue) filled with multicolored small pieces in front of the cups, a stationary white robotic arm on the right of the counter, and items including plates, a tomato, a banana, and dish soap at the far end of the counter.", "global_instruction_dense": "The left robotic arm moves toward the patterned white paper cup left of the sink, grasps and lifts it, tilts it over the sink to pour out its colorful contents, then moves back to place the empty cup on the counter next to the other paper cup before releasing it and moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 602, "tasks": ["pour cup"], "length": 427, "global_instruction": "Pour the contents from the white paper cup on the kitchen counter then place the cup back down.", "scene_description": "A white kitchen counter holds a plate with a red apple and yellow banana on the left, a black fork, black spoon, blue bowl with purple contents, white paper cup, gray napkin holder, stacked white boxes, hand sanitizer, and a white Franka robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup on the kitchen counter, grasps it, lifts and tilts the cup to pour out its contents, then lowers the cup back onto the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 603, "tasks": ["pour cup"], "length": 260, "global_instruction": "Pour the contents of the white printed paper cup into the blue-and-white patterned paper plate.", "scene_description": "A white kitchen countertop holds a blue-and-white patterned paper plate with colorful small beads, a white printed paper cup, a blue bowl with a spoon, a wooden coffee pod organizer near the grey tiled wall, and a robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the white printed paper cup on the kitchen counter, grasps it, lifts and tilts it over the blue-and-white patterned paper plate to pour out its contents, then places the cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 604, "tasks": ["pour cup"], "length": 318, "global_instruction": "Pour liquid from the white printed cup into the blue bowl then place the cup on the counter.", "scene_description": "A white kitchen counter holds a stainless steel toaster on the far left, a black-and-white patterned paper plate, a black holder with a white insert, a wooden cup rack, a dark brown coffee carafe, a white printed cup beside the sink, a blue bowl with red contents and a spoon, and a stainless steel sink in the background, with a robotic arm positioned above the sink area.", "global_instruction_dense": "The right robotic arm moves toward the white printed cup next to the sink, grasps it, lifts and tilts it to pour liquid into the blue bowl, stops pouring, moves the cup left toward the paper plate, places it on the counter and releases it, then lifts away from the fallen cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 605, "tasks": ["pour cup"], "length": 315, "global_instruction": "Pour the contents of the white printed paper cup into the blue bowl, then return the cup to the countertop.", "scene_description": "A white kitchen counter has a silver recycling bin on the left, a printed white paper cup in the center, a blue bowl to the right of the cup, and a robotic arm above the bowl.", "global_instruction_dense": "The right robotic arm moves toward the white printed paper cup, grasps it, lifts and tilts it over the blue bowl to pour its contents into the bowl, then lowers the cup back to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 606, "tasks": ["pour cup"], "length": 340, "global_instruction": "Pour contents from the white printed cup into the blue bowl then place the cup back on the counter.", "scene_description": "A white kitchen countertop with a stainless steel sink and silver faucet on the left, a green-capped cleaning bottle, blue sponge, two white tissue boxes, a white printed cup, a blue bowl with contents, and a white paper towel roll, with a robotic arm at the right end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white printed cup, grasps it, tilts it over the blue bowl to pour its contents, then sets the upright cup back on the counter before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 607, "tasks": ["pour cup"], "length": 223, "global_instruction": "Pick up the white paper cup, pour its contents, then place the cup back on the kitchen counter.", "scene_description": "A white kitchen countertop has a stainless steel sink on the left, with a white paper cup, blue bowl with red contents, green-capped cleaning solution bottle, blue sponge, small silver shaker, white napkin dispenser, paper towel roll, and metal spoon on a napkin arranged on the counter, and a robotic arm positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup, grasps it, lifts it, tilts it to pour out its contents, rotates it back upright, lowers it to its original position on the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 608, "tasks": ["pour cup"], "length": 510, "global_instruction": "Pour the dark liquid from the small white cup into the white bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a white bowl with dark contents, a small white cup with dark liquid, a black-and-white patterned circular paper plate, a stack of printed disposable cups, a red sachet, a green sachet, and a roll of white paper towels, against a grey tiled wall with power outlets. A robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the small white cup on the counter, grasps it, lifts it, moves it over the white bowl, repeatedly tilts it to pour the dark liquid into the bowl, tilts the cup upright, places the empty cup back on the counter, releases the cup, and retracts its arm.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 609, "tasks": ["pour cup"], "length": 442, "global_instruction": "Pour liquid from the white patterned paper cup into the adjacent white mug with red interior.", "scene_description": "A white kitchen countertop against gray tiled walls holds a paper towel roll on the left, red and green snack packets, a black-and-white patterned circular tray, a white mug with red interior and red handle, a white patterned paper cup, small plastic containers, a white bowl with food residue, and stacked paper cups in the back right.", "global_instruction_dense": "The right robotic gripper grasps the white patterned paper cup on the counter, lifts it, tilts it to pour its liquid contents into the nearby white mug with red interior, then rights the cup, places it back on the counter, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 610, "tasks": ["pour cup"], "length": 466, "global_instruction": "Pour the contents of the small white cup from the kitchen counter onto the floor.", "scene_description": "A white kitchen counter holds a black-and-white calibration grid, a blue bowl of colorful cereal, a white paper towel roll, small containers, a red-rimmed white cup, a patterned white cup, and a right robotic gripper at the counter's right end.", "global_instruction_dense": "The right robotic gripper moves to grasp a small white cup on the right side of the kitchen counter, lifts and moves it to the counter edge, tilts it to pour out its contents onto the floor, then moves back above the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 611, "tasks": ["pour cup"], "length": 600, "global_instruction": "Pick up the tiny white cup on the kitchen counter, pour out its contents, then place the cup back on the counter.", "scene_description": "A white kitchen countertop holds a white paper towel roll, blue cereal bowl, black-and-white calibration mat, clear water bottle, paper cup, small brush, white bowl with brown food, patterned small plate, printed white cup, tiny white cup, red-rimmed white mug, and stacked paper cups near the wall, with a robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the tiny white cup on the right side of the kitchen counter, grasps it, lifts and tilts it to pour out its contents, then lowers the cup back onto the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 612, "tasks": ["pour cup"], "length": 833, "global_instruction": "Pour the contents of the small white cup into the empty white bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a blue bowl with colorful contents, a black-and-white checkered pad, stacked paper towels, stacked patterned white cups, a small white cup, an empty white bowl, a metal spoon, a blue-and-white patterned plate, clear plastic water bottles, a printed paper cup, a metal fork, and a plastic knife; a grey trash bin sits under the counter, with grey tiled walls with outlets and switches in the background.", "global_instruction_dense": "The right robotic arm extends from the right toward the small white cup on the kitchen counter, grasps and lifts it, tilts it to dispense contents over the counter and into the empty white bowl, moves the cup around the counter surface, and finally releases it onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 613, "tasks": ["pour cup"], "length": 271, "global_instruction": "Pour the contents of the white patterned cup into the blue-and-white patterned plate on the kitchen counter.", "scene_description": "A white kitchen counter has a sink with a clear spray bottle at its edge, two tissue boxes (one large white, one small gray), a clear dish soap bottle with an open green cap, a blue-and-white patterned round plate, and a white patterned cup holding a spoon, with the right robotic arm above the right counter.", "global_instruction_dense": "The right robotic arm first takes the spoon out of the white patterned cup and places it on the blue-and-white plate, then grasps the cup, tilts it to pour its contents into the plate, and finally sets the cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 614, "tasks": ["pour cup"], "length": 325, "global_instruction": "Pick up the light grey cup, pour its contents into the dark patterned bowl, then place the cup back on the table.", "scene_description": "A white table is positioned beside a window with residential buildings outside; on the table are a light grey cup, a dark patterned small bowl with a white utensil, a small green packet, a white paper sheet, a yellow wooden bowl, and a yellow tray with a white napkin. The right robotic arm is at the right edge of the table initially.", "global_instruction_dense": "The right robotic arm moves toward the light grey cup on the table, grasps it, lifts and tilts it over the dark patterned bowl to pour its contents into the bowl, then tilts the cup upright, places it back on the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 615, "tasks": ["pour cup"], "length": 278, "global_instruction": "Pour the contents of the paper cup into the patterned bowl then place the cup back on the table", "scene_description": "A white table adjacent to large windows holds a small green packet, a light paper cup, a blue-white patterned bowl with a white spoon, a wooden tray with napkins, and a light wooden bowl, with a robotic arm positioned above the table near the green packet.", "global_instruction_dense": "The right robotic arm moves toward the paper cup on the table, grasps it, lifts and tilts it to pour its contents into the blue-white patterned bowl, then moves the cup to a new position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 616, "tasks": ["pour cup"], "length": 457, "global_instruction": "Pour the contents of the white patterned paper cup into the blue and white patterned bowl, then place the cup back on the table.", "scene_description": "A light gray table holds a light gray fabric container on the left, a wooden tray with a green packet, a white patterned paper cup next to the tray, small plastic containers below the tray, a blue and white patterned bowl with dark contents at the lower part of the table, and a wooden bowl, folded napkins on a plate near the window, with a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white patterned paper cup on the table, grasps it, lifts and tilts the cup to pour its contents into the blue and white patterned bowl, then tilts the cup upright, lowers it back to the table surface, and releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 617, "tasks": ["pour cup"], "length": 400, "global_instruction": "Pour liquid from the small metallic cup onto the patterned plates on the kitchen counter.", "scene_description": "A white kitchen counter with a grey tiled backsplash holds a glass pour-over coffee maker, black coffee grinder, three fruits (small orange, larger orange, green apple), a small metallic cup, stacked plates, silver lid, green cloth, and red measuring strip, with a right robotic arm positioned above the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the small metallic cup on the kitchen counter, grasps and lifts it, tilts it to pour its contents onto the stacked patterned plates, then moves the cup to a spot near the coffee grinder and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 618, "tasks": ["pour cup"], "length": 483, "global_instruction": "Pour the contents of the white printed cup onto the white plate and return the cup to the counter.", "scene_description": "A white kitchen counter against light gray subway tiled backsplash holds, from left to right: a glass pour-over coffee carafe, black coffee grinder, small white tube, small orange citrus, larger orange citrus, green lime, red strip, three white plates with dark food pieces, a white printed cup, and a black-and-white grid mat near a silver sink faucet, with a white robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm grasps the white printed cup from the counter, lifts and tilts it to pour its dark contents onto a white plate, then returns the upright cup to its original position on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 619, "tasks": ["pour cup"], "length": 334, "global_instruction": "Pick up the white patterned paper cup, pour its contents onto the blue-and-white plate, then return the cup to its original position.", "scene_description": "A white countertop holds a white patterned paper cup on its left, a blue-and-white patterned plate in the center, a brown wooden tray at the rear, a cloth-lined light beige basket, and plastic storage containers, with an open office space visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white patterned paper cup on the left of the counter, grasps and lifts it, tilts it over the central blue-and-white plate to pour out its contents, then moves the cup back to its initial left position and releases it before retracting upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 620, "tasks": ["pour cup"], "length": 366, "global_instruction": "Pour the contents of the white patterned paper cup into the open beige takeout container then place the cup on the table.", "scene_description": "A white table holds a white patterned paper cup, two open beige takeout containers, yellow foam blocks, a brown wooden tray, a brown wooden bowl, a black-and-white patterned small bowl, a plastic spoon, napkins, and a clear plastic storage container on the left side.", "global_instruction_dense": "The right robotic arm grasps the white patterned paper cup on the table, lifts it, tilts it over the open beige takeout container to pour its contents into the container, then moves the cup to the left of the takeout container, places it upright on the table, and retracts upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 621, "tasks": ["pour cup"], "length": 257, "global_instruction": "Pour contents from the patterned cup then place it back on the table.", "scene_description": "A white table holds a large light brown wooden bowl on the far left, a clear plastic container, a white patterned cup with teal base, several beige trays, a white rectangular dish, and a brown wooden tray at the back; a robotic arm base is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white patterned cup on the table, grasps it, lifts it, tilts it to pour its contents, tilts it back upright, lowers it, and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 622, "tasks": ["pour cup"], "length": 290, "global_instruction": "Pour the liquid from the patterned white paper cup into the sink then place the cup on the left countertop.", "scene_description": "A white kitchen countertop has a stainless steel sink, a patterned white paper cup inside the sink, two chrome faucets behind the sink, a clear plastic container with a yellow sponge and label to the sink's left, cleaning supplies on the counter behind the sink, and a robotic arm to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the patterned white paper cup in the sink, grasps it, lifts and tilts it to pour its liquid contents into the sink, reorients the cup upright, moves it to the counter left of the sink, releases the cup, and retracts its gripper.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 623, "tasks": ["pour cup"], "length": 293, "global_instruction": "Pour liquid from the white patterned mug into the white mug with red interior, then place the patterned mug back on the counter.", "scene_description": "A white kitchen countertop holds a blue-and-white patterned plate with a snack, a stainless steel coffee machine, a white pitcher with red interior, a white mug with red interior and red handle, a white patterned mug, and a paper towel roll from left to right, with a right robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white patterned mug on the kitchen counter, grasps it, lifts and tilts it to pour its contents into the adjacent white mug with red interior, then moves back and places the patterned mug upright on the counter before releasing it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 624, "tasks": ["pour cup"], "length": 213, "global_instruction": "Pour liquid from the patterned disposable cup into the plain white cup, then place the patterned cup back on the counter.", "scene_description": "A white kitchen counter holds a silver Keurig coffee machine on the left, a K-cup pod holder next to the machine, a patterned disposable cup with a stir stick, a red-capped small white bottle, and a paper towel roll further along the counter; a left robotic arm is at the back of the counter, a stationary right robotic arm is at the right edge of the frame.", "global_instruction_dense": "The left robotic arm moves toward the patterned disposable cup on the counter, grasps it, lifts and tilts it to pour its contents into the plain white cup, then moves the empty patterned cup back and places it on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 625, "tasks": ["pour cup"], "length": 234, "global_instruction": "Pour the contents of the white countertop cup then place the cup back on the counter.", "scene_description": "A light-colored kitchen counter holds a silver and black Keurig coffee machine at its left, a rotating holder of coffee pods to the left of the machine, a white cup near the counter center, a roll of white paper towels further back, with two white robotic arms positioned to the right of the counter.", "global_instruction_dense": "The left robotic arm moves toward the white cup on the kitchen counter, grasps it, lifts it, moves to a pouring position, tilts the cup to pour its contents, rights the cup, and places it back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 626, "tasks": ["pour cup"], "length": 259, "global_instruction": "Pour liquid from the white patterned cup and place it back on the kitchen counter.", "scene_description": "A silver Keurig coffee machine is on the left of a white kitchen counter, with a rack of coffee pods beside it. A white patterned cup sits on the counter near the machine, and a robotic arm is positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white patterned cup on the kitchen counter, grasps it, lifts and tilts it to pour out its contents, then lowers and places the cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 627, "tasks": ["pour cup"], "length": 323, "global_instruction": "Pour the contents of the printed white paper cup onto the blue-and-white plate, then place the cup back on the counter.", "scene_description": "A white kitchen counter holds a black food processor with a clear container (far left), dark bag, silver lid, patterned white can, green pear, two oranges, blue-and-white plate, and printed white paper cup, with a robotic arm at the right end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the printed white paper cup on the kitchen counter, grasps it, lifts it, tilts it to pour its contents onto the blue-and-white plate, then rights the cup and places it back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 628, "tasks": ["pour cup"], "length": 359, "global_instruction": "Pour liquid from the patterned cup on the white saucer into the front patterned cup, then return the cup to the saucer.", "scene_description": "A white kitchen countertop holds a black coffee grinder on the left, a glass coffee bean container, a green pear, a shiny silver lid, a small blue-and-white patterned plate, two patterned ceramic cups (one with blue accents in front, one with green accents on a white saucer behind), two oranges, and a stainless steel sink at the far end; a robotic arm is positioned above the counter near the sink.", "global_instruction_dense": "The right robotic gripper moves toward the green-patterned cup on the white saucer, grasps it, lifts it, tilts it to pour liquid into the adjacent front blue-patterned cup, stops pouring, returns the green-patterned cup to the white saucer, and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 629, "tasks": ["pour cup"], "length": 275, "global_instruction": "Pour the dark contents of the printed white cup into the white saucer, then set the cup back on the counter.", "scene_description": "A white kitchen counter holds a green pear (leftmost), a dark container with a shiny metallic lid, a purple-and-white patterned plate with an orange, a printed white cup resting on a white saucer, a small light green spoon, another orange near the sink, two small silver cylindrical containers, and a stainless steel sink with a faucet against a grey tiled backsplash; a Franka robotic arm is positioned on the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the printed white cup on the counter, grasps it, lifts and tilts it to pour its dark contents into the white saucer, then places the cup back down on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 630, "tasks": ["pour cup"], "length": 256, "global_instruction": "Pour contents from the disposable paper cups onto the small white plate on the kitchen counter.", "scene_description": "A white kitchen counter holds a green pear at the left, followed by a chrome-lidded dark container, a purple-rimmed paper plate with an orange, a white patterned disposable cup, a small white plate with dark food pieces, and another orange near the sink at the back, with a light grey tiled backsplash along the left wall and a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down to grasp a white disposable cup, lifts and tilts it over the small white plate to pour its contents, places the cup on its side on the counter, then grasps a second white disposable cup, tilts it over the plate to pour, places it upright on the counter, then retracts upward away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 631, "tasks": ["pour cup"], "length": 373, "global_instruction": "Pour the contents of the white patterned paper cup onto the blue and white patterned plate, then place the cup back on the counter.", "scene_description": "A white patterned paper cup, blue and white patterned plate, dark green-capped dish soap, clear spray bottle, small silver shaker, and stacked white storage containers are placed on a white kitchen counter, with a sink on the left side of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the white patterned paper cup on the counter, grasps and lifts it, tilts it over the blue and white patterned plate to pour its contents onto the plate, then moves the empty cup back to the counter and places it upright before releasing.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 632, "tasks": ["pour cup"], "length": 208, "global_instruction": "Pour the dark contents from the tipped white paper cup onto the paper plate, then set the cup upright on the counter.", "scene_description": "A white countertop adjacent to a large window has a red and silver tinsel along the window edge, a wooden bowl near the window, a tipped white paper cup holding dark contents, a blue and white paper plate, a light yellow plastic spoon resting on white paper towels, a small blue card, and a small decorated Christmas tree next to the wooden bowl.", "global_instruction_dense": "The right robotic arm moves toward the tipped white paper cup, grasps it, tilts it to pour its dark contents onto the blue and white paper plate, then sets the cup upright on the counter before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 633, "tasks": ["pour cup"], "length": 699, "global_instruction": "Pour the contents of a patterned paper cup into the paper bowls on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver and black rectangular storage container, a small wooden shelf with small items, an open clear glass jar of dark coffee beans, a metal spoon on a small white plate, two white patterned paper cups, two blue-and-white patterned paper bowls, a clear plastic bag, a white paper towel roll, and a stainless steel sink with faucet, against a light gray tiled backsplash. A robotic arm is positioned near the sink.", "global_instruction_dense": "The right robotic arm moves from the sink area toward the countertop, adjusts position, grasps a white patterned paper cup, lifts it, pours its dark contents into two blue-and-white patterned paper bowls, places the empty cup back onto the counter, then moves upward away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 634, "tasks": ["pour cup"], "length": 291, "global_instruction": "Pour the contents of the patterned paper cup onto the white plate, then place the cup into the small blue-and-white bowl.", "scene_description": "A white table next to a window holds red decorative tinsel along the window edge, a small blue-and-white patterned bowl, a white patterned paper cup, a white plate with black beans, a large wooden bowl, two paper towels, a small blue card, and two plastic spoons.", "global_instruction_dense": "The right robotic arm moves to grasp the white patterned paper cup, tilts it to pour its black bean contents onto the white plate, then places the cup into the small blue-and-white patterned bowl before retracting.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 635, "tasks": ["pour cup"], "length": 233, "global_instruction": "Pour the contents of the green patterned cup into the large wooden bowl", "scene_description": "A light gray table next to a window with red tinsel along the ledge holds two white paper towels, a snack bag, two plastic utensils, a small blue card, a small patterned bowl, a white plate with dark food, a green patterned cup, and a large wooden bowl at the right end, with a robotic arm above the wooden bowl initially.", "global_instruction_dense": "The right robotic gripper moves to grasp the green patterned cup on the table, lifts and tilts it to pour its contents into the large wooden bowl, then places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 636, "tasks": ["pour cup"], "length": 780, "global_instruction": "Pour the contents of the white printed paper cup into the blue and white patterned bowl holding dark brown grounds.", "scene_description": "A white kitchen counter holds a silver and black rectangular storage box on the left, a brown glass jar with a silver hinged lid, a small wooden shelf with small dark containers, two blue and white patterned bowls (one holding dark brown grounds), a white printed paper cup, a sink with a silver faucet, and a white paper towel roll at the back of the counter.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, interacts with a plastic spoon on the counter, then grasps the white printed paper cup, lifts it, tilts it over the blue and white patterned bowl with dark grounds to pour its contents, then places the cup back upright on the counter and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 637, "tasks": ["pour cup"], "length": 313, "global_instruction": "Pour the contents of the white patterned paper cup into the blue and white patterned paper plate.", "scene_description": "A white countertop adjacent to a large window is lined with red tinsel, and holds a blue and white patterned paper plate, a white plate with small dark items, a white patterned paper cup, a white mug with red interior, a large wooden bowl, a bag of Smartfood popcorn, plastic cutlery on a paper towel, and a small blue packet.", "global_instruction_dense": "The right robotic arm moves toward the white patterned paper cup on the countertop, grasps it, lifts and tilts it to pour its light-colored contents into the blue and white patterned paper plate, then lowers the cup back to the countertop and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 638, "tasks": ["pour cup"], "length": 647, "global_instruction": "Pour the contents of the white mug with red interior onto the white plate, then place the mug on the paper towels.", "scene_description": "A white countertop adjacent to a window with red and silver tinsel along the sill holds an upright white mug with red interior, a wooden bowl, a paper cup, a small patterned dish, paper towels, and a white plate under the mug.", "global_instruction_dense": "The right robotic gripper moves toward the upright white mug with red interior on the counter, grasps it, lifts it to pour its contents onto the white plate beneath it, moves the mug left onto the paper towels, adjusts its position, then releases the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 639, "tasks": ["pour cup"], "length": 356, "global_instruction": "Pour the contents of the printed white mug into the white empty plate on the table.", "scene_description": "A white table holds a small green potted plant, a black packaged snack, a white empty plate, two blue-patterned paper bowls, two white mugs (one with red interior, one printed), and white plastic utensils, with a white robotic arm situated to the right of the table.", "global_instruction_dense": "The left robotic arm grasps the printed white mug on the table, lifts it, positions it over the white empty plate, tilts it to pour all granular contents into the plate, then places the mug back onto its original position on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 640, "tasks": ["pour cup"], "length": 218, "global_instruction": "Pick up the small white cup from the top of the Keurig machine, empty its contents into the discard tray, then place the cup on the counter.", "scene_description": "A silver and black Keurig coffee machine is on a white kitchen counter. A coffee pod rack is to the left of the machine, two patterned white cups are in front of the machine, a small white cup rests on top of the Keurig, and a discard tray, sink, and paper towel are in the background.", "global_instruction_dense": "The right robotic arm moves toward the small white cup on top of the Keurig machine, grasps and lifts the cup, moves it right to the discard tray, tilts the cup to pour out its coffee pod contents, then places the empty cup on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 641, "tasks": ["pour cup"], "length": 274, "global_instruction": "Pour the contents of a patterned paper cup into the paper bowls on the kitchen counter.", "scene_description": "A white kitchen counter holds stacked white napkins, a stainless steel napkin dispenser, two patterned white paper cups, two blue-and-white paper bowls with dark granules, a purple and yellow can, and a stack of paper cups in the background, with a robotic arm at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the patterned paper cup between the napkin dispenser and the paper bowls, grasps the cup, lifts and tilts it to pour its contents into the two blue-and-white paper bowls, then lowers the cup back onto the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 642, "tasks": ["pour cup"], "length": 300, "global_instruction": "Pour contents from one white patterned cup into the other white patterned cup on the table.", "scene_description": "A white table holds two patterned small bowls, a blue rectangular box, a small silver packet, two white patterned paper cups, and a blue bowl with a white spoon. A smaller white table with two small potted plants, a dark upholstered chair, and an office corridor are visible in the background.", "global_instruction_dense": "The right robotic gripper grasps the rightmost white patterned cup on the table, lifts it, tilts it to pour its contents into the left white patterned cup, then rights the cup and places it back on the table before moving upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 643, "tasks": ["pour cup"], "length": 405, "global_instruction": "Pour the contents of the farther white printed cup into the left black-and-white patterned bowl", "scene_description": "Two black-and-white patterned bowls, two white printed cups, a blue rectangular box, and a blue bowl with a wooden spoon are arranged on a white table. A second white table with two small potted plants, a black padded stool, and a robotic arm above the table near frosted windows are visible.", "global_instruction_dense": "The right robotic gripper moves down to grasp the farther white printed cup, lifts it, moves it over the left black-and-white patterned bowl, tilts the cup to pour its contents into the bowl, then returns the cup to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 644, "tasks": ["pour cup"], "length": 301, "global_instruction": "Pour the contents of the right patterned paper cup into the empty striped bowl, then place the cup next to the left patterned paper cup.", "scene_description": "A white table holds two patterned paper cups, a blue bowl with colorful contents, two black-and-white striped bowls (one with a silver packet inside), a white plastic spoon on a napkin, and a blue box; a small potted plant sits on an adjacent side table with a dark booth behind the main table.", "global_instruction_dense": "The right robotic arm enters from the top right, grasps the right patterned paper cup, lifts it, moves it over the empty right striped bowl, tilts it to pour dark contents into the bowl, then straightens the cup and places it next to the left patterned paper cup on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 645, "tasks": ["pour cup"], "length": 378, "global_instruction": "Pour contents from a paper cup into a plate and bowl, then stack the two paper cups.", "scene_description": "A white table holds a blue bowl, two patterned white paper cups, two black-and-white patterned paper plates, a white napkin, and a blue device. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp a patterned white paper cup, lifts and tilts it to pour contents into the front patterned plate and blue bowl, places the cup back on the table, then grasps the other patterned white paper cup, lifts it, and stacks it on top of the previously placed paper cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 646, "tasks": ["pour cup"], "length": 255, "global_instruction": "Pour contents from a white patterned cup into the small patterned bowl, then place the cup back on the table.", "scene_description": "A white table holds two white patterned cups, a blue bowl with red contents, a foil-wrapped item, and a small patterned bowl behind the blue bowl.", "global_instruction_dense": "The right robotic arm moves down to grasp the right white patterned cup on the table, lifts it, tilts it to pour its contents into the small patterned bowl behind the blue bowl, then tilts the cup upright and places it back on the table near the other cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 647, "tasks": ["pour cup"], "length": 537, "global_instruction": "Pour contents from the rear patterned paper cup into the black-and-white patterned bowl.", "scene_description": "A white table holds two light-colored patterned paper cups, a blue bowl with red contents, a small blue packet, a napkin, and a black-and-white patterned bowl atop stacked items. A straw is inserted in the rear paper cup.", "global_instruction_dense": "The right robotic gripper first removes the straw from the rear patterned paper cup, places the straw on the table napkin, then grasps the rear paper cup, lifts it, tilts it over the black-and-white patterned bowl to pour its contents, and finally places the cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 648, "tasks": ["pour cup"], "length": 257, "global_instruction": "Pour the contents of the white patterned paper cup into the blue bowl, then place the cup back on the table.", "scene_description": "A white table holds a silver snack packet, a white patterned paper cup, a blue bowl with red contents, and a stacked patterned bowl and books. A second table with small potted plants is in the background, with dark bench seating adjacent to the tables.", "global_instruction_dense": "The right robotic gripper moves toward the white patterned paper cup on the table, grasps and lifts it, tilts it over the blue bowl to pour its contents, moves the cup to the table position left of the blue bowl, then releases it and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 649, "tasks": ["pour cup"], "length": 315, "global_instruction": "Pour the contents of the patterned paper cup into the patterned bowl, then place the cup next to the blue bowl.", "scene_description": "A white table holds a blue bowl, a blue box, an orange packet, two white paper cups, a small black round object, and two patterned bowls (one with dark granular contents, one holding cutlery). A dark leather sofa is behind the table, and a smaller left white table has two small potted plants (purple and green).", "global_instruction_dense": "The right robotic arm moves down to grasp the patterned white paper cup on the right side of the table, lifts it, positions it over the patterned bowl with dark contents, tilts the cup to pour its contents into the bowl, then moves the empty cup left and places it next to the blue bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 650, "tasks": ["pour cup"], "length": 334, "global_instruction": "Pour contents of the right white paper cup into the left white paper cup, then place the empty cup back on the table.", "scene_description": "A white table holds a left patterned white paper cup, an orange packet, a small black round object, a blue bowl of colorful cereal, a blue box, a right patterned white paper cup, two patterned bowls (one with chocolate and white powder, one with a packet and utensil), and a white spoon. In the background are a dark leather sofa, a smaller white table with two small potted plants (purple and green), and a dark chair.", "global_instruction_dense": "The right robotic arm grasps the patterned white paper cup on the right side of the table, lifts and moves it over the patterned white paper cup on the left side of the table, tilts to pour its contents into the left cup, then moves the empty cup and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 651, "tasks": ["pour cup"], "length": 313, "global_instruction": "Grasp the left patterned paper cup on the white table, tilt it, then place it back on the table surface.", "scene_description": "A white table holds two white patterned paper cups, a blue bowl with a spoon, a blue box, a small black object, an orange packaged item, and two patterned paper plates. A smaller white table with two small potted plants, a black chair, and a dark red booth are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the left patterned paper cup on the white table, grasps it, lifts and tilts the cup repeatedly, then lowers the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 652, "tasks": ["pour cup"], "length": 236, "global_instruction": "Pour from the right white paper cup into the blue bowl, then stack the cup on the left white paper cup.", "scene_description": "Two white paper cups, a blue bowl with red contents, a small patterned plate with dark food, an empty patterned paper plate, an orange squeeze bottle, and a blue box are arranged on a white table. A black and white chair sits to the left of the table, a dark padded bench runs along the back of the table, and a smaller white table with two small potted plants is in the background.", "global_instruction_dense": "The right robotic gripper moves toward the right white paper cup on the table, grasps it, lifts and tilts it over the blue bowl to pour its contents, moves the cup over the left white paper cup to stack it on top, then releases the cup and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 653, "tasks": ["pour cup"], "length": 313, "global_instruction": "Pour liquid from a clear cup in the silver spice rack onto the purple plate on the countertop.", "scene_description": "A dark marble kitchen countertop sits beside a window with dark curtains on the left. On the counter are a purple plate, a pink-rimmed yellow bowl, a small purple cup, a bright green cup, and purple and yellow utensils. Against the brown back wall are a silver rotating spice rack and a wooden knife block with black knives; the left robotic arm is positioned above the spice rack, the right robotic arm is on the right edge of the frame.", "global_instruction_dense": "The left robotic arm reaches toward the silver spice rack in the corner of the countertop, grasps a clear cup, removes it from the rack, moves it over the purple plate, tilts it to pour liquid onto the plate, then lifts the cup back up.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 654, "tasks": ["pour cup"], "length": 253, "global_instruction": "Pour the contents of the pink-orange cup into the yellow cup on the kitchen counter.", "scene_description": "A kitchen counter holds a stainless steel coffee maker on the left, a pink-orange cup near a white-framed window with dark curtains, a yellow cup in the lower center, a silver capsule holder, a wooden knife block with black knives, and a purple plate with a small clear cup. A right robotic arm is positioned above the counter on the right.", "global_instruction_dense": "The right robotic arm moves down toward the pink-orange cup on the kitchen counter, grasps it, lifts and moves it over the yellow cup, tilts it to pour its contents into the yellow cup, then places the empty pink-orange cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 655, "tasks": ["pour cup"], "length": 645, "global_instruction": "Grasp the gray plastic cup, pour its contents into the clear container, then place the cup back on the table.", "scene_description": "A black table holds a gray printed plastic cup, a small beige bowl, a red bowl of snacks, a green measuring spoon, a yellow pencil, a blue snack packet, a green circular lid, a clear container of white food, a stand-up food packet, a blue-lidded container, a stack of white napkins, an orange cartoon-faced box, a stapler, and white papers, with a Franka robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the gray plastic cup on the table, grasps it with its gripper, lifts it, moves it over the clear plastic container, tilts it to pour its contents into the container, then moves the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 656, "tasks": ["pour cup"], "length": 542, "global_instruction": "Pick an orange cup from the dish rack, place it in the sink, and fill it with water from the faucet.", "scene_description": "A beige kitchen sink is set into a dark green countertop; an orange-labeled hand soap pump sits to the left of the sink, a gray dish rack is positioned to the sink's right, a white potted plant and tall green cleaning spray bottle rest on the windowsill behind the sink, and a robotic arm is at the top right out of direct reach initially.", "global_instruction_dense": "The right robotic arm moves toward the gray dish rack on the right counter, grasps an orange cup from the rack, lifts and moves the cup over the beige sink, places the cup in the sink and releases its grip, then moves to the faucet handle, turns the handle to open the faucet, allowing water to flow into the orange cup resting in the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 657, "tasks": ["pour cup"], "length": 454, "global_instruction": "Pour water from the orange cup in the sink into the upper pink cup, then place the orange cup back in the sink.", "scene_description": "A beige kitchen sink is set into a dark countertop, with an orange cup, two stacked pink cups inside the sink, and a yellow sponge attached to the sink edge. Left of the sink on the counter: a white-and-orange pump bottle, blue cloth, green lid, and orange bowl. The windowsill above the sink holds a potted plant with white flowers and a green pump bottle; a dish rack is positioned to the right of the sink.", "global_instruction_dense": "The right robotic arm enters the sink area, moves to the orange cup in the sink, grasps and lifts it, tilts it to pour water into the upper stacked pink cup, stops pouring, tilts the cup upright, lowers the orange cup back into the sink, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 658, "tasks": ["pour cup"], "length": 634, "global_instruction": "Pour the contents of the orange measuring cup into the frying pan on the stove.", "scene_description": "A kitchen with a dark stone countertop. On the left of the counter are a stainless steel mixing bowl, two metal spoons, an orange measuring cup, a black bowl with a white interior, and a small orange can. A black frying pan holding several white sliced food pieces sits on the gas stove below the counter. A white robotic arm is positioned above the right side of the counter near a utensil holder with silver utensils, bottles, and a block of grain.", "global_instruction_dense": "The right robotic arm reaches toward the orange measuring cup on the counter, grasps it, lifts it, moves it over the frying pan on the stove, tilts it to pour the white food slices into the pan, then moves the cup back to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 659, "tasks": ["pour cup"], "length": 671, "global_instruction": "Pour the contents of the orange measuring cup into the frying pan on the stove.", "scene_description": "A kitchen gas stove with a frying pan holding white sliced food sits below a dark stone counter; the counter holds a silver mixing bowl, metal spoon, orange measuring cup, black bowl with white interior, orange can, and metal utensil holder, with a Franka robotic arm positioned at the right of the stove.", "global_instruction_dense": "The right robotic arm moves left toward the rear kitchen counter, grasps the orange measuring cup, moves it over the frying pan on the stove, tilts it to pour its contents into the pan, then returns the measuring cup to the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 660, "tasks": ["pour cup"], "length": 215, "global_instruction": "Grasp the red measuring cup and pour its contents into the black frying pan on the stovetop.", "scene_description": "A dark kitchen countertop holds a stainless steel mixing bowl on the far left, a red plastic measuring cup with a metal handle to the right of the bowl, and a small orange box further right. A stovetop below the counter has a glass pot lid on the left burner and a black frying pan on the right burner, with a white robotic arm positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red measuring cup on the kitchen counter, grasps its handle, lifts the cup, moves it over the black frying pan on the stovetop, and tilts the cup to pour its contents into the pan.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 661, "tasks": ["pour cup"], "length": 163, "global_instruction": "Pick up the red measuring cup on the counter and pour its contents into the stovetop pan.", "scene_description": "A dark kitchen counter holds a clear plastic container of light-colored sliced food, a red measuring cup, a dark bowl with a metal spoon, and a tall white bottle; a stovetop with a glass pot lid sits in the foreground, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves left toward the red measuring cup on the kitchen counter, grasps the cup, lifts it, moves it over the stovetop pan, tilts the cup to pour its contents into the pan, then lifts the cup away from the pan.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 662, "tasks": ["pour cup"], "length": 1329, "global_instruction": "Pour the contents of the silver ridged cup onto the grey textured mat, then return the cup to its original position.", "scene_description": "A dark green kitchen countertop holds a silver cylindrical ridged cup behind a light grey textured mat, a red kettle is at the bottom left, a dark fabric curtain is on the left, a glass panel with a green light strip is on the right, and a wooden knife block is in the background, with a robotic arm at the top right of the frame.", "global_instruction_dense": "The left robotic arm moves toward the silver ridged cup on the countertop, grasps it, lifts and tilts it over the light grey textured mat to pour its contents, then lowers the cup back to its initial position on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 663, "tasks": ["pour cup"], "length": 326, "global_instruction": "Pour the contents of the beige paper cup into the dark plastic cup, then place the paper cup back on the table.", "scene_description": "A black tabletop holds a beige disposable paper cup, a taller dark plastic cup, a purple plate, a gray tissue box, a wooden spoon, two plastic containers (one filled with food, one empty), a small food bowl, and a trash bin with a gray liner, against a wall with hanging artwork and wooden flooring.", "global_instruction_dense": "The right robotic gripper moves to grasp the beige paper cup, lifts it, tilts it to pour its contents into the dark plastic cup, returns the cup to an upright position, lowers it back to the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 664, "tasks": ["pour cup"], "length": 462, "global_instruction": "Pour liquid from the tall translucent plastic cup into the small paper cup on the black table.", "scene_description": "A black table holds a tall translucent plastic cup near the back wall, a small paper cup, a translucent container of light-colored food, an empty translucent plastic container, a wooden spoon on white paper, a grey patterned tissue box, a purple plate, a metal spoon, and a trash bin behind the table, with a framed artwork on the brown wall above the table.", "global_instruction_dense": "The right robotic arm moves toward the tall translucent plastic cup at the back of the black table, grasps it, lifts it, tilts it to pour liquid into the small paper cup, tilts the cup back upright, places it back on the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 665, "tasks": ["pour cup"], "length": 366, "global_instruction": "Pour contents from the light beige paper cup into the darker plastic cup, then pour back into the light beige paper cup.", "scene_description": "A black table holds a popcorn container, empty clear square container, wooden spoon on a napkin, patterned tissue box, light beige paper cup, darker plastic cup, crumpled napkin, purple plate, red-food dish and metal spoon, with a trash bin behind the cups and moon-themed wall art above the table.", "global_instruction_dense": "The right robotic arm grasps the light beige paper cup, lifts it to pour its contents into the darker plastic cup behind it, places the light cup back, grasps the darker cup, pours its contents back into the light beige cup, then places the darker cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 666, "tasks": ["pour cup"], "length": 454, "global_instruction": "Empty the contents of two paper cups into the trash bin, dispose of one cup, and place the other cup on the table.", "scene_description": "A black table against a dark wall with a hanging framed art piece holds a clear container of light-colored food, an empty clear container, a wooden spoon on a white napkin, a teal patterned tissue box, a small white paper cup, a dark tall cup, a purple plate, a small dish with red food, and a metal spoon; a lined trash bin sits at the table's back, with a robotic arm above the bin.", "global_instruction_dense": "The right robotic arm grasps a small white paper cup on the table, lifts it to pour its contents into the trash bin, drops the empty white cup into the trash, retrieves a printed paper cup from the trash area, pours its contents into the trash, then places the empty printed cup on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 667, "tasks": ["pour cup"], "length": 253, "global_instruction": "Pour contents from the small white cup then place the cup back on the table.", "scene_description": "A black table holds a clear container of popcorn, an empty clear plastic container, a wooden spoon on a white napkin, silver chopsticks, a purple plate, a small white cup, a small metal bowl, a tall light-colored cup, a gray tissue box, and a black trash bin with a white liner. A robotic arm is positioned at the upper right of the table, against a brown wall with white framed art and wooden flooring.", "global_instruction_dense": "The right robotic arm moves toward the small white cup on the table, grasps it, lifts and tilts it to pour out its contents, then lowers the cup and places it back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 668, "tasks": ["pour cup"], "length": 254, "global_instruction": "Pour the contents of the small white cup into the empty clear container on the table", "scene_description": "A black table is against a brown wall with a white-framed artwork. On the table: a clear container with light popcorn, an empty clear square container, a wooden spoon on a white napkin, a gray patterned tissue box, a small white cup, a translucent dark tall cup, a black trash bin with a light gray liner, a purple plate, a small clear bowl with orange food and a metal spoon. A yellow pole stands to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the small white cup on the black table, grasps it, lifts and tilts it to pour its contents into the empty clear container, then lowers the cup back to the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 669, "tasks": ["pour cup"], "length": 297, "global_instruction": "Pour the contents of the gray cup into the small silver bowl on the table", "scene_description": "A black tabletop holds a gray printed cup, a small silver bowl on a white napkin, a purple plate with a wooden spoon, a container of white cereal, a white disposable cup at the back, a trash bin against the brown rear wall, and a left robotic arm positioned at the right of the table near a small orange packaged item.", "global_instruction_dense": "The left robotic arm moves left toward the gray printed cup on the table, grasps it, lifts and tilts it over the small silver bowl to pour its contents, then lowers the cup back to the table, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 670, "tasks": ["pour cup"], "length": 222, "global_instruction": "Pour the contents of the small cup into the transparent grain container on the table.", "scene_description": "A black tabletop holds a transparent grain container with a wooden spoon, a white lined bowl, a metal cup on a red saucer, tweezers on a white napkin, a small red packet, and a small light-colored cup. A Franka robotic arm is positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves left toward the small cup on the table, grasps it, lifts it, moves it over the transparent grain container, tilts to pour its contents into the container, then lowers the empty cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 671, "tasks": ["pour cup"], "length": 347, "global_instruction": "Pour liquid from the orange cup into the large clear container and dark green mug, then place the cup back on the table.", "scene_description": "A black table against a light-colored wall holds a dark green mug, an orange cup with dark liquid, a small clear glass, a clear square container, a large clear container with a filter, a gray mat with an upright orange-edged package, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange cup on the table, grasps it, lifts it, pours its liquid into the large clear filter container, moves to the dark green mug to pour remaining liquid into it, then moves back to place the orange cup on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 672, "tasks": ["pour cup"], "length": 310, "global_instruction": "Pour contents from the orange food package into the transparent plastic cup and return the cup to the table.", "scene_description": "A black table against a light-colored wall holds a grey checkered cloth, transparent plastic cup, clear glass container, yellow jar with dark contents, small transparent lid, and orange food package; a white robotic arm is positioned at the table's upper right adjacent to a white door.", "global_instruction_dense": "The right robotic arm moves to grasp the transparent plastic cup on the black table, lifts and positions it under the orange food package to catch poured contents, then places the filled cup back onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 673, "tasks": ["pour cup"], "length": 103, "global_instruction": "Pour liquid from the clear plastic measuring cup into the small clear glass container on the table.", "scene_description": "A black table sits against a light-colored wall. On the table, items include a grey checkered cloth, a small clear glass container, an open yellow jar, a small clear lid, a clear plastic measuring cup, and an orange food packet. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic measuring cup on the black table, grasps it, lifts and tilts it to pour liquid into the small clear glass container below, then moves the cup back.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 674, "tasks": ["pour cup"], "length": 355, "global_instruction": "Pour liquid from the transparent plastic measuring cup into containers on the black table.", "scene_description": "A black table against a light-colored wall holds a transparent plastic measuring cup, a small clear glass, a yellow container with dark contents, a white checkered cloth, a gray fabric mat, a yellow food package, a small clear plastic lid, and a small dark object. A robot base with green indicator lights is positioned to the right of the table, with a robotic arm extending above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the transparent plastic measuring cup on the black table, lifts it, tilts to pour liquid into the small clear glass, tilts again to pour remaining liquid, then places the measuring cup back onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 675, "tasks": ["pour cup"], "length": 554, "global_instruction": "Pour liquid from the clear plastic measuring cup into the ice-filled glass container.", "scene_description": "A wooden table holds a clear plastic measuring cup, a glass container filled with ice cubes, a metal spoon, a small black object, a snack package, and a white robotic arm with a green-lit base on the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic measuring cup, grasps it, lifts it, tilts it over the ice-filled glass to pour liquid into the glass, then rights the cup and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 676, "tasks": ["pour cup"], "length": 524, "global_instruction": "Pour the contents of the clear measuring cup into the glass jar of ice.", "scene_description": "A light brown wooden countertop against a pale gray wall holds a clear plastic measuring cup near the right, a clear glass jar filled with white ice to the left of the cup, a small black round object, a metal spoon, a gray fabric mat at the front, and a black and yellow snack bag at the bottom left, with a robotic arm positioned above the counter near the measuring cup.", "global_instruction_dense": "The left robotic arm grasps the clear measuring cup on the counter, lifts it, moves it over the glass jar of ice, tilts the cup to pour its contents into the jar, then returns the measuring cup to its original position on the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 677, "tasks": ["pour cup"], "length": 589, "global_instruction": "Pour liquid from the light blue cup into the clear glass, then return the cup to its original position.", "scene_description": "A wooden table holds a silver toaster at its center, a light blue cup at the table's far end, a clear glass in front of the cup, and a metal wire basket to the left of the toaster, with a right robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the light blue cup at the far end of the wooden table, grasps and lifts the cup, tilts it to pour liquid into the clear glass placed in front of the cup, stops pouring, tilts the cup upright, and places it back in its original position on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 678, "tasks": ["pour cup"], "length": 346, "global_instruction": "Pour liquid from the clear plastic cup into the silver electric kettle and place the cup back on the table.", "scene_description": "A silver metallic electric kettle sits in the foreground of a wooden table, a clear plastic cup is on the table behind the kettle, a left robotic arm is positioned above the table, and a green light strip is at the right edge of the table with a door and hanging coat in the background.", "global_instruction_dense": "The left robotic arm moves toward the clear plastic cup on the wooden table, grasps it, lifts it, tilts it to pour its contents into the silver electric kettle's opening, tilts the cup upright, and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 679, "tasks": ["pour cup"], "length": 426, "global_instruction": "Remove the lid from the transparent measuring cup and pour its contents.", "scene_description": "A wooden table sits next to a window with white horizontal blinds. On the table, there is a white electric iron, a transparent measuring cup with a clear lid, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the lid of the transparent measuring cup, lifts the lid off and moves it aside, then grasps the measuring cup, lifts and tilts it to pour out its contents.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 680, "tasks": ["pour cup"], "length": 279, "global_instruction": "Pour the metal fork out of the white measuring cup onto the wooden table.", "scene_description": "A white plastic measuring cup with a metal fork inside sits on the left of a wooden table, a multi-tiered metal cup rack is behind the cup, a black remote is on the center-right of the table, and a green-lit 3D printer is at the far right, with a curtain and doorway in the background.", "global_instruction_dense": "The left robotic arm grasps the white measuring cup holding a metal fork, lifts and tilts the cup to pour the fork onto the table, then lowers the empty cup back toward the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 681, "tasks": ["pour cup"], "length": 264, "global_instruction": "Grasp the silver metallic cup from the kitchen counter, pour its contents, then place it back on the counter.", "scene_description": "A white tiled kitchen counter holds a roll of white paper towels, a clear glass coffee pot, a dark green cup with a green cleaning brush, a black laptop, and a silver metallic cup. The background has a white microwave on a small table, white refrigerator, white stove, and a Franka Emika robotic arm at the upper right of the frame.", "global_instruction_dense": "The left robotic arm moves from the upper right toward the silver metallic cup on the kitchen counter, grasps the cup, lifts and tilts it to pour its contents, then lowers the cup back to the counter, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 682, "tasks": ["pour cup"], "length": 502, "global_instruction": "Pour liquid from the translucent plastic measuring cup into the clear drinking glass.", "scene_description": "A blue-covered flat table holds a translucent white plastic measuring cup, a clear drinking glass, and a beige quilted heat pad. A white robotic arm is positioned to the right of the table, with a bed, wooden nightstand, table lamp, iron, and shuttered window in the background.", "global_instruction_dense": "The right robotic gripper grasps the translucent plastic measuring cup on the blue table, lifts it, tilts it over the adjacent clear drinking glass to pour liquid into the glass, then tilts the cup upright, lowers it back to the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 683, "tasks": ["pour cup"], "length": 695, "global_instruction": "Pour liquid from the translucent white measuring cup into the clear glass on the ironing board.", "scene_description": "A blue-covered ironing board sits in a bedroom. On the board from front to back: a beige quilted pot holder, a clear empty glass, a translucent white plastic measuring cup, a small blue cloth, and a green spray bottle. To the left of the board is a wooden nightstand with a table lamp, small iron, and dark device next to a bed with blue-and-beige plaid bedding, and a white robotic arm is positioned to the right of the board.", "global_instruction_dense": "The right robotic gripper moves toward the translucent white measuring cup on the ironing board, grasps its handle, lifts and tilts it over the clear glass to pour liquid into the glass, then tilts the cup upright, places it back on the ironing board, and releases the handle.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 684, "tasks": ["pour cup"], "length": 524, "global_instruction": "Pour the contents of the rear patterned paper cup into the front patterned paper cup, then return the rear cup to its original position.", "scene_description": "A white countertop holds a wooden multi-compartment storage rack with coffee packets, straws, and supplies on the left, two white paper cups with black decorative patterns on the right, a stacked column of disposable cups, and a black coffee machine in the background, with a right robotic gripper at the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the rear patterned paper cup on the counter, grasps it, lifts and positions it above the front patterned paper cup, tilts the cup to pour its contents into the front cup, rights the empty cup, moves it back to its original position on the counter, releases the cup, and moves away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 685, "tasks": ["pour cup"], "length": 483, "global_instruction": "Pour the contents of the farther paper cup into the closer paper cup, then return the farther cup to its original position.", "scene_description": "A wooden multi-slot rack holding beverage sachets, straws, and small red pods is on the left of a white countertop. Two identical printed white paper cups are to the right of the rack, and a robotic arm is at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the farther paper cup on the counter, grasps it, lifts it, tilts it above the closer paper cup to pour its contents into the closer cup, tilts the cup upright, moves it back to its original position, releases it, and moves away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 686, "tasks": ["pour cup"], "length": 275, "global_instruction": "Pour the contents of the center patterned paper cup into the front blue-and-white paper plate.", "scene_description": "A white table holds two patterned paper cups, a black potato chip bag, and two blue-and-white patterned paper plates, with a robotic arm base on the table's right side.", "global_instruction_dense": "The right robotic arm descends to grasp the center patterned paper cup, lifts it above the front patterned plate, tilts the cup to pour its contents into the plate, then tilts the cup upright and places it back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 687, "tasks": ["pour cup"], "length": 261, "global_instruction": "Pour the contents of the right patterned white cup into the popcorn-filled blue-and-white paper bowl.", "scene_description": "A white table holds two patterned white cups (one with a yellow stick inside), a black packaged snack, two blue-and-white patterned paper bowls (one filled with popcorn, the other under the right cup), scattered small white popcorn pieces, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the patterned white cup on the right side of the table, grasps and lifts it, tilts it over the popcorn-filled paper bowl to pour its contents into the bowl, then places the empty cup back on the table and retracts.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 688, "tasks": ["pour cup"], "length": 317, "global_instruction": "Pour the small black pellets from a patterned paper cup onto the paper napkin on the counter, then return the cup to its original position.", "scene_description": "A white kitchen counter holds two tall stacks of patterned paper cups at the back, two individual patterned cups in front of the stacks, a white plastic spoon, a paper napkin, and a gray tiled backsplash on the left.", "global_instruction_dense": "The right robotic arm enters the frame, grasps the farther of the two individual patterned paper cups, lifts it, positions it over the paper napkin, tilts it to pour its black pellet contents onto the napkin, rights the cup, places it back in its original spot, releases it, and retracts away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 689, "tasks": ["pour cup"], "length": 303, "global_instruction": "Pour the contents of the white patterned paper cup into the light wooden box on the table.", "scene_description": "A round dark wooden table is positioned next to a window. On the table, there is a potted green plant near the window, a blue bowl holding colorful small items and a light blue scoop, a white patterned paper cup with red contents, an empty light-colored rectangular wooden box, and a small spice bottle with a red cap. A robotic arm is located to the right of the table.", "global_instruction_dense": "The right robotic arm grasps the white patterned paper cup on the wooden table, lifts and tilts it over the light rectangular wooden box to pour its red contents into the box, then moves the cup back to the table surface and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 690, "tasks": ["pour cup"], "length": 248, "global_instruction": "Pick up the white paper cup and pour its contents into the blue bowl on the table.", "scene_description": "A dark brown round table next to a window holds a green plant in a white pot (left side), a light wooden ruler, a white patterned paper cup, a blue bowl with colorful small items and a blue scoop, a small capped container, and a light wooden box. A gray chair is positioned to the right of the table, and a robotic gripper is at the upper right of the scene.", "global_instruction_dense": "The right robotic gripper moves from the upper right of the scene toward the white patterned paper cup on the round table, grasps the cup, lifts it off the table, moves it over the blue bowl, and tilts the cup to pour its contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 691, "tasks": ["pour cup"], "length": 146, "global_instruction": "Pour the contents of the small white cup into the white bowl then return the cup to its saucer.", "scene_description": "A white kitchen countertop holds two stacked columns of white patterned paper cups at the rear, a small dish with yellow food, a black object on a white mat, a paper towel holder on the left, a small white cup on a saucer, a white bowl, and a plastic spoon, with a right robotic arm positioned above the counter near the cup.", "global_instruction_dense": "The right robotic arm reaches for and grasps the small white cup on its saucer, lifts and tilts it to pour its contents into the adjacent white bowl, then lowers the cup back to the saucer and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 692, "tasks": ["pour cup"], "length": 252, "global_instruction": "Pour the contents of the upper patterned white cup into the large white bowl on the counter.", "scene_description": "A white kitchen counter with gray tiled backsplash holds a clear napkin holder with white napkins, two patterned white cups, a large white bowl, small food dishes, a small cup on a saucer, and stacked paper cups in a holder, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the upper patterned white cup on the counter, grasps it, tilts it to pour its contents into the large white bowl, then rights the cup, places it back on the counter, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 693, "tasks": ["pour cup"], "length": 236, "global_instruction": "Pour the dark ball out of the white patterned cup onto the counter, then place the empty cup back on the counter.", "scene_description": "A white kitchen counter holds a black-and-white calibration grid board on the left, a gray napkin dispenser, a white patterned cup with a dark round ball inside, a dark blue plate with a spoon, a small dish with items, a wooden spoon, stacked paper cups, and a dark water bottle on the far right.", "global_instruction_dense": "The right robotic arm moves toward the white patterned cup on the counter, grasps it, lifts and tilts it to pour the dark ball inside onto the counter, then places the empty cup back on the counter surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 694, "tasks": ["pour cup"], "length": 382, "global_instruction": "Pour water from the white mug with red handle into the sink, then return the mug to the counter.", "scene_description": "A stainless steel sink is centered on a white kitchen counter, a white mug with red interior and red handle sits to the right of the sink, a paper towel holder is on the left of the sink, and cleaning supplies are placed behind the sink against a grey tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves to grasp the white mug with red handle, lifts it and moves it over the sink, tilts it to pour all the water inside into the sink, then moves the mug back to its original position on the counter, releases it, and retracts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 695, "tasks": ["pour cup"], "length": 357, "global_instruction": "Pour liquid out of the white cup with red accents in the sink, then place the cup on the countertop.", "scene_description": "A white kitchen counter has an embedded stainless steel sink, a white cup with red rim and handle inside the sink, chrome faucets behind the sink, a paper towel holder to the sink's left, and cleaning supplies to the sink's right.", "global_instruction_dense": "The right robotic arm moves toward the white cup with red rim and handle in the sink, grasps it, lifts it, tilts it to pour the liquid inside into the sink drain, moves the upright cup to the right of the sink, places it on the counter, and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 696, "tasks": ["pour cup"], "length": 328, "global_instruction": "Pour contents from a white patterned mug then return it to the kitchen counter", "scene_description": "A white kitchen counter with a central square stainless steel sink is shown. Left of the sink is a white paper towel roll on a metal stand. Right of the sink are a pump dish soap bottle, a blue sponge, a white mug with red interior and red handle, two white patterned mugs, and a small blue container. A right robotic gripper holds a labeled white bottle above the counter right of the sink.", "global_instruction_dense": "The right robotic gripper first places the white bottle it is holding onto the right side of the kitchen counter, then moves to grasp a white patterned mug, lifts and tilts it to pour out its contents, tilts it back upright, places it back on the counter, and moves away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 697, "tasks": ["pour cup"], "length": 424, "global_instruction": "Empty the contents of the white and red mug in the sink then place the mug upright back in the sink.", "scene_description": "A white kitchen counter has a stainless steel sink at its center, a white mug with a red interior sits inside the sink, a paper towel holder is positioned to the left of the sink, and assorted cleaning supplies and cups are placed to the right of the sink.", "global_instruction_dense": "The right robotic arm moves down to the sink, grips the handle of the white mug with red interior, repeatedly tilts the mug to pour out its contents, sets the mug upright in the sink, then releases the mug and retracts upward away from the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 698, "tasks": ["pour cup"], "length": 288, "global_instruction": "Pour the contents of the patterned paper cup into the square recessed hole on the counter, then set the cup down on the countertop.", "scene_description": "A white countertop has a wooden box of small sachets on the far left, adjacent to a silver napkin holder, followed by a large clear jar filled with blue packets, then a patterned paper cup. Two square recessed holes are in the center of the counter, with a stack of white plastic lids to their right, and a crumpled white napkin to their left. A right robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the patterned paper cup on the counter, grasps it, tilts it repeatedly over the square recessed hole to empty its contents, lays the cup on its side on the counter, then moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 699, "tasks": ["pour cup"], "length": 495, "global_instruction": "Pour the contents of the white mug with red handle into the dark blue bowl, then return the mug to its original position.", "scene_description": "A stainless steel sink is set in a white kitchen counter, with a paper towel holder left of the sink. To the sink's right, there is a white mug with red interior and handle, a dark blue bowl, a clear bottle with green cap, a small soap dispenser, and other small dish items, against a grey tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves to grasp the white mug with red handle and interior, lifts it, positions it over the adjacent dark blue bowl, pours the mug's contents into the bowl, then returns the mug to its original spot on the counter before retracting.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 700, "tasks": ["pour cup"], "length": 507, "global_instruction": "Pour liquid from the white mug with red handle into the dark blue bowl, then place the mug back on the countertop.", "scene_description": "A stainless steel sink is set in a white kitchen countertop. To the sink's left is a white paper towel holder with a metal base; to its right are a white mug with red interior and handle, a dark blue bowl, a clear soap dispenser, a plastic bottle with a green cap, and small white dishes, against a grey tiled wall.", "global_instruction_dense": "The right robotic gripper enters the frame, moves toward the white mug with red handle to the right of the sink, grasps it, lifts it, tilts it to pour liquid into the dark blue bowl, tilts the mug upright, lowers it back to its original position on the countertop, releases the mug, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 701, "tasks": ["pour cup"], "length": 365, "global_instruction": "Pour the contents of a white patterned cup into the blue bowl, then place the cup back on the counter.", "scene_description": "A white kitchen counter against a grey horizontal tiled backsplash holds a clear green-capped bottle, white napkin holder, blue bowl, multiple white patterned cups, purple patterned white dish, and a robotic arm at the counter's right end.", "global_instruction_dense": "The right robotic arm moves toward the white patterned cups on the counter, grasps one cup, lifts it, tilts it over the blue bowl to pour out its contents, then moves the cup back to the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 702, "tasks": ["pour cup"], "length": 350, "global_instruction": "Pour the contents of the patterned paper cup into the blue bowl, then return the cup to the counter.", "scene_description": "A white kitchen counter has a clear green-capped bottle on the far left, a paper napkin holder, a blue bowl, multiple printed paper cups, a purple-and-white patterned small dish, and a robotic arm above the cups on the right.", "global_instruction_dense": "The right robotic arm moves to grasp the patterned paper cup on the counter, lifts it over the blue bowl, tilts it to pour its contents into the bowl, then tilts the cup upright, moves it back to the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 703, "tasks": ["pour cup"], "length": 272, "global_instruction": "Pour the contents of the white patterned cup into the blue bowl, then place the cup back on the table.", "scene_description": "A round dark wooden table holds a white patterned paper cup on the left, a blue bowl with a small rectangular object inside, a yellow bowl of colorful small beads, a small striped plate with a blue spoon, a white napkin, and a small beige open container. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves toward the white patterned cup on the left of the table, grasps it, lifts and tilts it over the blue bowl to pour its contents, then moves the cup back to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 704, "tasks": ["pour cup"], "length": 290, "global_instruction": "Pick up the white patterned paper cup, tilt it over the yellow bead bowl, then place it on the small patterned plate.", "scene_description": "A round dark brown table near a window holds a white patterned paper cup on the left, a yellow bowl of multicolored beads at the center, a white napkin in front of the bowl, a small patterned plate at the back left, and a blue bowl resting on a white box at the back right. A left robotic arm is positioned to the right of the table initially.", "global_instruction_dense": "The left robotic arm moves its gripper toward the white patterned paper cup on the left side of the table, grasps and lifts the cup, tilts it over the yellow bead bowl in a pouring motion, moves the cup to the small patterned plate at the back left of the table, lowers the cup, releases it, and moves the gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 705, "tasks": ["pour cup"], "length": 437, "global_instruction": "Pour liquid from a white patterned paper cup into the dark blue bowl, then return the cup to the counter.", "scene_description": "A grey tiled kitchen counter holds a green-capped clear bottle on the left, a white napkin stack, a dark blue bowl, four white patterned paper cups, a purple patterned small dish, and a keyboard on the right, with a white robotic arm above the cups.", "global_instruction_dense": "The right robotic gripper grasps a white patterned paper cup, lifts and moves it over the dark blue bowl, tilts the cup to pour liquid into the bowl, tilts the cup back upright, moves it back to the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 706, "tasks": ["pour cup"], "length": 292, "global_instruction": "Pour the contents of the white patterned cup into the yellow cereal bowl, then place the cup on the table.", "scene_description": "A round dark wooden table by a window holds a yellow bowl of multicolored cereal with a metal scoop, a blue bowl with a white patterned paper cup inside, two black-and-white patterned plates, a white napkin with a plastic spoon, a plain white pitcher, and small storage containers. Two robotic arms are present, one stationary white arm to the table's right, one black-gripper arm above the table.", "global_instruction_dense": "The left robotic gripper moves toward the white patterned cup in the blue bowl, grasps and lifts it, tilts the cup to pour its contents into the yellow cereal bowl, then moves the cup to place it on the table near the napkin before releasing it and moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 707, "tasks": ["pour cup"], "length": 245, "global_instruction": "Pour the contents of the white mug into the blue bowl and place the mug on the table", "scene_description": "A round dark wooden table sits next to a window with white blinds. On the table, a plain white mug, a patterned white cup, a blue bowl, a yellow bowl filled with colorful cereal, a metal spoon, a wooden spoon, a small box with a blue scoop, a small jar, and napkins are arranged. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm grasps the plain white mug on the round wooden table, lifts it, tilts it to pour its contents into the blue bowl, moves the mug leftward, then releases it to lie horizontally on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 708, "tasks": ["pour cup"], "length": 284, "global_instruction": "Pour the contents out of a patterned paper cup onto the counter then place the cup back on the counter.", "scene_description": "A white kitchen counter holds a clear plastic bottle with a green cap on the far left, a clear napkin dispenser with white napkins, a dark blue bowl, multiple patterned and plain paper cups, a small blue cylinder, small yellow object, small black object, and an upside-down white patterned-rim dish, against a grey horizontal tile backsplash with wall outlets, upper cabinets above the counter, and a white robotic arm on the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward a patterned paper cup on the counter, grasps it, lifts and tilts it to pour the small black object inside onto the counter, then lowers the cup back onto the counter and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 709, "tasks": ["pour cup"], "length": 267, "global_instruction": "Pour the contents of the white patterned paper cup onto the blue-and-white patterned plate.", "scene_description": "A white kitchen counter holds a glass pour-over coffee maker on a black scale, a black coffee grinder, a brown storage jar with a silver lid, two small white lids, a small blue cylinder, brown and red packets, white spoons, a dark blue bowl, a white patterned paper cup, a blue-and-white patterned plate, and a black sink with chrome faucets in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves to grasp the white patterned paper cup, lifts it, tilts it over the blue-and-white plate to pour its contents onto the plate, then tilts the cup upright, places it back on the counter, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 710, "tasks": ["pour cup"], "length": 242, "global_instruction": "Pour the contents of one patterned paper cup into another patterned paper cup, then place the emptied cup back on the counter.", "scene_description": "A white countertop has wooden snack racks with assorted packaged goods on the left, two patterned white paper cups near the center, stacked paper cups, a coffee pod holder, a white plate, lids, and coffee machines on the right.", "global_instruction_dense": "The right robotic gripper moves toward the left patterned paper cup on the counter, grasps and lifts it, tilts it to pour its contents into the right patterned paper cup, then lowers the empty cup back onto the counter and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 711, "tasks": ["pour cup"], "length": 277, "global_instruction": "Pour the yellow contents from the left patterned paper cup into the middle empty patterned paper cup", "scene_description": "A wooden snack rack holding assorted packaged goods, three patterned paper cups, a white plate, a coffee pod holder, and stacks of disposable paper cups are arranged on a white countertop. The leftmost cup contains yellow contents, the middle cup is empty, and the right cup has a lid.", "global_instruction_dense": "The right robotic gripper moves to the left patterned paper cup with yellow contents, grasps it, lifts and tilts it to pour the yellow contents into the middle empty patterned paper cup, then places the now-empty cup back on the countertop before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 712, "tasks": ["pour cup"], "length": 280, "global_instruction": "Pour the contents of the patterned paper cup onto the white oval plate, then place the cup back on the counter.", "scene_description": "A white breakroom counter holds a multi-tier wooden snack organizer, stacks of white patterned paper cups, a basket of coffee pods, a white oval plate, a small white lid, and a patterned paper cup with yellow contents near the plate.", "global_instruction_dense": "The right robotic gripper moves toward the patterned paper cup with yellow contents, grasps and lifts it, tilts it to pour the contents onto the white oval plate, rights the cup, places it back on the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 713, "tasks": ["pour cup"], "length": 880, "global_instruction": "Pour the contents out of the white ceramic mug and the patterned paper cup onto the table.", "scene_description": "A round dark brown wooden table next to a window holds a white ceramic mug, a white paper cup with brown swirl patterns, a blue plastic bowl, a yellow plastic bowl, a tall white and turquoise striped container, a small black object, a white scrub brush with a black handle, a small yellow cube, a blue cylindrical object, and a light wooden rectangular tray, with dark gray cushioned seating surrounding the table. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the white ceramic mug on the table, grasps it, lifts it to pour its contents onto the table behind the blue bowl, places the mug back on the table, then moves to grasp the patterned paper cup, lifts it to pour its contents including a red block onto the table, and finally places the paper cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 714, "tasks": ["pour cup"], "length": 196, "global_instruction": "Pour the contents of the left patterned paper cup into the white plate, then place the cup next to the other patterned paper cup.", "scene_description": "A white kitchen counter holds a wooden snack rack with assorted tea and snacks, a silver metal milk pitcher, a yellow sachet, a white shallow plate, two patterned white paper cups, a stack of paper cups, a k-cup holder, and a coffee machine, with the snack rack on the left.", "global_instruction_dense": "The robotic gripper moves to the left patterned paper cup on the counter, grasps it, lifts and tilts it to pour the yellow sachet inside into the white plate, then moves the cup right and places it beside the other patterned paper cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 715, "tasks": ["pour cup"], "length": 209, "global_instruction": "Pour the contents of the patterned paper cup on the white plate onto the plate, then return the cup to the plate.", "scene_description": "On a white countertop, wooden organizers holding assorted snack and tea packets sit on the left. A small yellow packet, a patterned paper cup with a coffee pod inside, a white plate holding another patterned paper cup and a coffee pod, stacks of disposable cups, a wire k-cup storage rack, and a coffee machine are arranged on the counter, with a robotic arm at the far right edge.", "global_instruction_dense": "The right robotic arm moves toward the patterned paper cup resting on the white plate, grasps it, lifts and tilts the cup to pour its contents onto the plate, then lowers the empty cup back onto the plate and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 716, "tasks": ["pour cup"], "length": 291, "global_instruction": "Pour liquid from the light blue cup onto the white paper towel, then return the cup to an upright position on the towel.", "scene_description": "A light wooden kitchen island holds a black glass coffee pot, a white lidded cup, a light blue open cup on a white paper towel, a black toaster oven with a white plate on top, a paper towel roll, and a white decorative block. The background has a white sink, white lower cabinets, a black stove, and a glass exterior door.", "global_instruction_dense": "The right robotic gripper moves toward the light blue cup on the white paper towel, grasps the cup, tilts it to pour its liquid contents onto the paper towel, re-grasps the tilted cup, rotates it upright, sets it back on the paper towel, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 717, "tasks": ["pour cup"], "length": 247, "global_instruction": "Pour the contents of the light blue cup onto the paper towel then place the cup upright on the counter", "scene_description": "A light blue standing cup, a white lidded disposable cup, and a glass coffee pot are placed on a wooden kitchen island countertop. To the right of the island are a black toaster oven with a white plate on top, a paper towel roll, and a white napkin holder. The background includes a white sink with cabinets below, a stove, a window with cleaning bottles on the sill, and a glass patio door.", "global_instruction_dense": "The right robotic arm moves toward the light blue cup on the paper towel, grasps it, tilts it to pour its contents onto the paper towel, then re-grasps the tilted cup, stands it upright on the counter next to the towel, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 718, "tasks": ["pour cup"], "length": 484, "global_instruction": "Remove the silver pot's lid, pour contents from the light blue cup into the pot, then return the cup to the stovetop.", "scene_description": "A silver lidded pot, a light blue cup sit on a black gas stovetop. A right robotic gripper is positioned above the stovetop, and a black coffee maker is to the left of the stove.", "global_instruction_dense": "The right robotic gripper moves to grasp the silver pot's lid, lifts and places it on the stovetop beside the pot, then grasps the light blue cup, lifts and tilts it over the open pot to pour, then returns the cup to its original position before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 719, "tasks": ["pour cup"], "length": 455, "global_instruction": "Pour the contents of the light blue cup into the stainless steel pot after removing the pot's lid.", "scene_description": "A black gas stovetop holds a stainless steel pot with a metal lid and a light blue cup. A black coffee maker is to the left of the stove, and a robotic arm is at the top right.", "global_instruction_dense": "The right robotic arm grasps and removes the pot lid, places it on the stovetop, then grasps the light blue cup, tilts it to pour liquid into the uncovered pot, then places the cup back on the stovetop and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 720, "tasks": ["pour cup"], "length": 193, "global_instruction": "Pour liquid from the light blue cup into the blue funnel atop the glass coffee carafe, then place the cup on the stovetop.", "scene_description": "A black gas stovetop with a stainless steel back panel is in the center, a glass coffee carafe with a light blue funnel on top sits on the stovetop, a small stainless steel pot is to the right of the carafe, a black coffee maker is on the counter to the left of the stove, a light blue cup sits in front of the stove, and a robotic arm is positioned at the top right above the stovetop.", "global_instruction_dense": "The right robotic arm moves down left to grasp the light blue cup in front of the stove, lifts it, tilts it to pour its contents through the blue funnel into the glass coffee carafe, then moves the cup to the stovetop and sets it down.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 721, "tasks": ["pour cup"], "length": 313, "global_instruction": "Pour liquid from the light blue cup into the small uncovered silver pot on the stove, then return the cup to the counter.", "scene_description": "A kitchen countertop scene: a potted plant sits on a left window sill, next to a glass-front upper cabinet holding white cups. A black coffee maker sits on the counter left of a stainless steel gas stove with two silver pots (one small uncovered, one larger lidded) on its burners. A dish rack is on the far left of the counter, with a light blue cup, white bowl, dark blue bowl, and metal fork arranged in front of the stove. A right robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves down from its starting position above the stove, grasps the light blue cup on the counter, lifts and moves it over the small uncovered silver pot on the stove, tilts the cup to pour its liquid contents into the pot, tilts the cup back upright, moves the cup back to its original position on the counter, releases the cup, and lifts its gripper away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 722, "tasks": ["pour cup"], "length": 395, "global_instruction": "Pour the utensil out of a light blue cup onto the kitchen counter then return the cup to its original position.", "scene_description": "A white kitchen counter has a sink on the left, three light blue cups near a gas stove on the right, a blue bowl, a small white bowl, and dish supplies on the window sill above the sink, with a robotic arm above the right counter.", "global_instruction_dense": "The right robotic arm moves toward the middle light blue cup on the counter, grasps it, tilts it to pour the small black utensil inside onto the counter, then places the cup back in its original spot and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 723, "tasks": ["pour cup"], "length": 176, "global_instruction": "Pour the contents out of the right light green cup and place it back on the counter", "scene_description": "A white sink is on the left of a white kitchen counter, two light green cups, a white small bowl, a clear spray bottle, cutlery, and a black coffee maker sit on the counter, with a black gas stove to the counter's right, a window behind the sink, and white cabinets above the counter.", "global_instruction_dense": "The right robotic arm lowers toward the right light green cup on the counter, grasps and lifts it, tilts the cup to pour out its contents, tilts the cup back upright, lowers it back to its original position on the counter, then releases the cup and moves upward.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 724, "tasks": ["pour cup"], "length": 239, "global_instruction": "Pour water from the light blue cup into the sink and return the cup to its original position.", "scene_description": "A white kitchen sink is positioned below a window; the windowsill holds a light green pump bottle, a brown pump bottle, a small potted plant, and cleaning sponges. A light blue cup sits on the white counter to the right of the sink, next to a metal dish rack.", "global_instruction_dense": "The right robotic arm moves toward the light blue cup on the counter right of the sink, grasps the cup, lifts and tilts it to pour water into the sink, tilts the cup back upright, places it back on the counter, then releases the cup and moves upward away from it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 725, "tasks": ["pour cup"], "length": 280, "global_instruction": "Pour the contents of the light blue windowsill cup into the sink, then place the cup back on the counter.", "scene_description": "A white kitchen sink sits below a windowsill holding a light green pump bottle, small green bottle, orange pump bottle, light blue cup, and small potted plant; a dish rack is on the counter to the sink's right, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the light blue cup on the windowsill, grasps and lifts it, tilts it to pour water into the sink, tilts it back upright, then places it on the counter near the windowsill.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 726, "tasks": ["pour cup"], "length": 461, "global_instruction": "Pick up the light blue cup, pour its contents into the sink, then place the cup back on the counter.", "scene_description": "A white kitchen sink sits below a window, with a light blue cup on the counter to the right of the sink, two pump bottles (light green and brown), a small clear bottle, and a potted plant on the window sill, and a dish rack on the far right counter.", "global_instruction_dense": "The right robotic arm moves toward the light blue cup on the counter right of the sink, grasps the cup, lifts it over the sink, tilts the cup to pour its contents into the sink, then moves the cup back to its original counter position and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 727, "tasks": ["pour cup"], "length": 481, "global_instruction": "Pour the contents of the light blue cup into the sink, then return the cup to its original position.", "scene_description": "A white sink with a chrome faucet sits under a kitchen window. The windowsill holds a light green pump bottle, an orange pump bottle, a small green container, and a potted plant. A light blue cup is on the counter to the right of the sink, with a dish rack at the far right of the counter.", "global_instruction_dense": "The right robotic arm first unscrews the aerator from the faucet and places it on the counter, then moves to grasp the light blue cup, lifts it, moves it over the sink and tilts it to pour out its contents, then returns the cup to its original position on the counter, releases it, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 728, "tasks": ["pour cup"], "length": 544, "global_instruction": "Pour the liquid from the light blue cup into the sink, then place the cup on the sink counter.", "scene_description": "A white kitchen sink with a silver faucet sits below a window. The windowsill holds a light green pump soap bottle, an orange pump soap bottle, and a small potted plant. A light blue cup is placed on the right edge of the sink counter next to a dish rack, with a robotic arm positioned above the right counter.", "global_instruction_dense": "The right robotic arm grasps the light blue cup on the right sink counter, lifts it over the sink, tilts it to pour its liquid contents into the sink, then places the cup next to another light blue cup on the counter before retracting to its resting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 729, "tasks": ["pour cup"], "length": 456, "global_instruction": "Fill a light blue cup with water from the kitchen faucet and place it back on the counter.", "scene_description": "A white kitchen sink sits below a window with a white sill holding a light green pump bottle, an orange pump bottle, a small green bottle, a sponge, and a potted plant. Two light blue cups are on the counter to the right of the sink next to a dish rack.", "global_instruction_dense": "The right robotic arm enters the sink area, turns on the faucet to start water flow, adjusts the faucet spout to redirect water, grasps a light blue cup from the counter, holds it under running water to fill it, places the filled cup back on the counter, then moves away from the work area.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 730, "tasks": ["pour cup"], "length": 339, "global_instruction": "Fill a light blue cup with water from the kitchen faucet and place it back on the counter.", "scene_description": "A white kitchen sink with a silver faucet sits under a window. The windowsill holds a light green pump bottle, an orange pump bottle, a small potted plant, and a sponge. Two light blue cups are on the counter to the right of the sink, a dish rack is further right, and a white paper towel roll is on the left side of the sink.", "global_instruction_dense": "The right robotic arm moves to the faucet, presses the handle to turn on the water, grasps a light blue cup from the counter, holds the cup under running water to fill it, then places the filled cup back on the counter beside the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 731, "tasks": ["pour cup"], "length": 331, "global_instruction": "Fill a light blue cup with sink water, pour the water into the sink, and return the cup to the counter.", "scene_description": "A white kitchen sink is positioned below a window holding a light green pump bottle, a small green bottle, an orange pump bottle, a sponge, and a potted plant; two light blue cups rest on the counter to the sink's right.", "global_instruction_dense": "The right robotic arm moves to grasp the leftmost light blue cup on the counter right of the sink, moves the cup under the running faucet to fill it with water, tilts the cup to pour the water into the sink, places the empty cup back on the counter, then retracts away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 732, "tasks": ["pour cup"], "length": 369, "global_instruction": "Pour liquid from the top light blue cup into the sink then stack the cup onto the other light blue cup.", "scene_description": "A white sink sits below a window with a light green pump bottle, orange pump bottle, and small potted plant on the windowsill. Two stacked light blue cups are on the sink counter right of the sink, a paper towel roll is left of the sink, and a robotic arm is on the far right.", "global_instruction_dense": "The right robotic arm grasps the top light blue cup from the stacked cups, lifts and moves it over the sink, tilts it to pour liquid into the sink, rights the cup, moves it over the remaining light blue cup, lowers it to stack on top of the remaining cup, then releases the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 733, "tasks": ["pour cup"], "length": 268, "global_instruction": "Pour contents from the pink cup onto the tissue pack, then place the cup on the left side of the table.", "scene_description": "A light wooden table sits in a room corner. On the table are a black mouse, a white tissue pack, a red-rimmed bowl, a blue cup, and a pink cup. An open drawer with fabric items is under the table, and a right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper moves down to grasp the pink cup on the right of the table, lifts and tilts it over the white tissue pack to pour out its contents, then moves the cup leftward, lowers it, and releases it onto the left side of the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 734, "tasks": ["pour cup"], "length": 276, "global_instruction": "Pour the contents of the light blue cup into the sink, then place the cup back upright on the counter.", "scene_description": "A white sink sits under a window in a kitchen; windowsill holds a light green pump bottle, orange pump bottle, small potted plant, and small items. A dark blue bowl, dish rack with a light blue cup are on the sink's right counter, and a red-lined white cloth container is on the left counter.", "global_instruction_dense": "The right robotic arm grasps the light blue cup from the dish rack on the right counter, lifts and tilts it over the sink to pour out its contents, then returns the cup to an upright position on the counter before releasing it and moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 735, "tasks": ["pour cup"], "length": 376, "global_instruction": "Pour liquid from the light blue cup into the kitchen sink, then return the cup to the counter.", "scene_description": "A white kitchen sink with a silver faucet sits below a window. The windowsill holds a light green pump bottle, an orange pump bottle, a small green bottle, a blue folder, a sponge, and a small potted plant. To the sink's right, a dish rack has a light blue cup, dark blue bowl, and metal fork, with a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm grasps the light blue cup on the counter to the right of the sink, lifts it, moves it over the sink and tilts it to pour out liquid, then moves the cup back to the counter, sets it upright, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 736, "tasks": ["pour cup"], "length": 568, "global_instruction": "Pour liquid from the light blue counter mug into the stove-top pot, then re-cover the pot with its lid.", "scene_description": "A black drip coffee maker is left of a gas stove holding a lidded stainless steel pot. A light blue mug, small yellow block, and metal rest on the counter in front of the stove, with white upper cabinets above and a robotic arm positioned over the stove.", "global_instruction_dense": "The right robotic arm first removes the lid from the stainless steel pot on the gas stove, places the lid on an empty stove burner, grasps the light blue counter mug, lifts it to pour its liquid contents into the uncovered pot, places the mug back on the counter, then retrieves the lid and places it back on top of the pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 737, "tasks": ["pour cup"], "length": 562, "global_instruction": "Pour liquid from the light blue counter cup into the stainless steel stove pot, then replace the pot's lid.", "scene_description": "A stainless steel pot with a metal lid sits on a black gas stove, a black drip coffee maker is to the left of the stove, a light blue ceramic cup, yellow sponge, and metal whisk rest on the white counter in front of the stove, with white upper cabinets above the stove area.", "global_instruction_dense": "The right robotic arm first lifts the lid off the stainless steel pot on the stove, sets the lid on an adjacent burner, picks up the light blue cup from the counter, pours the liquid inside the cup into the uncovered pot, places the cup back on the counter, picks up the pot lid from the burner, and places it back onto the pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 738, "tasks": ["pour cup"], "length": 666, "global_instruction": "Remove the lid from the stove-top pot, pour liquid from the light blue cup into the pot, adjust the pot's position, then replace the lid on the pot.", "scene_description": "A silver lidded pot sits on a black gas stove, a black coffee maker is on the left counter, a light blue cup, small yellow block, and metal whisk are on the counter in front of the stove, with a white robotic arm at the top right of the scene.", "global_instruction_dense": "The right robotic arm first grasps and removes the lid from the silver pot on the gas stove, places the lid beside the pot, grasps the light blue countertop cup, pours its contents into the open pot, places the cup back on the counter, adjusts the pot's position on the stove, then picks up the lid and places it back onto the pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 739, "tasks": ["pour cup"], "length": 463, "global_instruction": "Pour liquid from the light blue countertop cup into the stainless steel pot on the gas stove.", "scene_description": "A kitchen scene: a gas stove holds a lidded stainless steel pot, a light blue cup, black drip coffee maker, yellow rectangular block, and metal whisk rest on the adjacent countertop, with a robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic arm first grasps and removes the lid from the stainless steel stove pot, places the lid on a rear burner, shifts the pot to an adjacent burner, grasps the light blue counter cup, pours its liquid contents into the pot, then returns the cup to the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 740, "tasks": ["pour cup"], "length": 521, "global_instruction": "Pour liquid from the light blue cup into the stainless steel pot on the gas stove.", "scene_description": "In a kitchen, a black drip coffee maker sits on the left of a white countertop that holds a light blue cup, metal whisk, and small yellow block. A gas stove with a stainless steel pot and blue sponge is behind the counter, with a right robotic gripper positioned above the light blue cup.", "global_instruction_dense": "The right robotic gripper first moves the blue sponge from the stove area to the counter, then grasps the light blue cup, lifts and moves it over the stainless steel pot on the stove, tilts the cup to pour liquid into the pot, then moves the cup back to the countertop and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 741, "tasks": ["pour cup"], "length": 420, "global_instruction": "Pour liquid from the light blue cup into the stainless steel pot on the stove, then return the cup to the counter.", "scene_description": "A black coffee maker sits to the left of a gas stove holding stainless steel pots. A light blue cup, blue cloth, and metal whisk are on the counter in front of the stove, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm moves downward to grasp the light blue cup on the counter, lifts it, moves it over the stainless steel pot on the stove, tilts to pour liquid into the pot, tilts the cup upright, moves it back to the original counter position, and releases the cup before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 742, "tasks": ["pour cup"], "length": 524, "global_instruction": "Pour liquid from the light blue cup into the uncovered stainless steel pot, then place the metal lid on the pot.", "scene_description": "A black drip coffee maker is on the left of a white kitchen counter, a light blue cup sits on a blue cloth on the counter in front of a gas stove. Two stainless steel pots, one with a metal lid, rest on the gas stove burners, and a white robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic gripper grasps the light blue cup from the kitchen counter, lifts it to pour its liquid contents into the uncovered stainless steel pot on the gas stove, returns the cup to the counter, then grasps the metal pot lid, moves it over the pot, and places the lid on the pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 743, "tasks": ["pour cup"], "length": 357, "global_instruction": "Pour liquid from a light blue cup into the stainless steel pot on the stove, then place a yellow block into the same pot.", "scene_description": "A black gas stove with a stainless steel pot and a folded cloth on a metal pan is in a kitchen, with a right robotic arm positioned to the right of the stove.", "global_instruction_dense": "The right robotic arm grasps a light blue cup, lifts it, pours its liquid contents into the stainless steel pot on the gas stove, sets the cup down, then grasps a yellow block, moves it over the pot, and releases it into the pot.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 744, "tasks": ["pour cup"], "length": 362, "global_instruction": "Pour liquid from a light blue cup into the stainless steel stovetop pot, then place a yellow sponge into the pot.", "scene_description": "A silver stainless steel pot sits on the front burner of a black gas stovetop, with a patterned cloth on the burner behind it; a white robotic arm is positioned above the stovetop, and three pendant lamps are mounted on the white wall behind the stove.", "global_instruction_dense": "The right robotic arm grasps a light blue cup, tilts it to pour its liquid contents into the stainless steel pot on the stovetop, sets the empty cup aside, grasps a yellow sponge, lowers and releases the sponge into the pot, then lifts away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 745, "tasks": ["pour cup"], "length": 374, "global_instruction": "Pour water from the light blue cup into the clear glass coffee pot on the kitchen counter.", "scene_description": "A light blue cup, a clear glass coffee pot, and a black coffee machine are placed on a white kitchen counter, with a gas stove in the background, and the right robotic gripper is positioned to the right of the stove.", "global_instruction_dense": "The right robotic gripper moves toward the light blue cup on the kitchen counter, grasps it, lifts it, positions it over the clear glass coffee pot, tilts the cup to pour water into the pot, tilts the cup back upright, lowers it back onto the counter, releases it, and lifts away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 746, "tasks": ["pour cup"], "length": 604, "global_instruction": "Pour water from the light blue mug into the clear glass coffee carafe then replace the carafe's lid.", "scene_description": "A white kitchen counter holds a black drip coffee maker on the left, a clear glass coffee carafe with a black lid beside it, two light blue mugs, and a metal whisk. A gas stove with a stainless steel pot sits behind the counter, with white upper cabinets, a white paneled wall, and pendant lights in the background, plus a Franka robotic arm at the top right.", "global_instruction_dense": "The right robotic arm first removes the black lid from the clear glass coffee carafe, moves the lid aside, grasps the light blue mug on the counter, lifts it to pour its water into the coffee carafe, returns the mug to the counter, replaces the black lid on the carafe, then retracts away from the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 747, "tasks": ["pour cup"], "length": 241, "global_instruction": "Grasp the white cup on the saucer, tilt it, then place it upright back on the table.", "scene_description": "A light wooden table sits on the right, holding a white cup on a saucer, a metal kettle, a fork on a napkin, and small containers. A white open shelf cabinet stands left of the table, with a potted plant, yellow cup, and decorative sign on its top, a light green cup on its top shelf, a wine glass on its middle shelf, and a white plate on its lower shelf. A right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the white cup on its saucer on the table, grasps the cup, lifts it, tilts it repeatedly, then lowers the cup to place it upright on the table surface before releasing its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 748, "tasks": ["pour cup"], "length": 228, "global_instruction": "Pick up the orange cup, pour its contents into the white dish, then place the cup on the green cloth.", "scene_description": "A dark wooden dining table holds an orange cup, a small white dish, a metal container with a water bottle and utensils, a green cloth, a pot lid, and a spoon. A robotic arm is positioned on the right side of the frame, with wooden chairs against a white wall behind the table, and a light switch on the left wall.", "global_instruction_dense": "The right robotic arm moves toward the orange cup on the left side of the table, grasps it, lifts and tilts it to pour its contents into the white dish, then moves the cup over the green cloth, lowers it, and releases it onto the cloth.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 749, "tasks": ["pour cup"], "length": 181, "global_instruction": "Empty the small silver cup into the green-lidded container and rinse the cup under the sink faucet.", "scene_description": "A kitchen counter holds a white container with a green lid, a small silver cup, a tall silver cylindrical vessel, a light gray bowl, and a silver pot arranged left to right. A white robotic arm is positioned near the silver pot, a door with horizontal blinds is to the far left of the counter, and an open drawer with dishes sits below the counter.", "global_instruction_dense": "The right robotic arm moves from its position near the silver pot to the small silver cup on the counter, grasps the cup, lifts it, moves it to the green-lidded container to pour out its contents, then moves the cup to the sink and holds it under the faucet to rinse.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 750, "tasks": ["pour cup"], "length": 370, "global_instruction": "Fill the paper cup with water from the sink faucet and place it back on the counter.", "scene_description": "A kitchen counter next to a window with white horizontal blinds features a stainless steel sink with a black spring faucet, a robotic arm to the right of the sink, a light paper cup on the counter right of the sink, and a metal spoon near the cup.", "global_instruction_dense": "The right robotic arm turns on the sink faucet to start water flow, grasps the paper cup on the counter, holds it under running water to fill, places the filled cup back on the counter, then turns off the faucet.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 751, "tasks": ["pour cup"], "length": 218, "global_instruction": "Pour the contents of the paper cup into the sink and place the cup back on the counter.", "scene_description": "A kitchen counter next to a window with white horizontal blinds holds a stainless steel sink with a flexible pull-down faucet, a light dotted paper cup to the right of the sink, a small metal spoon, and a right robotic arm positioned near the cup, with wall shelves in the background.", "global_instruction_dense": "The right robotic arm grasps the dotted paper cup on the kitchen counter to the right of the sink, lifts it over the sink, tilts it to pour its liquid contents into the sink, tilts it upright, moves it back to its original position on the counter, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 752, "tasks": ["pour cup"], "length": 246, "global_instruction": "Fill a paper cup with water from the sink faucet and place it back on the counter.", "scene_description": "A gray kitchen counter with a stainless steel sink and black flexible spring faucet sits below a window with closed white horizontal blinds, a white and black Franka robotic arm is positioned to the right of the sink.", "global_instruction_dense": "The right robotic gripper grasps a paper cup from the counter to the right of the sink, moves it under the running sink faucet to fill it with water, then moves it back to the counter, releases it, and moves away from the cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 753, "tasks": ["pour cup"], "length": 361, "global_instruction": "Pour liquid from the paper cup into the kitchen sink, then return the cup to the counter.", "scene_description": "A kitchen counter next to a window with white horizontal blinds has a stainless steel sink with a flexible pull-out sprayer faucet on the left, a metal fork on the counter surface, and a robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm first adjusts the kitchen sink faucet, then moves to grasp the paper cup on the counter, lifts and tilts the cup to pour its liquid contents into the sink, and finally places the empty cup back onto the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 754, "tasks": ["pour cup"], "length": 561, "global_instruction": "Turn on the kitchen faucet and fill two spotted paper cups with water.", "scene_description": "A stainless steel kitchen sink with a pull-out spray faucet sits under a window with white horizontal blinds, two spotted paper cups and a metal fork are placed on the light gray counter to the right of the sink, and a robotic arm is positioned on the far right of the counter.", "global_instruction_dense": "The right robotic arm moves to the kitchen sink's pull-out faucet, turns it on to start running water, grasps a spotted paper cup, holds it under the running water to fill it, places it back on the counter, then grasps a spotted paper cup, holds it under the running water to fill it, places it back on the counter, and moves away from the sink.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 755, "tasks": ["pour cup"], "length": 412, "global_instruction": "Pour the contents of the two paper cups on the kitchen counter into the sink.", "scene_description": "A kitchen counter holds a stainless steel sink with a black pull-out faucet, two beige paper cups positioned to the right of the sink, a white robotic arm on the far right, and a window with white horizontal blinds to the left of the sink.", "global_instruction_dense": "The right robotic arm grasps the right beige paper cup, pours its contents into the kitchen sink, places the cup back on the counter, then grasps the left beige paper cup, pours its contents into the sink, places the cup back on the counter, and returns to its starting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 756, "tasks": ["pour cup"], "length": 712, "global_instruction": "Fill the disposable cups on the kitchen counter with water from the sink faucet.", "scene_description": "A kitchen counter with a stainless steel sink, a black pull-down spring faucet behind the sink, two white disposable cups on the counter right of the sink, a robotic arm at the far right of the counter, and a window with white horizontal blinds behind the sink.", "global_instruction_dense": "The right robotic arm moves to the sink faucet, turns on water flow, grasps each disposable cup sequentially, holds each cup under running water to fill it, places each filled cup back on the counter, then turns off the faucet and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 757, "tasks": ["pour cup"], "length": 486, "global_instruction": "Empty the contents of the two paper cups into the sink, then stack the empty paper cups.", "scene_description": "A kitchen counter adjacent to a window with white horizontal blinds has a stainless steel sink with a black spring faucet, two disposable paper cups (one right of the sink, one near the faucet), and a right robotic arm at the counter's right edge.", "global_instruction_dense": "The right robotic arm grasps the paper cup to the right of the sink, tilts it to pour its contents into the sink, places the empty cup back on the counter, then grasps the paper cup near the faucet, tilts it to pour its contents into the sink, and stacks this cup on top of the first empty cup.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 758, "tasks": ["pour cup"], "length": 617, "global_instruction": "Fill a paper cup with water from the kitchen sink faucet.", "scene_description": "A kitchen counter with a stainless steel sink under a window with white horizontal blinds, a black pull-down kitchen faucet at the sink, one light patterned disposable paper cup on the counter to the right of the sink, and a white and black robotic arm positioned above the cup.", "global_instruction_dense": "The right robotic arm first stacks two paper cups on the kitchen counter, then moves to the sink faucet to turn on the water, grasps a paper cup, holds it under the running water to fill it, turns off the faucet, and places the filled cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 759, "tasks": ["pour cup"], "length": 395, "global_instruction": "Pour the contents of a paper cup into the sink and stack the empty cup on a paper cup.", "scene_description": "A kitchen counter below a window with white horizontal blinds has a stainless steel sink, a white Franka Emika robotic arm on the right side, and two white paper cups near the arm.", "global_instruction_dense": "The right robotic arm grasps a paper cup, lifts and tilts it over the sink to pour out its liquid contents, then moves the empty cup to stack it on a paper cup on the counter before retracting.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 760, "tasks": ["pour cup"], "length": 306, "global_instruction": "Pour the contents of the light-colored paper cup on the kitchen counter then place the cup back upright.", "scene_description": "A kitchen counter next to a window with white blinds holds a stainless steel sink with a black flexible faucet, a clear soap dispenser, a white basin in the sink, and an upright light-colored paper cup to the right of the sink, with a robotic arm positioned on the far right.", "global_instruction_dense": "The right robotic arm moves toward the upright light-colored paper cup on the kitchen counter, grasps it, lifts it, tilts it repeatedly to pour out its contents, then returns it to an upright position and places it back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 761, "tasks": ["pour cup"], "length": 489, "global_instruction": "Pour the contents out of the white paper cup on the kitchen counter and place it back upright on the counter.", "scene_description": "A kitchen counter with a double sink, chrome spring faucet, clear soap dispenser left of the faucet, a white paper cup right of the sink, and a robotic arm positioned on the right side of the counter, with white blinds covering the window above the sink.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup on the right of the sink, grasps the cup, lifts and tilts it repeatedly to empty its contents, then lowers the cup back to the counter, adjusts it to stand upright, releases the cup, and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 762, "tasks": ["pour cup"], "length": 320, "global_instruction": "Pour the contents of the black mug into the white bowl, then place the mug back on the counter.", "scene_description": "A white kitchen counter against grey tiled walls holds a white paper towel roll on the left, a stack of patterned white paper cups in the foreground, a small yellow object, a small red cap, a light brown open box, a small black mug, a white bowl, and stacks of patterned paper cups at the far end of the counter, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the small black mug on the counter, grasps it, lifts and tilts it to pour its contents into the adjacent white bowl, tilts the mug back upright, lowers it to place it back on the counter, then releases the mug and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 763, "tasks": ["pour cup"], "length": 816, "global_instruction": "Pour the contents of the white mug into the blue bowl on the table.", "scene_description": "A white table holds a blue bowl filled with colorful small beads on the left, a white mug, a dark gray mug, a small transparent cube, a small yellow block, and a small black ring; a wooden wall is on the left, office chairs and computer equipment are in the background, and a robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps it, lifts it, moves it above the blue bowl, tilts the mug to pour the colorful small beads into the bowl, tilts the mug back upright, returns it to its original position on the table, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 764, "tasks": ["pour cup"], "length": 854, "global_instruction": "Pour the contents of the white ceramic mug into the blue bowl, then place the mug back on the table.", "scene_description": "A white table holds a white square tissue box with a transparent front, a white ceramic mug, a blue bowl filled with multicolored small items, and a dark green mug, with a robotic arm on the right side of the table, and a wooden panel wall, office chairs, and workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the white ceramic mug on the white table, grasps it with its gripper, lifts and positions the mug over the blue bowl of multicolored items, tilts the mug to pour, holds the tilted position, tilts the mug back upright, lowers it to its original spot on the table, and releases the gripper.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 765, "tasks": ["pour cup"], "length": 710, "global_instruction": "Pour the contents of the cream-colored mug into the blue bowl, then place the empty mug on the table.", "scene_description": "A white office table holds a cream-colored mug, a dark blue mug, a blue bowl filled with multicolored small pieces, a white tissue box, and a small white cube with a green top. A robotic arm is positioned at the right edge of the table, with office chairs, a wooden accent wall, and computer workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the cream-colored mug on the table, grasps and lifts it, tilts it to pour its contents into the blue bowl, then places the empty mug back on the table before returning to a rest position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 766, "tasks": ["pour cup"], "length": 611, "global_instruction": "Pour the contents of the white mug into the blue bowl on the table.", "scene_description": "A white table holds a blue bowl filled with red and blue small granular items, a white mug, a black mug, and a small square block. A white robotic arm is positioned at the upper right of the table, with office chairs and a wooden panel wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps it, lifts it, tilts it over the blue bowl to pour its small colorful contents into the bowl, then places the mug back onto the table and moves away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 767, "tasks": ["pour cup"], "length": 539, "global_instruction": "Pick up the white mug, tilt it over the blue bead bowl, then place it back on the table.", "scene_description": "A white office table holds a blue bowl of colorful small beads in the foreground, a white mug, a dark blue mug, yellow sticky notes, and assorted office supplies. A robotic arm is positioned on the right side of the table, with wooden wall paneling and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps it, lifts it, moves it over the blue bowl of colorful beads, tilts the mug in a pouring motion, then returns the mug to its original position on the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 768, "tasks": ["pour cup"], "length": 479, "global_instruction": "Pour the contents of the white paper cup into the blue bowl on the table.", "scene_description": "A white office table holds a blue bowl filled with multicolored small items, a white paper cup, a dark green mug, small square blocks, yellow sticky notes, and a white box on the left. A robotic arm is positioned at the table's right side, with office chairs and a wooden panel wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the white paper cup on the table, grasps it, lifts and moves it over the blue bowl, tilts the cup to pour its contents into the bowl, then moves the cup back to its original position, places it on the table, and releases it before moving away.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 769, "tasks": ["pour cup"], "length": 771, "global_instruction": "Pour the contents of the white mug into the blue bowl on the table.", "scene_description": "A white table in an office holds a blue bowl of multicolored cereal, a white mug, a dark green mug, and small items, with a robotic arm at the top right, wooden paneling and office furniture in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the table, grasps it, lifts and tilts it over the blue bowl to pour its contents into the bowl, then returns the mug to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 770, "tasks": ["pour cup"], "length": 204, "global_instruction": "Pour the contents of the small white plastic cup into the larger white mug with red interior.", "scene_description": "A black table holds an orange folded cloth, small white notepad, white mug with red interior, small orange cube, yellow cylinder, clear wire, white dish with red contents, small white plastic cup, and black remote control. A white cabinet with a large black TV sits left of the table, metal shelving by a window is at the back, and a robotic arm is at the top right.", "global_instruction_dense": "The right robotic gripper moves toward the small white plastic cup on the table, grasps it, lifts it, moves it over the larger white mug with red interior, pours the cup's contents into the mug, then moves away from the mug.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 771, "tasks": ["pour cup"], "length": 1819, "global_instruction": "Pour the contents of the blue cup into the pink bowl on the wooden table.", "scene_description": "A light wooden table in a workspace holds a blue cup, pink plastic bowl, small white plate, red round plate, gray knitted glove, white rectangular box, white labeled package, and black marker, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm first releases the gray glove, then pushes the red plate, adjusts the white plate, repositions the pink bowl, grasps and lifts the blue cup, tilts it to pour its contents into the pink bowl, and finally lowers the cup toward the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 772, "tasks": ["pour cup"], "length": 1548, "global_instruction": "Pour the contents of the blue cup into the pink bowl after moving the pink bowl onto the gray knitted rag.", "scene_description": "A light wooden table holds a pink bowl resting on a white plate atop a red plate near the back center, a blue plastic cup in front of the plates, a gray knitted rag left of the cup, a white labeled box left of the rag, and a black marker on the table's right side; a left robotic arm is positioned above the table's left side.", "global_instruction_dense": "The left robotic arm moves to the pink bowl on the stacked plates, grasps the bowl, moves it onto the gray knitted rag and releases it, then moves to the blue cup, grasps and lifts it, positions it above the pink bowl, tilts it to pour its red contents into the bowl, and holds the cup above the table after pouring.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 773, "tasks": ["pour cup"], "length": 316, "global_instruction": "Pour the contents of the white printed cup into the orange bowl on the table.", "scene_description": "A light wooden table in a shared kitchen holds an orange bowl of dark food, a white printed cup, a gray dustpan, an orange fruit on a red plate, a blue water bottle, and small miscellaneous items. A white dual-arm robot is positioned to the left of the table, with wooden cabinets, a stainless steel refrigerator, microwave, and stove in the background.", "global_instruction_dense": "The right robotic arm moves toward the white printed cup on the table, grasps and lifts it, moves it above the orange bowl, tilts the cup to pour its contents, then moves the cup back toward its starting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 774, "tasks": ["pour cup"], "length": 1876, "global_instruction": "Unstack the colorful plastic cups and pour the small yellow object from the dark blue cup into the light blue cup.", "scene_description": "A light wooden table holds a vertically stacked set of colorful plastic cups (bottom to top: green, orange, light blue, dark blue) and a small reddish-orange bowl beside the cup stack. A white and gray robotic arm is positioned to the left of the table, with a kitchen area (wooden cabinets, microwave, stainless steel refrigerator) in the background.", "global_instruction_dense": "The right robotic gripper grasps the top dark blue cup from the stacked colorful cups, lifts and places it on the right side of the table, then adjusts to grasp the light blue cup from the remaining tilted stack, lifts and places it next to the dark blue cup, then grasps the dark blue cup, tilts it to pour a small yellow object into the light blue cup, and finally places the dark blue cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 775, "tasks": ["pour cup"], "length": 836, "global_instruction": "Pour the contents of the small green cup into the large green bowl on the kitchen counter.", "scene_description": "A black kitchen counter holds a stainless steel sink, a large green bowl with a blue spatula inside on the counter's stove section, a yellow perforated container, and a clear dish soap bottle next to the sink, with wooden cabinets mounted behind the counter. The right robotic arm is initially positioned above the sink.", "global_instruction_dense": "The right robotic arm moves from its initial position above the sink toward the small green cup on the counter, grasps the cup, lifts and tilts it to pour its contents into the large green bowl, then moves the empty cup back toward the sink area.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 776, "tasks": ["pour cup"], "length": 623, "global_instruction": "Pour liquid from the purple cup onto the kitchen counter.", "scene_description": "A kitchen counter with wooden upper and lower cabinets, stainless steel sink, silver toaster, upright purple cup to the right of the toaster, wooden cup tray with cups to the right of the purple cup, microwave on the right built-in shelf, a single white robotic arm with black joints positioned above the counter near the toaster, and VR tracking hardware on the left side of the workspace.", "global_instruction_dense": "The single white robotic arm moves its gripper toward the upright purple cup on the kitchen counter, grasps it, repeatedly tilts it to pour out liquid, tilts it further to rest on its side on the counter, holds it stationary while it is adjusted, then uprights the cup, places it back on the counter, and releases its grip.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 777, "tasks": ["pour cup"], "length": 760, "global_instruction": "Pour liquid from the left black cup into the right black cup, then place the left cup back on the countertop.", "scene_description": "A dark grey kitchen countertop holds two black cylindrical cups, a silver electric kettle, a wooden bowl with a fork inside, next to a stainless steel sink. Light brown wooden upper cabinets are mounted on the dark tiled wall, and the robot's white arms are positioned above the counter near the cups.", "global_instruction_dense": "The right robotic gripper grasps the left black cup on the counter, lifts it, tilts it to pour liquid into the right black cup, tilts it back upright, then lowers it to place it back on the countertop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 778, "tasks": ["pour cup"], "length": 904, "global_instruction": "Pour the contents of the small red cup into the green bowl on the wooden table.", "scene_description": "A wooden table holds a black cloth, a green packaged item, a blue water bottle, a small red cup, a green bowl with a silver utensil inside, and paper envelopes on the far right. A dual-arm white robotic manipulator is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small red cup on the table, grasps it with its gripper, lifts and positions it over the green bowl, tilts the cup to pour its contents spilling some onto the table surface, moves the cup back to its original position, and releases it onto the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 779, "tasks": ["pour cup"], "length": 712, "global_instruction": "Pour the contents of the red handled cup into the green bowl and place the cup back on the table.", "scene_description": "A light wooden table holds a green bowl, a red small handled cup, a blue water bottle, a green packaged item, a small white round object, and a folded black cloth, with a white robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the red handled cup on the wooden table, grasps it, lifts and tilts it over the green bowl to pour its contents, then moves the cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 780, "tasks": ["pour cup"], "length": 1112, "global_instruction": "Pour the contents of the small red measuring cup into the green bowl on the wooden table.", "scene_description": "A wooden table holds a small red measuring cup, green bowl, wood-handled knife, blue water bottle, green packaged item, white wireless mouse, and black folded cloth. A robotic arm is positioned above the right side of the table, in a lab office space with storage shelves and computer desks in the background.", "global_instruction_dense": "The right robotic gripper descends to grasp the small red measuring cup on the wooden table, lifts it, moves it over the green bowl, tilts the cup to pour its contents into the bowl, lowers the cup back to the table and releases it, adjusts the position of the green bowl, then moves away from the table to return to a resting position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 781, "tasks": ["pour cup"], "length": 543, "global_instruction": "Pour the contents of the purple cup into the yellow cup on the wooden table.", "scene_description": "A light wooden table holds an orange toy basketball, red plate, yellow cup, small green object, orange bowl, white paper roll, small white cup, dark purple water bottle, black level tool, and white storage box on its right side. A white robotic arm is positioned to the left of the table, with a kitchen area (wooden upper cabinets, stainless steel refrigerator, microwave) in the background.", "global_instruction_dense": "The left robotic arm moves toward the purple cup on the table, grasps it, lifts and positions it above the yellow cup, tilts it to pour its contents into the yellow cup, then tilts it back upright and places the purple cup back on the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 782, "tasks": ["pour cup"], "length": 551, "global_instruction": "Pour the red ball out of the orange plastic cup onto the table", "scene_description": "A light wooden lab table holds a red plate, orange mini basketball, green bowl, yellow cup, orange plastic cup, white paper roll, printed white mug, dark water bottle, and white box from left to right. A white robotic arm is positioned at the left of the table, with wooden kitchen cabinets, a stainless steel refrigerator, and microwave in the background.", "global_instruction_dense": "The left robotic arm moves toward the orange plastic cup on the table, grasps the cup, lifts and tilts it to pour the red ball inside onto the table surface, then adjusts the cup's position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 783, "tasks": ["pour cup"], "length": 323, "global_instruction": "Pour the contents of the small green cup into the small purple cup, then stack the green cup on the purple cup.", "scene_description": "A light wooden kitchen table holds a red plate, small purple cup, orange pumpkin decor, small green cup, small orange cup, sealed clear bread bag, white printed mug, and large black water jug, with wooden cabinets and a stainless steel fridge in the background.", "global_instruction_dense": "The left robotic gripper moves to the small green cup at the rear of the table, grasps it, lifts it, tilts it over the small purple cup to pour its contents, then lowers the green cup to stack on top of the purple cup before releasing.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 784, "tasks": ["pour cup"], "length": 224, "global_instruction": "Pour from the purple small cup into the green small cup, then return the purple cup to the table.", "scene_description": "A light wooden kitchen table holds a red plate, purple small cup, green small cup, orange small cup, small orange pumpkin decoration, sealed plastic bag of baked goods, white printed mug, and large dark water jug, with a robotic arm at the left of the table.", "global_instruction_dense": "The left robotic arm moves to grasp the purple small cup on the table, lifts it, moves it over the green small cup, tilts it to pour its contents, tilts it upright, moves it back to its initial position, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 785, "tasks": ["pour cup"], "length": 196, "global_instruction": "Pour contents from the green cup into the purple cup, then place the green cup back on the table", "scene_description": "A light wooden table in a kitchen setting holds a red plate, a purple cup, a green cup, an orange cup, an orange decorative pumpkin, a sealed bread bag, a white printed mug, and a large dark water bottle. A white robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the green cup on the table, grasps it, lifts it, moves it over the purple cup, tilts it to pour contents into the purple cup, rights the cup, moves it back to the table, and releases it on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 786, "tasks": ["pour cup"], "length": 724, "global_instruction": "Pour contents from the yellow cup into the large green bowl, then place the yellow cup on the table.", "scene_description": "A dark gray table holds a wooden bowl, small blue plastic bowl, small green plastic bowl, yellow plastic cup, large green plastic bowl, small red plastic bowl, plush toys, and a mobile phone, with the yellow cup positioned between the small blue and green bowls near the wooden bowl.", "global_instruction_dense": "The left robotic arm moves to the yellow plastic cup on the table, grasps it, lifts it, moves it over the large green bowl, tilts the cup to pour its contents into the bowl, then moves the cup back and places it on the table next to the small green bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 787, "tasks": ["pour cup"], "length": 502, "global_instruction": "Pour from the blue cup into the red cup, then set the blue cup down on the table.", "scene_description": "A light wooden worktable holds a blue plastic cup, a red plastic measuring cup, assorted small stationery items, and a clear plastic storage bin on its right side; a white robotic arm is positioned above the table with workshop shelves and cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the blue cup on the wooden table, lifts it, tilts it over the red cup to perform a pouring motion, then moves the blue cup away and releases it onto the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 788, "tasks": ["pour cup"], "length": 488, "global_instruction": "Pour the contents of the red measuring cup into the white bowl on the table.", "scene_description": "A light wooden worktable holds a red measuring cup, small yellow bowl, white bowl with granular contents, and assorted small containers; a white robotic arm is positioned on the left side of the table, with a yellow caution sign to the table's right.", "global_instruction_dense": "The left robotic arm moves toward the red measuring cup on the table, grasps it, lifts and moves it over the white bowl, tilts it to pour its contents into the bowl, then lowers the empty cup back to the table, releases it, and returns to its initial position.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 789, "tasks": ["pour cup"], "length": 886, "global_instruction": "Pour the contents of the small red measuring cup into the white bowl on the table", "scene_description": "A light wooden table holds a small red measuring cup with a metal handle, a larger red bowl, multiple yellow and clear containers, and a white bowl; a white robotic arm with a blue gripper is positioned above the small red measuring cup, with a yellow caution sign on the table's right side.", "global_instruction_dense": "The right robotic gripper grasps the small red measuring cup on the wooden table, lifts it, moves it over the white bowl, tilts it to pour contents into the bowl, and adjusts position repeatedly to pour all remaining contents into the bowl.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 790, "tasks": ["pour cup"], "length": 714, "global_instruction": "Pour the contents of the small red cup into the large red bowl and adjust the large red bowl's position.", "scene_description": "A light wooden table has a small red cup under the robotic gripper, a larger red bowl to the right of the small cup, a black printed notebook, a green plastic package, and a brown cardboard box on the far right. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm grasps the small red cup, lifts and tilts it to pour its white contents into the larger red bowl, places the empty small red cup back on the table, positions black tongs onto the table, then grasps, tilts, and repositions the larger red bowl on the tabletop.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 791, "tasks": ["pour cup"], "length": 423, "global_instruction": "Pour the contents of the small red cup into the green bowl on the table", "scene_description": "A light wooden table holds a green bowl, a small red cup, a brown bowl, a red rectangular case, a green packaged item, a black notebook, and a cardboard box. A white robotic arm is positioned at the left side of the table above the table surface.", "global_instruction_dense": "The left robotic arm moves toward the small red cup on the table, grasps it, lifts it over the green bowl, tilts the cup to pour its contents into the bowl, tilts the cup back, and moves it above the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 792, "tasks": ["pour cup"], "length": 536, "global_instruction": "Pour the contents of the green plastic cup into the sink and place the cup back on the counter.", "scene_description": "A dark gray kitchen countertop holds an upright green plastic cup, green plastic bowl, red lidded container, silver toaster, assorted containers, and cleaning supplies next to a stainless steel sink, with light wood upper cabinets in the background, and a left robotic arm positioned near the sink.", "global_instruction_dense": "The left robotic arm moves to the green plastic cup on the kitchen counter, grasps it, lifts it, tilts it over the sink to pour out its contents, then lowers and places the upright cup back on the counter.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 793, "tasks": ["pour cup"], "length": 649, "global_instruction": "Pour the contents of the blue plastic cup into the pink bowl on the red plate.", "scene_description": "A light wooden table holds two green-patterned pastries on the left, a red plate stacked with a small white plate and pink bowl, a blue plastic cup, an empty small white plate, a roll of clear tape, and an open pizza box with a long pizza on the right, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves to grasp the blue plastic cup on the table, lifts it, tilts it over the pink bowl stacked on the red plate to pour its red contents into the bowl, then returns the blue cup to its original position on the table and releases it before returning to a resting position above the table.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 794, "tasks": ["pour cup"], "length": 555, "global_instruction": "Pour the contents of the small red measuring cup into the large green bowl, then reposition the yellow cloth on the right side of the table.", "scene_description": "A grey tabletop holds various items: a small red measuring cup next to a wooden bowl at the far left, small yellow and blue cups behind the bowl, a large green bowl in the center, a small green bowl with a black spoon, an orange sphere on a black base, two additional red measuring cups on the right, plush fruit toys at the near right, and a yellow cloth in front of the large green bowl, with a right robotic gripper positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the small red measuring cup on the left of the table, grasps it, lifts it over the large green bowl to pour its contents into the bowl, places the empty measuring cup back on the table, then grasps the yellow cloth, moves it to the right side of the table near the orange sphere, and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 795, "tasks": ["pour cup"], "length": 368, "global_instruction": "Pour the contents of the red measuring cup into the green bowl on the table.", "scene_description": "A dark grey table holds a green bowl with dry food, a red measuring cup, a red tomato in a black stand, multiple small colorful containers, and a roll of white paper towels, with a white left robotic arm positioned above the table and a person standing at the table's right edge.", "global_instruction_dense": "The left robotic gripper moves toward the red measuring cup on the table, grasps it, lifts and positions it over the green bowl, pours its contents into the bowl, then moves the empty cup back to the table and releases it.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
+{"episode_index": 796, "tasks": ["pour cup"], "length": 543, "global_instruction": "Pour the contents of the blue cup onto the table, then place the cup upright back on the table.", "scene_description": "A wooden table holds an upright blue plastic cup, a red bowl with writing utensils, a red mug on a white paper, scissors, and scattered pens, with a robotic arm above the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the upright blue cup, lifts and tilts the cup to pour its contained writing utensils onto the table, adjusts its grip on the cup, and sets it upright back on the table surface.", "skill": "Pour / Scoop (Fluid & Granular)", "verb": "pour", "object": "cup", "object_category": "Liquid Containers & Beverages"}
diff --git a/datasets/droid/data/pour__cup/meta/episodes_stats.jsonl b/datasets/droid/data/pour__cup/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..acdd34dc69c03689589cb920aa3276fc29ccb116
--- /dev/null
+++ b/datasets/droid/data/pour__cup/meta/episodes_stats.jsonl
@@ -0,0 +1,797 @@
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diff --git a/datasets/droid/data/pour__cup/meta/info.json b/datasets/droid/data/pour__cup/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..838dcad992bf7bbed74463fdcd30671aaad80ca1
--- /dev/null
+++ b/datasets/droid/data/pour__cup/meta/info.json
@@ -0,0 +1,255 @@
+{
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+  "fps": 30,
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+        "rgb"
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+      }
+    },
+    "observation.images.ext2": {
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+        3
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+        "video.codec": "av1",
+        "has_audio": false,
+        "video.height": 480,
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+        "video.channels": 3,
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+      }
+    },
+    "observation.images.wrist": {
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+        "has_audio": false,
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+        "video.channels": 3,
+        "video.pix_fmt": "yuv420p",
+        "video.is_depth_map": false
+      }
+    }
+  },
+  "skill_category": "倒/舀/搅拌 (Pour/Scoop/Stir)",
+  "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/pour__cup/meta/stats.json b/datasets/droid/data/pour__cup/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8042fd82740601cb22766c29a599215a407bd5a
--- /dev/null
+++ b/datasets/droid/data/pour__cup/meta/stats.json
@@ -0,0 +1,761 @@
+{
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\ No newline at end of file
diff --git a/datasets/droid/data/pour__cup/meta/tasks.jsonl b/datasets/droid/data/pour__cup/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a3a4083477c5c0cc51699e50a096bfde4761e32f
--- /dev/null
+++ b/datasets/droid/data/pour__cup/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "pour cup"}
diff --git a/datasets/droid/data/pour__cup/videos/chunk-000/observation.images.ext1/episode_000000.mp4 b/datasets/droid/data/pour__cup/videos/chunk-000/observation.images.ext1/episode_000000.mp4
new file mode 100644
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