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On the middle front of the table are a light pink fabric, a pink fabric with a white strap, a white flexible tube, and a hidden fake red peach under the fabrics, with a robotic arm on the right of the frame.", "global_instruction_dense": "The left robotic arm first grasps the pink fabric and places it near the back cardboard box, then grasps the light pink fabric and places it at the table front to reveal the peach, next grasps the peach and places it near the back box, finally grasps the white tube and moves it leftward on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1, "tasks": ["place food"], "length": 536, "global_instruction": "Move the cloths covering the central items to the far end of the table, then move the decorative apple to the far end of the table.", "scene_description": "A light brown wooden table has a stack of cloths (light pink top, white middle, pink bottom) covering a red-white decorative apple, green leaves and a white curved object at its center, a brown cardboard box at its far end, and robotic arms positioned to its right.", "global_instruction_dense": "The right robotic gripper first grasps the light pink top cloth, moves it to the far end of the table and releases it, then grasps the white middle cloth, moves it to the far end and releases it, next grasps the pink bottom cloth, moves it to the right side of the table and releases it, finally grasps the exposed decorative apple, moves it to the far end near the cloths and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2, "tasks": ["place food"], "length": 328, "global_instruction": "Move the orange cup and green food item from the white plate onto the table surface.", "scene_description": "A white round table sits in front of a large window. On the table: a dark gray rectangular block, a blue rectangular object, a crumpled light cloth, and a white plate holding an orange cup and a green food item, with a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm first grasps the orange cup on the plate, lifts it, moves it left and places it on the table, then grasps the green food item on the plate, lifts it, moves it left and places it on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 3, "tasks": ["place food"], "length": 341, "global_instruction": "Place all light brown food strips from the white plate into the transparent plastic bag on the table.", "scene_description": "A white round table sits next to a large window with a city view. On the table, a white plate holding multiple light brown food strips is on the right, a transparent plastic bag of identical food strips is left of the plate, a white box is behind the bag, and a black pen, small dark device, and spoon are to the right of the plate. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper repeatedly moves down to the white plate to grasp a food strip, lifts and moves the strip left to the transparent plastic bag, releases the strip into the bag, and moves back to the plate until all food strips are removed from the plate and placed into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 4, "tasks": ["place food"], "length": 369, "global_instruction": "Place brown snacks from the transparent bag onto the white plate, then place the black spoon next to the plate.", "scene_description": "A white round table in front of a window holds a white storage box, a transparent bag of brown snacks, a white plate, a black chopstick, a black spoon, and a gray rectangular device. A right robotic arm is positioned above the table near the white storage box.", "global_instruction_dense": "The right robotic arm moves to the transparent bag of brown snacks, grasps a portion of the snacks, moves them over the white plate and releases them onto the plate, then moves to the black spoon, grasps it, and places it next to the edge of the white plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 5, "tasks": ["place food"], "length": 454, "global_instruction": "Place all brown snack pieces from the white paper plate into the adjacent open snack bag.", "scene_description": "A round white table sits beside a window with a city view. On the table, a white paper plate holding brown snack pieces is next to an open transparent bag of identical brown snacks; a small dark remote is to the plate's right, and clear plastic loops and a tiny brown block are to the plate's left.", "global_instruction_dense": "The right robotic arm grasps brown snack pieces from the white paper plate one by one, moves each to the open transparent snack bag, releases them into the bag, and also picks up a snack that falls onto the table to place into the bag until the plate is empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 6, "tasks": ["place food"], "length": 432, "global_instruction": "Move the black spoon off the paper plate, then place the brown pretzel snacks onto the white paper plate.", "scene_description": "A round white table next to a large city-view window holds a white paper plate with a black spoon on it, scattered brown pretzel snacks beside an open clear plastic bag, a black pen, a small gray object, a dark remote control, and a white storage box behind the snacks, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first grasps the black spoon resting on the white paper plate, lifts and places it on the table adjacent to the plate, then repeatedly moves to the scattered brown pretzel snacks, grasps handfuls of the snacks, moves them over the plate, and releases them until most snacks are placed onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 7, "tasks": ["place food"], "length": 649, "global_instruction": "Move all brown food pieces from the paper plate to the open plastic bag on the table.", "scene_description": "A white round table holds a paper plate filled with brown food pieces, an open plastic bag of matching brown food, a small white circular lid, a black plastic knife, a dark rectangular device, and a gray box, with a large window showing a city view in the background.", "global_instruction_dense": "The right robotic arm repeatedly grasps brown food pieces from the paper plate on the table, moves each piece left to the open plastic bag, releases it, and returns to the plate until all food from the plate is relocated to the bag area.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 8, "tasks": ["place food"], "length": 387, "global_instruction": "Transfer brown snacks between the snack pile and paper plate, ending with an empty plate.", "scene_description": "A round white table is next to a window with a city and hillside view. On the table, a white paper plate holding two brown snacks sits on the right, an open packet of brown snacks is left of the plate, plus a black pen, black spoon, small black remote, white box, and clear looped cable, with the right robotic arm above the table.", "global_instruction_dense": "The right robotic arm picks brown snacks from the open packet left of the plate, places them onto the plate, then picks all snacks from the plate and places them near the snack packet, leaving the plate empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 9, "tasks": ["place food"], "length": 447, "global_instruction": "Pick brown snack pieces from the open bag and place them onto the white paper plate", "scene_description": "A round white table next to a large city-view window holds an open bag of brown snack pieces, a white paper plate, two black knives, a small black remote, and a white rectangular box. A left robotic arm is positioned above the white box.", "global_instruction_dense": "The left robotic arm repeatedly moves to the open bag of brown snacks, grasps snack pieces, moves them over the white paper plate, releases them onto the plate, and returns to the bag to grasp additional snacks until multiple batches are placed on the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 10, "tasks": ["place food"], "length": 523, "global_instruction": "Pick brown snacks from the paper plate and place them into the adjacent open snack bag.", "scene_description": "A white round table holds a paper plate with brown snacks, an open bag of matching brown snacks, a single brown snack on the table surface, a white storage box behind the food items, a black remote control, and a black fork; a right robotic arm is positioned above the table near a window with an outdoor hills and buildings view.", "global_instruction_dense": "The right robotic gripper repeatedly grasps brown snacks from the paper plate, lifts each snack, moves it over the open snack bag next to the plate, releases the snack into the bag, and returns to the plate until all snacks from the plate are moved to the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 11, "tasks": ["place food"], "length": 283, "global_instruction": "Place the brown food slices from the table onto the white paper plate.", "scene_description": "A white round table sits near a window overlooking city buildings. Brown sliced food pieces are on the left of the table, an empty white paper plate is on the right, a small knife is next to the plate, and a white robotic arm is positioned near a white box behind the food.", "global_instruction_dense": "The right robotic arm moves toward the brown food slices on the left of the table, grasps each slice one by one, lifts each slice, moves each over the white paper plate, and releases each slice onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 12, "tasks": ["place food"], "length": 381, "global_instruction": "Move all brown food pieces from the white paper plate onto the table area left of the plate.", "scene_description": "A white round table is positioned next to a large window overlooking city buildings. On the table, a white paper plate with multiple brown food pieces is on the right, a clear plastic bag filled with brown food pieces is left of the plate, several loose brown food pieces are on the table between the bag and plate, a white box is behind the plate, a small black object is left of the bag, and a black remote is right of the plate. A right robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm repeatedly moves down to the white paper plate, grasps a brown food piece, lifts it, moves left to the table area near the bag of food pieces, releases the food piece onto the table, and returns to the plate until all pieces from the plate are placed on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 13, "tasks": ["place food"], "length": 346, "global_instruction": "Place the brown snack pieces from the table onto the white paper plate", "scene_description": "A round white table holds a white paper plate, multiple brown snack pieces, an open clear plastic bag of brown snacks, a white rectangular box, a small black object, and a white cable, with a robotic arm at the right side of the table near a window overlooking city buildings.", "global_instruction_dense": "The right robotic arm moves toward the brown snack pieces on the table, grasps each snack piece sequentially, lifts each piece, moves it over the white paper plate, and releases each piece onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 14, "tasks": ["place food"], "length": 2, "global_instruction": "Place the orange item inside the white storage box onto the white plate", "scene_description": "A white round table is near a window with outdoor buildings visible. On the table, a transparent bag of brown food is on the left, a white plate with a black fork is at the center, a white storage box holding an orange item is to the right of the plate, and a right robotic arm is positioned beside the box.", "global_instruction_dense": "The right robotic arm reaches into the white storage box to grasp the orange item, lifts it out of the box, moves it over the white plate, then lowers and releases the item onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 15, "tasks": ["place food"], "length": 273, "global_instruction": "Place the red and white peach into the blue open box, then place the brown stuffed toy onto the paper plate.", "scene_description": "A white round table holds a blue open box, a brown stuffed toy, a small yellow cup with pink top, a red and white peach on a paper plate, and a wooden peg toy, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm grasps the red and white peach from the paper plate, lifts and moves it to drop into the blue open box, then grasps the brown stuffed toy, lifts and moves it to place onto the empty paper plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 16, "tasks": ["place food"], "length": 536, "global_instruction": "Take the decorative peach from the blue box and place it on the white paper plate.", "scene_description": "A round white table holds a blue 30-pack box on the left, a wooden peg puzzle near the box, a small yellow container with a pink lid at the center, a brown stuffed toy next to the container, a white paper plate with a black spoon and knife on it, and a robotic arm on the table's right side.", "global_instruction_dense": "The right robotic arm first adjusts the positions of the black knife and spoon on the white paper plate, then moves to the blue box on the left, grasps the decorative red-white peach with leaves inside the box, lifts it, moves it over the paper plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 17, "tasks": ["place food"], "length": 342, "global_instruction": "Put the red-white apple into the blue box and arrange the black spoon on the paper plate.", "scene_description": "A white round table holds a blue open box on the left, a wooden peg toy, a yellow-pink small container, a brown stuffed bear, a white paper plate with a black spoon and a red-white apple with green leaves, with a right robotic arm above the table.", "global_instruction_dense": "The right robotic arm first grasps the red-white apple from the paper plate, lifts it, moves left and releases it into the blue open box, then moves back to the paper plate, grasps the black spoon, adjusts its position and places it neatly on the paper plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 18, "tasks": ["place food"], "length": 410, "global_instruction": "Place pieces of brown food from the transparent bag into the black bowl", "scene_description": "A light yellow table holds a white plate with green blocks, green and orange toy balls on the left, alongside a pink cloth, white cloth, a transparent bag of brown food, a black bowl to the right of the bag, a white rectangular box on the far right, and a red-and-white patterned bag behind the plate, with office chairs and a glass office wall in the background.", "global_instruction_dense": "The right robotic arm moves toward the transparent bag of brown food on the table, repeatedly grasps individual pieces of food from the bag, moves each piece over the black bowl, releases it into the bowl, then adjusts the food pieces inside the bowl before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 19, "tasks": ["place food"], "length": 355, "global_instruction": "Pick brown ring-shaped snacks from the middle bag and place them into the black bowl on the right.", "scene_description": "A light brown wooden table holds a white plate with green, orange toy fruits and green, yellow blocks on the left, a red and white striped plastic bag next to the plate, a clear plastic bag of brown ring-shaped snacks in the middle, and a black bowl next to a white rectangular container with a pink item inside on the right, with a glass partition and exit sign in the background.", "global_instruction_dense": "The right robotic arm moves into the frame, repeatedly grasps brown ring-shaped snacks from the plastic bag in the middle of the table, moves each snack over the black bowl on the right, releases the snack into the bowl, and also picks up snacks that fell onto the table to place them into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 20, "tasks": ["place food"], "length": 730, "global_instruction": "Place the light brown ring-shaped snacks from the black bowl into the clear plastic snack bag.", "scene_description": "A light yellow wooden table holds a white plate with toy objects (green blocks, green ball, orange ball, yellow block) on the left, next to a red and white striped plastic bag, a red onion, and a green cucumber-shaped object. On the right side of the table are a black bowl with light brown ring-shaped snacks, a clear plastic bag filled with identical ring-shaped snacks, and a white rectangular container, with glass office walls and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves to the black bowl on the right of the table, repeatedly grasps light brown ring-shaped snacks from the bowl, lifts them, moves over the clear plastic snack bag, and releases the snacks into the bag, with one snack accidentally dropped onto the table during the process.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 21, "tasks": ["place food"], "length": 392, "global_instruction": "Place the cloth from the white storage box on the table, then put brown snacks from the transparent bag into the black bowl.", "scene_description": "A light yellow wooden table holds a white plate with colorful plastic food items on the left, a red onion-shaped object next to the plate, a white plastic bag with red swirl patterns behind the plate. On the table's right side, there is a transparent bag of brown snacks, an open white storage box, and an empty black bowl, with office glass walls and chairs in the background.", "global_instruction_dense": "The right robotic arm first retrieves the pink-and-white cloth from the open white storage box and places it on the table next to the black bowl, then grabs handfuls of brown snacks from the transparent snack bag twice and drops them into the black bowl to fill it partially.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 22, "tasks": ["place food"], "length": 410, "global_instruction": "Place a brown snack from the clear bag, a red round object, and a green plant cutting from the table into the white open container.", "scene_description": "A light yellow tabletop in an office holds a white plastic bag with orange Target branding on the left, a clear bag filled with brown dried snacks next to a white open rectangular container, plus a red round object, a small green plant cutting, a black circular plate, and a pink cloth on the table's right side.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves to the clear bag of brown snacks, grasps a snack, lifts and places it into the adjacent white container, then moves to grasp the red round object on the table, releases it, then moves to grasp the green plant cutting on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 23, "tasks": ["place food"], "length": 460, "global_instruction": "Place the red apple from the white storage bin into the black bowl on the table.", "scene_description": "A light brown table holds an orange-and-white Target bag on the left, a white plate with small green, orange, and yellow blocks at the center, a white rectangular storage bin with a pink cloth inside on the right, a brown tied bag adjacent to the bin, and a black bowl with a green apple near the bin, with office glass walls and gray chairs in the background.", "global_instruction_dense": "The right robotic gripper first removes a pink cloth from the white storage bin and sets it on the right side of the table, then grasps a red apple from inside the bin, moves it to the black bowl holding a green apple and places the red apple inside, then picks up the pink cloth and moves it off the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 24, "tasks": ["place food"], "length": 467, "global_instruction": "Pour green blocks from the black bowl onto the white plate, then place the red peach, orange fruit, and green fruit into the black bowl.", "scene_description": "A light yellow table has a white and orange patterned plastic bag on the left, a white plate with orange and yellow blocks and a brown clip in the center, a black bowl with green blocks, a bag of brown snacks, a white storage bin, a red peach, an orange fruit, and a green fruit on the right, with a right robotic arm at the table's right edge.", "global_instruction_dense": "The right robotic arm grasps the black bowl with green blocks, pours the blocks onto the white plate, sets the empty bowl back on the table, then sequentially picks up the red peach, orange fruit, and green fruit, placing each into the black bowl before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 25, "tasks": ["place food"], "length": 380, "global_instruction": "Take the orange and the round toy out of the plastic bag and place them on the table.", "scene_description": "A light yellow wooden table sits in an office with glass walls and grey chairs. On the table, a white plastic bag with red patterns holds an orange and a red-green round toy, a black rectangular remote is left of the bag, and a robotic arm is positioned on the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the plastic bag, grasps the orange inside, lifts it out and places it on the table, then returns to the bag, grasps the red-green round toy inside, lifts it out and places it on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 26, "tasks": ["place food"], "length": 271, "global_instruction": "Place the orange and the small orange-yellow object into the white plastic bag on the table.", "scene_description": "A light yellow wooden table has a white plastic bag with orange stripes on its left side, an orange fruit, an orange-and-yellow small object, a black bowl with a green ball, and a white plate with food in the background. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange on the table, grasps it, lifts and moves it leftward to place it into the white plastic bag, then moves toward the small orange-yellow object, grasps it, lifts and moves it leftward to place it into the plastic bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 27, "tasks": ["place food"], "length": 408, "global_instruction": "Remove oranges from the orange-striped plastic bag and place them into the black bowl and on the table.", "scene_description": "A light yellow table has an orange-striped white plastic bag (with an orange inside) on its left side, a black bowl holding a green ball to the right of the bag, two red toy tomatoes with green leaves next to the bowl, a white plate with small colorful items further right, and a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm first moves to the orange-striped plastic bag, grasps an orange from inside, lifts and moves it to the black bowl and releases it into the bowl, then returns to the bag to adjust its opening, grasps a second orange from the bag, lifts it, moves it over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 28, "tasks": ["place food"], "length": 146, "global_instruction": "Take a red vegetable with green leaves out of the plastic bag and place it on the table", "scene_description": "A white plastic bag with orange patterns, a black bowl, a white box, and a plate with colorful items are placed on a yellow table. A white robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the white plastic bag on the table, grasps a red vegetable with green leaves from inside the bag, lifts it, moves it to the space on the table to the right of the bag, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 29, "tasks": ["place food"], "length": 490, "global_instruction": "Take fruits out of the plastic bag and place them into the black bowl on the table.", "scene_description": "A light yellow table holds a white plastic bag with orange concentric patterns on its left side, two plush vegetables with red heads and green stems in front of the bag, a black bowl next to the vegetables, a white plate with colorful food items on the right side of the table, and a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the white plastic bag on the left of the table, opens the bag, grasps an orange fruit inside, lifts it, moves it right over the black bowl, releases it into the bowl, then reaches back into the bag to grasp a green fruit, lifts it, moves it right over the bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 30, "tasks": ["place food"], "length": 375, "global_instruction": "Take fake fruits from the white plastic bag and place them into the black bowl.", "scene_description": "A light yellow wooden table holds a black bowl on the left, a transparent package of brown items left of the bowl, a dark rectangular object left of the package, a white plastic bag filled with fake food (orange, red fruits, green cucumber, brown plush hand) in the center, a green spherical toy in the lower foreground, a yellow-orange cylindrical toy in the lower right, a white plate with colorful toy blocks on the right, and a left robotic gripper positioned above the white plastic bag.", "global_instruction_dense": "The left robotic gripper first grasps an orange fake fruit from the white plastic bag, moves it to the black bowl and releases it into the bowl; then grasps a red fake fruit from the bag and drops it on the table, next grasps a brown plush hand from the bag and drops it on the table, finally grasps a small red fake fruit from the bag, moves it to the black bowl and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 31, "tasks": ["place food"], "length": 412, "global_instruction": "Place the small orange-lidded container, green fake apple, and orange fake fruit into the white-and-orange striped bag on the table.", "scene_description": "A light brown office table holds an orange fake fruit, green fake apple, small orange-lidded container, black spoon, white plate with green cubes, black bowl with colored items, white-and-orange striped bag, crumpled brown package, white storage box with pink lid, and a robotic arm positioned on the right side of the table.", "global_instruction_dense": "The right robotic gripper moves left across the table, sequentially grasps the small orange-lidded container, green fake apple, and orange fake fruit, lifts each item, moves it over the white-and-orange striped bag, releases each into the bag, then lifts away after completing placement.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 32, "tasks": ["place food"], "length": 308, "global_instruction": "Place the orange, green apple, and small yellow fruit into the white plastic bag on the table", "scene_description": "A light brown wooden table holds a white plastic bag, an orange, a green apple, a black bowl, a white plate with a yellow cube and green cube on it, a brown packaged item, a small black key-shaped object, and a small blue object at the far right of the table. A right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves left to grasp the orange next to the white plastic bag, lifts it and places it into the bag, then grasps the adjacent green apple, lifts and places it into the bag, then grasps the adjacent small yellow fruit, lifts and places it into the white plastic bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 33, "tasks": ["place food"], "length": 433, "global_instruction": "Stir the contents of the black bowl, then place the green and orange fruit from the plastic bag onto the table.", "scene_description": "A light brown wooden table holds a black bowl with a spoon and colorful items inside, a white plate with a yellow cube, green cube, and small red object, a white plastic bag containing green and orange fruit, a brown packaged item, and a small blue object at the table's far right, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm grasps the spoon in the black bowl, stirs the bowl's contents, returns the spoon to the bowl, moves to the plastic bag, grasps a green fruit and places it on the table next to the bowl, then grasps an orange fruit from the bag and places it on the table beside the green fruit.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 34, "tasks": ["place food"], "length": 282, "global_instruction": "Place the green spherical fruit and the orange spherical fruit into the white plastic bag.", "scene_description": "A light wooden table holds a white plate with yellow and green cubic objects, a black bowl with small red and green items, an orange spherical fruit, a green spherical fruit, a white plastic bag, a brown sealed packet, and a small blue object on its right edge; a right robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves to grasp the green spherical fruit on the table, lifts and places it into the white plastic bag, then moves to grasp the orange spherical fruit, lifts and places it into the same bag, then adjusts the opening of the plastic bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 35, "tasks": ["place food"], "length": 333, "global_instruction": "Place the green apple, orange, and red round fruit into the black bowl on the table.", "scene_description": "A light brown wooden table holds a black bowl, a white plate with small colored blocks and a red round fruit, a green apple, an orange, a white plastic bag with red markings, a pink cloth, a transparent snack bag, a black rectangular object, and a white box. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves left to grasp the green apple, lifts and places it into the black bowl; then grasps the nearby orange, lifts and places it into the bowl; next grasps the red round fruit from the white plate, lifts and places it into the bowl to finish the task.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 36, "tasks": ["place food"], "length": 462, "global_instruction": "Place the loose food items on the table into the open white plastic bag.", "scene_description": "A wooden table holds a green apple, an open white plastic bag, a brown toy sausage, an orange, a small red tomato, a yellow fruit, folded cloths, a clear bag of brown snacks, a white plate with brown food, a black rectangular object, and a white box. A left robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the green apple, brown toy sausage, small red tomato, yellow fruit, and orange from the table, lifts each item, and places them into the open white plastic bag on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 37, "tasks": ["place food"], "length": 456, "global_instruction": "Take the orange and small red objects out of the white patterned plastic bag and place them on the table, then move the grey cloth to the table near the bag.", "scene_description": "A light wooden table holds a clear plastic wrapped brown item on its left, a white plastic bag with orange circular patterns (containing an orange fruit and two small red objects) in the front middle, folded pink and grey cloths behind the bag, and a white rectangular box behind the cloths, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper sequentially grasps the orange, then two small red objects from inside the white patterned plastic bag, places each of these items on the wooden table, then grasps the grey folded cloth from the stack of cloths and places it on the table near the plastic bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 38, "tasks": ["place food"], "length": 410, "global_instruction": "Place fruits from the striped plastic bag onto the white table surface.", "scene_description": "A white round table has a white plastic bag with red stripes filled with assorted fruits on its right side, a small orange-yellow object sits left of the bag, and a robotic arm is at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves to the striped plastic bag, repeatedly grasps fruits inside the bag, lifts them, moves them over the table, and releases them onto the table next to the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 39, "tasks": ["place food"], "length": 160, "global_instruction": "Place green apples from the red-and-white striped bag onto the white table.", "scene_description": "A white round table holds a yellow rubber duck, a pink cloth, and a red-and-white striped bag containing a green apple and a brown fruit; white cabinets are to the left, a window is to the right with a retracted robotic arm near it.", "global_instruction_dense": "The right robotic arm extends toward the red-and-white striped bag, grasps a green apple inside it, lifts and moves the apple left over the table near the pink cloth, releases it onto the table, then moves back toward the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 40, "tasks": ["place food"], "length": 603, "global_instruction": "Take fruits out of the plastic bag and place them on the white table surface.", "scene_description": "A white round table holds a red-and-white striped plastic bag filled with various fruits (green apples, orange, kiwi) and a piece of pink cloth next to the bag, positioned beside a large window with white paneled walls in the background, a robotic arm is at the right side near the window.", "global_instruction_dense": "The right robotic arm moves toward the plastic bag on the white table, grasps a green apple, a kiwi, and an orange from inside the bag one by one (re-grasping the orange after a failed first lift), and places each of these fruits on the empty area of the table outside the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 41, "tasks": ["place food"], "length": 704, "global_instruction": "Pick fake fruits from the red-and-white striped bag and place them on the table next to the pink cloth.", "scene_description": "A white round table holds a crumpled pink cloth and a red-and-white striped bag filled with colorful fake fruits, positioned near a large window with a dark outdoor view.", "global_instruction_dense": "The right robotic arm repeatedly moves toward the red-and-white striped bag on the white table, grasps fake fruits of different colors one by one, lifts each fruit out of the bag, moves it to the area next to the crumpled pink cloth on the table, and releases the fruit onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 42, "tasks": ["place food"], "length": 770, "global_instruction": "Pick fruits from the white plastic bag with red prints and place them on the table", "scene_description": "A white round table is positioned next to a large window with an outdoor view of buildings and hills. On the table, there is a small crumpled white plastic bag, and a large open white plastic bag with red prints holding various fruits. The right robotic arm is partially visible at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the open white plastic bag with red prints on the table, repeatedly reaches into the bag to grasp different fruits, lifts each fruit out of the bag, and places each fruit on the table surface next to the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 43, "tasks": ["place food"], "length": 573, "global_instruction": "Remove items from the open white plastic bag and place them on the table next to the bag.", "scene_description": "A white round table holds an open white plastic bag with red markings. To the right of the bag are a green lime, a pink cloth, and a partially visible yellow item. A right robotic arm is positioned above the bag.", "global_instruction_dense": "The right robotic arm repeatedly reaches into the open white plastic bag, grasps different items, lifts each item out of the bag, moves each to the table area right of the bag, releases them onto the table, then adjusts the bag's opening.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 44, "tasks": ["place food"], "length": 662, "global_instruction": "Place all fruits on the right side of the white table into the red-and-white striped plastic bag.", "scene_description": "A white round table holds a red-and-white striped plastic bag on its left side, assorted fruits on its right side, and a crumpled white paper near the table's back edge.", "global_instruction_dense": "The right robotic arm sequentially grasps each fruit on the right side of the table, moves each fruit over the red-and-white striped plastic bag on the table's left side, and releases each fruit into the bag until all fruits are stored inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 45, "tasks": ["place food"], "length": 666, "global_instruction": "Place all fake fruits, the pink cloth, and the orange from the white platform into the white plastic bag on the table.", "scene_description": "A white round table has an open white plastic bag with red markings on its left side, and a raised white platform on its right side holding assorted fake fruits, a pink cloth, and an orange. A robotic arm is positioned above the platform.", "global_instruction_dense": "The right robotic arm sequentially grasps each fake fruit, the pink cloth, and the orange from the raised white platform, moves each item over to the white plastic bag on the table, and releases each item into the bag until all items from the platform are transferred.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 46, "tasks": ["place food"], "length": 168, "global_instruction": "Place the yellow and green fruits from the bowl on the toy kitchen stove onto the toy kitchen counter.", "scene_description": "A white toy kitchen set rests on a round white table. The toy kitchen's open upper cabinet has orange, yellow, cyan cups on its top shelf, and a blue bottle plus small red object on its middle shelf. A bowl holding yellow and green fruits sits on the toy kitchen stove, a robotic arm is positioned to the right of the toy kitchen, and a gray wooden-armed chair is near left-side windows with gray blinds.", "global_instruction_dense": "The right robotic arm moves toward the bowl of yellow and green fruits on the toy kitchen stove, grasps the fruits, lifts them out of the bowl, moves them over the adjacent toy kitchen counter, and releases the fruits onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 47, "tasks": ["place food"], "length": 520, "global_instruction": "Wrap the green apple with the white cloth and place the wrapped apple into the white box", "scene_description": "A green apple, a white cloth, a white rectangular box, and a brown cardboard box are on a yellow table. The white box is to the left of the apple and cloth, and the brown box is at the back of the table.", "global_instruction_dense": "The left robotic gripper grasps the green apple, places it onto the white cloth, wraps the cloth around the apple, lifts the cloth holding the wrapped apple, and places it into the white box on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 48, "tasks": ["place food"], "length": 300, "global_instruction": "Retrieve the white paper plate and red plush peach from the box, placing the plate on the towel stack and the peach on the plate.", "scene_description": "A brown cardboard box, a towel-covered stack, and folded fabric items are on a yellow office table. The left-side box holds a white paper plate, crumpled plastic bag, and red plush peach, with a QR-coded concrete pillar and whiteboard in the background.", "global_instruction_dense": "The left robotic arm grasps the white paper plate in the cardboard box, lifts and places it on the towel-covered stack, then returns to grasp the red plush peach from the box and places it on top of the paper plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 49, "tasks": ["place food"], "length": 386, "global_instruction": "Place the white plate and the red peach into the brown cardboard box.", "scene_description": "A yellow table holds a brown cardboard box on the left, a white towel-covered object with a white plate carrying a red peach with green leaves on top, and piles of fabric on the right, with a robotic arm at the upper left.", "global_instruction_dense": "The right robotic arm moves down to grasp the white plate holding the red peach, tilts the plate to make the peach roll onto the white towel, places the plate into the brown cardboard box, then grasps the peach from the towel and places it onto the plate inside the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 50, "tasks": ["place food"], "length": 381, "global_instruction": "Place brown food pieces from the transparent plastic bag onto the white plate.", "scene_description": "A light yellow table holds folded clothes on its far left, followed by a transparent plastic bag of brown food, stacked white plates, a black spoon, a light blue water bottle, a red peach-shaped object, and a laptop on its far right, with night-view windows in the background.", "global_instruction_dense": "The right robotic arm moves to the transparent plastic bag of brown food, grasps a portion of the food, lifts and moves it to the white plate and releases the food onto the plate, then returns to the bag to grasp a second portion of food, moves it to the plate and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 51, "tasks": ["place food"], "length": 353, "global_instruction": "Place brown food chunks from the small white plate into the adjacent clear plastic bag.", "scene_description": "A yellow table holds, from left to right: folded light pink, dark blue, and white cloths; a clear plastic bag filled with brown food chunks; a small white plate holding brown food chunks; a black plastic spoon; an empty larger white plate; a light blue water bottle with a gold cap; a red peach-shaped object; and a laptop on the far right. A robotic arm is positioned above the window behind the table.", "global_instruction_dense": "The left robotic arm moves down to the small white plate, grasps a brown food chunk, moves left to release it into the clear plastic bag, then returns to the plate to grasp and place a second brown food chunk into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 52, "tasks": ["place food"], "length": 374, "global_instruction": "Place brown snacks from the clear plastic bag onto the top of the white storage box.", "scene_description": "A yellow table has folded light pink, dark blue, white clothes on the left, a clear plastic bag of brown snacks, a white rectangular storage box with a handle, a light blue water bottle, two white plates, a black spoon, a red peach plush, and a laptop on the far right.", "global_instruction_dense": "The left robotic arm moves to the clear plastic snack bag, grasps brown snacks, moves them over the white storage box and releases them on the box, then repeats the action to place more snacks on the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 53, "tasks": ["place food"], "length": 375, "global_instruction": "Place brown food pieces from the clear plastic bag onto the central white rectangular box.", "scene_description": "A yellow table holds a clear plastic bag of brown food pieces left of center, a white rectangular box at the center, a light blue water bottle, two white plates, a red peach-shaped object, a small black spoon to the right of the box, and folded clothes on the far left of the table.", "global_instruction_dense": "The left robotic arm moves down into the clear plastic bag of brown food pieces, grasps a batch of pieces, moves over the central white rectangular box, releases the pieces onto the box, then returns to the bag to grasp and place a batch of brown food pieces onto the box again.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 54, "tasks": ["place food"], "length": 613, "global_instruction": "Place brown ring-shaped snacks from the top of the white striped box into the adjacent clear plastic bag.", "scene_description": "A light yellow table has a white striped box at its center, with brown ring-shaped snacks stacked on top of the box. To the left of the box is a clear plastic bag filled with the same brown ring snacks. To the right of the box are a light blue water bottle, two white plates, a small red peach, a black spoon, a tea bag, and a laptop. Folded dark blue, white, and pink cloths sit on the far left of the table, with a night view window in the background.", "global_instruction_dense": "The left robotic arm repeatedly moves to the top of the white striped box, grasps a brown ring-shaped snack, lifts it, moves it over the clear plastic bag to the left of the box, releases the snack into the bag, and returns to the box for another snack through the video.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 55, "tasks": ["place food"], "length": 396, "global_instruction": "Place the light brown ring-shaped snacks from the paper plate into the clear bowl.", "scene_description": "On a yellow table, a white striped box supports a white paper plate holding several light brown ring-shaped snacks. A clear bowl of identical light brown ring-shaped snacks sits to the right of the box, and a robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the light brown ring-shaped snacks on the paper plate, grasps a snack, moves it over the clear bowl and releases it, then repeats the process to move another snack from the plate into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 56, "tasks": ["place food"], "length": 635, "global_instruction": "Take brown dry snacks from the transparent plastic bag and place them on the light wooden table.", "scene_description": "A light yellow wooden table holds a white rectangular box topped with a transparent plastic bag of brown dry snacks, a black plastic spoon, and a white paper plate with a pink orange-striped cloth and a red object on the plate. A robotic manipulator is positioned to the left side of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the transparent plastic bag of brown snacks on top of the white box, grasps and tilts the bag to pour out snacks, then repeatedly picks individual snack pieces and sets them on the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 57, "tasks": ["place food"], "length": 358, "global_instruction": "Place brown food pieces from the clear plastic container onto the white round plate.", "scene_description": "A yellow table holds a light gray storage basket, a clear plastic container filled with brown food pieces, a white round plate, a black fork, and a light blue cup on the far right, with a large robotic unit to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic container holding brown food pieces, grasps a piece, moves it over the white plate and releases it, then repeats the process to place a second brown food piece onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 58, "tasks": ["place food"], "length": 962, "global_instruction": "Place all brown ring-shaped snacks from the white paper plate into the clear plastic jar.", "scene_description": "A yellow table holds a white plastic storage box on the left, a clear plastic jar filled with brown ring-shaped snacks in the center, a white paper plate topped with brown ring-shaped snacks to the right of the jar, and a black plastic fork next to the plate.", "global_instruction_dense": "The right robotic gripper repeatedly grasps brown ring-shaped snacks from the white paper plate, lifts them, moves over the adjacent clear plastic jar, releases the snacks into the jar, and returns to the plate until all snacks from the plate are in the jar, then moves to a resting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 59, "tasks": ["place food"], "length": 536, "global_instruction": "Place brown snack pieces from the clear plastic bag onto the white paper plate.", "scene_description": "A light yellow table holds a light gray plastic basket, a clear plastic bag of brown snack pieces, and an empty white paper plate arranged left to right.", "global_instruction_dense": "The left robotic gripper moves to the clear plastic bag of brown snacks, grasps multiple portions of the snacks, transfers each portion over the white paper plate and releases them onto the plate, then repositions the snack bag next to the gray basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 60, "tasks": ["place food"], "length": 1095, "global_instruction": "Place all brown snacks from the white paper plate into the light gray storage basket on the yellow table.", "scene_description": "A yellow table holds a light gray storage basket with folded fabric items, a clear jar filled with brown snacks, a white paper plate with multiple brown curved snack pieces, and a black plastic spoon; two orange chairs sit in the background next to windows with a night city view.", "global_instruction_dense": "The right robotic arm repeatedly reaches toward the brown snacks on the white paper plate, grasps each snack with its gripper, lifts the snack, moves it over the light gray storage basket, releases the snack into the basket, and returns to the plate until all snacks are moved to the basket and the arm resets to rest position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 61, "tasks": ["place food"], "length": 358, "global_instruction": "Place snacks from the transparent plastic bag onto the white paper plate.", "scene_description": "A light yellow L-shaped table holds a white rectangular storage bin, a transparent plastic bag of light brown ring-shaped snacks, and a white paper plate, with a silver robotic arm partially visible on the left side of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the transparent bag of light brown ring snacks, grasps a handful of snacks, moves them to the white paper plate and releases them, then repeats the grasp-and-release action to place more snacks onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 62, "tasks": ["place food"], "length": 881, "global_instruction": "Place all brown dried food pieces from the white plate into the clear plastic jar.", "scene_description": "A light yellow table holds a white rectangular basket with a dark blue cloth inside, a clear plastic jar filled with brown dried food, and a white plate piled with brown dried food pieces arranged along the table; a white robotic manipulator is positioned above the far end of the table at the start.", "global_instruction_dense": "The right robotic gripper moves to the white plate to grasp brown dried food pieces one by one, lifts each piece, moves it over the adjacent clear plastic jar, releases the piece into the jar, repeats until all pieces from the plate are transferred to the jar, then returns to a rest position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 63, "tasks": ["place food"], "length": 323, "global_instruction": "Transfer brown ring snacks from the clear plastic bag onto the white plate.", "scene_description": "A light yellow long table holds a white rectangular storage bin, a clear plastic bag of brown ring-shaped snacks, and an empty white plate. The storage bin is at the back of the table, the snack bag sits in front of the bin, and the plate is positioned to the right of the snack bag. A dual-arm robotic system is located to the left of the table.", "global_instruction_dense": "The right robotic gripper moves to the open clear snack bag, grasps a handful of brown ring snacks, lifts them, moves over the white plate to release the snacks (with some landing on the table next to the plate), then picks up the snacks that fell onto the table and places them onto the plate, before moving back away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 64, "tasks": ["place food"], "length": 971, "global_instruction": "Place all brown ring-shaped snacks from the plate and table into the white storage box.", "scene_description": "A light yellow wooden table holds a white rectangular storage box at its far end, a clear plastic bag of brown ring-shaped snacks next to the box, a white round plate with multiple brown ring-shaped snacks on it, and two extra brown ring-shaped snacks on the table to the right of the plate.", "global_instruction_dense": "The left robotic gripper repeatedly moves to a brown ring-shaped snack on the plate or table, grasps it, lifts it, moves it over the white storage box at the far end of the table, releases the snack into the box, and returns to collect the next snack until all snacks are stored in the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 65, "tasks": ["place food"], "length": 309, "global_instruction": "Place brown ring-shaped snacks from the clear plastic bag onto the white paper plate.", "scene_description": "A light yellow long table holds a white plastic storage basket with dark blue cloth inside, a clear plastic bag of brown ring-shaped snacks, and an empty white paper plate to the right of the bag; orange chairs line the inner side of the table, and robotic arms are at the left edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the clear plastic snack bag, grasps a handful of brown snacks, moves over the white paper plate and releases the snacks (some land on the plate and some fall on the table), returns to the bag to grasp another handful of snacks, moves over the plate to release them, then moves away from the plate area.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 66, "tasks": ["place food"], "length": 416, "global_instruction": "Place brown snacks from the clear plastic bag onto the white paper plate.", "scene_description": "A light yellow wooden table holds a white rectangular plastic bin, a clear plastic bag of brown ring-shaped snacks in front of the bin, and a white paper plate to the right of the bag with one brown snack on it. A robotic manipulator is positioned above the table.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the clear plastic bag of brown snacks, grasps groups of snacks, moves them over to the white paper plate, releases the snacks onto the plate, and returns to the bag to collect more snacks until the plate holds multiple snack pieces.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 67, "tasks": ["place food"], "length": 691, "global_instruction": "Place all light brown ring-shaped snacks from the white paper plate into the white plastic box on the table.", "scene_description": "A light yellow wooden table holds a white rectangular plastic box, a clear plastic bag of light brown ring-shaped snacks, and a white paper plate with many light brown ring-shaped snacks. The white box is furthest back on the table, the snack bag is in front of the box, and the plate is closest to the robot in front of the bag.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the white paper plate, grasps light brown ring-shaped snacks from the plate, moves the snacks over the white plastic box at the back of the table, and releases the snacks into the box until no snacks remain on the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 68, "tasks": ["place food"], "length": 328, "global_instruction": "Place brown ring snacks from the transparent plastic bag onto the light yellow table.", "scene_description": "A light yellow table holds a brown cardboard box, a transparent plastic bag of brown ring snacks, a small brown plush toy, a small pink-yellow item, and a white fabric-containing storage bin, with two orange chairs beside the table.", "global_instruction_dense": "The left robotic arm moves toward the transparent plastic bag, grasps brown ring snacks from inside the bag one at a time, lifts each snack, and places them on the light yellow table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 69, "tasks": ["place food"], "length": 270, "global_instruction": "Remove brown snacks from the transparent plastic bag and place them on the table.", "scene_description": "A light yellow wooden table holds a white rectangular plastic basket on its right, a transparent sealed bag of brown snacks, a small brown plush toy left of the bag, and a brown cardboard box of items behind the bag, with two orange chairs beside the table.", "global_instruction_dense": "The right robotic arm reaches toward the transparent bag of brown snacks on the table, grasps a handful of snacks, lifts them, moves to the empty table space left of the white basket, releases the snacks onto the table, moves back to the bag to grasp a handful of snacks, and releases the second batch of snacks onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 70, "tasks": ["place food"], "length": 176, "global_instruction": "Place the orange ring on the wooden table onto a peg of the wooden pegboard.", "scene_description": "A light wooden table holds an orange ring to the right of a wooden pegboard with metal pegs, and two clear vertical stands to the left of the pegboard. An ABB robotic arm is off the right of the frame, with office furniture in the background.", "global_instruction_dense": "The right robotic arm moves from the right side of the frame toward the orange ring on the table, grasps the ring, lifts and moves it over the wooden pegboard, lowers it to place the ring onto a peg of the pegboard, then releases the ring and moves back away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 71, "tasks": ["place food"], "length": 226, "global_instruction": "Place the orange ring from the wooden table onto a metal peg of the wooden pegboard.", "scene_description": "A wooden table holds an orange circular ring, a wooden pegboard with metal pegs, and two white vertical rod stands. Office furniture including chairs, cabinets, work desks, and a lighting rig are visible in the background, with no robotic arm in view.", "global_instruction_dense": "The right robotic arm descends to the orange ring on the wooden table, grasps the ring with its gripper, lifts it, moves it to the wooden pegboard, lowers the ring onto one of the pegboard's metal pegs, releases the ring, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 72, "tasks": ["place food"], "length": 269, "global_instruction": "Place the orange ring on the wooden table onto a peg of the wooden pegboard.", "scene_description": "A light wooden table holds an orange ring, a wooden pegboard with metal pegs, and two clear stands with white rods. A white ABB robotic arm is positioned to the right of the table, with office chairs, work desks, a small black side table with tools and red cups, and lighting equipment in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange ring on the wooden table, grasps the ring with its gripper, lifts and moves it over the wooden pegboard, lowers the ring onto a peg of the board, then releases the ring and retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 73, "tasks": ["place food"], "length": 208, "global_instruction": "Place the orange ring on the table onto the wooden pegboard", "scene_description": "A wooden table holds an orange ring on its right side, a wooden pegboard with multiple pegs in its center, and two clear vertical stands on its left. Office furniture including chairs, cabinets and work tables are visible in the background.", "global_instruction_dense": "The right robotic arm moves in from the right side toward the orange ring on the wooden table, grasps the ring with its gripper, lifts it, moves it to the wooden pegboard, lowers the ring onto a peg of the pegboard, then releases the ring and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 74, "tasks": ["place food"], "length": 243, "global_instruction": "Grasp the orange ring on the table and place it onto a peg of the wooden pegboard.", "scene_description": "A wooden table holds an orange ring, a wooden pegboard with metal pegs, and two white vertical posts, in an office workspace with chairs, cabinets, and desks in the background, with the robotic arm initially outside the frame.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the orange ring on the wooden table, grasps the ring with its gripper, lifts and moves it over the wooden pegboard, lowers the ring onto a metal peg of the pegboard, then releases the ring and retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 75, "tasks": ["place food"], "length": 177, "global_instruction": "Place the orange circular ring onto a peg of the wooden peg rack on the table.", "scene_description": "A light wooden table sits in an open office space. On the table, a wooden peg rack with vertical metal pegs, an orange circular ring, and two clear plastic stands with thin white posts are arranged. Grey office chairs, a dark grey filing cabinet, work desks with supplies, and a photography light stand are visible in the background.", "global_instruction_dense": "The right robotic arm enters the frame from the right, moves toward the orange ring on the table, grasps the ring, positions it over an empty peg on the wooden peg rack, lowers it onto the peg, then releases the ring and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 76, "tasks": ["place food"], "length": 373, "global_instruction": "Pick up the orange ring on the table and place it onto a peg of the wooden peg base.", "scene_description": "A light wooden table holds an orange circular ring, a wooden peg base with multiple short vertical pegs, and two thin white vertical rods on clear bases, in an open office workspace, with an ABB robotic arm base positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves over the light wooden table, grasps the orange circular ring, lifts and moves it to the wooden peg base, lowers the ring onto a short vertical peg on the base, releases the ring, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 77, "tasks": ["place food"], "length": 209, "global_instruction": "Place the orange ring from the table onto a peg of the wooden peg rack", "scene_description": "A light brown wooden table is in the foreground, with a wooden peg rack with metal pegs, an orange circular ring, and two small upright pegs on its surface. The background is a lab/office space with chairs, desks, and electronic equipment.", "global_instruction_dense": "The right robotic arm enters the frame from the right, moves down to grasp the orange ring on the table, lifts the ring, moves it over the wooden peg rack, lowers it to place the ring onto a peg of the rack, then releases the ring and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 78, "tasks": ["place food"], "length": 404, "global_instruction": "Place the orange ring on the wooden table onto a peg of the wooden peg rack.", "scene_description": "A light wooden table in an office workspace holds a rectangular wooden peg rack with vertical pegs, two small white plastic stands with thin pegs, and one orange ring with a center hole. Office chairs, work desks, a lighting stand, and other office equipment are in the background, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the right, moves down to grasp the orange ring on the wooden table, lifts the ring, moves it over the wooden peg rack, lowers the ring onto one of the rack's pegs, then releases the ring and retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 79, "tasks": ["place food"], "length": 571, "global_instruction": "Place the orange rings on the table onto the wooden peg rack.", "scene_description": "Three orange circular rings, a wooden peg rack with multiple metal pegs, and two clear plastic peg stands are placed on a light brown wooden table, in an open office environment with office chairs, cabinets, and work desks in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange rings on the wooden table, grasps two of the rings sequentially, moves each grasped ring over the wooden peg rack, lowers the ring onto a metal peg of the rack, and releases it to rest on the peg.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 80, "tasks": ["place food"], "length": 214, "global_instruction": "Place the orange circular ring onto a peg of the wooden peg rack on the table", "scene_description": "A light wooden table holds an orange circular ring, a wooden peg rack with upright metal pegs, and two small white peg stands. A robotic arm is positioned off the right edge of the table, with office desks, chairs, and work equipment in the background.", "global_instruction_dense": "The right robotic arm moves from the right side of the frame toward the orange ring on the wooden table, grasps the ring, lifts it, moves it over the wooden peg rack, lowers it to place the ring onto a peg of the rack, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 81, "tasks": ["place food"], "length": 276, "global_instruction": "Place an orange ring from the table onto a peg of the wooden peg rack.", "scene_description": "A light wooden table holds two orange circular rings, a wooden peg rack with multiple metal pegs, and two white upright stands, situated in an open office workspace with office chairs, rolling storage cabinets, and work desks in the background.", "global_instruction_dense": "The right robotic gripper enters from the upper right of the frame, moves toward the lower orange ring on the table, grasps and lifts it, moves it to align over a right-side peg on the wooden rack, releases the ring onto the peg, then retracts upward out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 82, "tasks": ["place food"], "length": 771, "global_instruction": "Place an orange ring onto a peg of the wooden rack on the table", "scene_description": "A light wooden table holds a light brown wooden peg rack with multiple vertical metal pegs, two orange circular rings, and two clear plastic stands with vertical white pegs. The background is an office lab space with office chairs, metal storage cabinets, and work equipment.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers to grasp an orange ring, repeatedly attempts to place it on the wooden peg rack, drops the ring onto the table, grasps the ring again, successfully places it onto a peg of the wooden rack, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 83, "tasks": ["place food"], "length": 207, "global_instruction": "Place an orange ring onto a metal peg of the wooden peg rack on the table", "scene_description": "A light brown wooden table is in an open office workspace. On the table, two orange circular rings are on the right, a wooden peg rack with vertical metal pegs is centered, and two white pegs on small stands are to the left of the rack. A robotic arm is initially off the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange rings on the table, grasps one orange ring, lifts and moves it to the wooden peg rack, lowers it onto one of the rack's metal pegs, releases the ring, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 84, "tasks": ["place food"], "length": 260, "global_instruction": "Place an orange circular ring onto a peg of the wooden pegboard on the table.", "scene_description": "A light brown wooden table in an office workspace holds two white vertical rod stands, two orange circular rings, and a wooden pegboard with multiple metal pegs, with office furniture and lighting equipment in the background.", "global_instruction_dense": "The right robotic gripper enters the workspace from the top right, grasps the left orange ring on the table, lifts it, moves it to the wooden pegboard, lowers it onto one of the pegboard's metal pegs, releases the ring, and moves back out of the workspace.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 85, "tasks": ["place food"], "length": 421, "global_instruction": "Place an orange ring from the table onto a metal peg of the wooden pegboard", "scene_description": "A wooden table in an office holds a wooden pegboard with metal pegs at its center, two orange rings to the right of the pegboard, and two white vertical stands to the left of the pegboard. Office furniture including chairs, cabinets, and desks are visible in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward an orange ring on the right side of the wooden table, grasps the ring, lifts it, moves it to the central wooden pegboard, aligns and lowers the ring onto one of the pegboard's metal pegs, releases the ring, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 86, "tasks": ["place food"], "length": 858, "global_instruction": "Place an orange ring onto a peg of the wooden peg rack on the worktable.", "scene_description": "A light wooden worktable holds a wooden peg rack with vertical pegs, two orange circular rings on its right side, and two tall white plastic stands on its left side. A grey office chair sits left of the table, and a white-grey robotic arm is positioned right of the table in a lab office with large windows and background lab equipment.", "global_instruction_dense": "The right robotic arm moves toward the lower orange ring on the worktable, grasps it, lifts and moves it over the wooden peg rack, aligns it with a peg, lowers the ring onto the peg, then releases the ring and moves away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 87, "tasks": ["place food"], "length": 252, "global_instruction": "Place an orange ring from the table onto the wooden peg rack", "scene_description": "A light wooden table holds a wooden peg rack, two orange ring objects, and two white upright stands, set in an office lab environment with workstations and chairs in the background.", "global_instruction_dense": "The right robotic arm moves down toward the lower orange ring on the table, grasps it, lifts it, moves it over the wooden peg rack, lowers it onto a peg, and releases it to place the ring on the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 88, "tasks": ["place food"], "length": 302, "global_instruction": "Pick up an orange circular ring from the table and place it onto a peg of the wooden peg rack.", "scene_description": "A wooden table in an office lab workspace holds two orange circular rings on its right side, a wooden peg rack with multiple metal pegs at its center, and two white vertical stands to the left of the peg rack. Office chairs, tool cabinets, and computer workstations are visible in the background, with the robotic arm initially out of the top edge of the frame.", "global_instruction_dense": "The right robotic arm moves down from above the frame toward an orange ring on the right side of the table, grasps the ring, lifts it, moves it over the wooden peg rack at the center of the table, lowers the ring onto one of the rack's pegs, then releases the ring and lifts away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 89, "tasks": ["place food"], "length": 387, "global_instruction": "Place an orange ring from the table onto a metal peg of the wooden peg rack", "scene_description": "A light brown wooden worktable holds two small orange circular rings, a light brown wooden peg rack with vertical silver metal pegs, and two white vertical stands with clear flat bases. A white and black ABB robotic arm is positioned to the right of the table, with a grey office chair, rolling tool cabinet, office desks, and large windows in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the orange rings on the wooden table, grasps one orange ring, lifts it, moves it over the wooden peg rack, lowers the ring onto a vertical metal peg of the rack, and releases the ring to rest on the peg.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 90, "tasks": ["place food"], "length": 280, "global_instruction": "Place the orange ring from the table onto the wooden peg rack.", "scene_description": "A light brown wooden table holds a wooden peg rack with multiple pegs, two white upright pegs fixed to the table, and an orange ring on the right side of the table; a robotic arm is positioned at the top right above the table, with an office laboratory workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange ring on the wooden table, grasps the ring with its gripper, lifts and moves it over the wooden peg rack, then releases the ring to set it on a peg of the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 91, "tasks": ["place food"], "length": 139, "global_instruction": "Place an orange ring from the table onto a peg of the wooden pegboard.", "scene_description": "A light wooden table holds two orange ring-shaped discs, a wooden pegboard with multiple metal pegs, and two white upright peg stands. A robotic arm is positioned to the right of the table in an open office workspace with office furniture in the background.", "global_instruction_dense": "The right robotic arm moves toward the upper orange ring on the wooden table, grasps it with its gripper, lifts it, moves it over the wooden pegboard, lowers it onto one of the pegboard's pegs, and releases the ring to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 92, "tasks": ["place food"], "length": 734, "global_instruction": "Place the orange rings on the wooden table onto the pegs of the wooden pegboard.", "scene_description": "A wooden office table holds two orange rings, a wooden pegboard with multiple vertical pegs, and two thin white vertical rods. A robotic arm is positioned at the right edge of the table, with office workspaces and people in the background.", "global_instruction_dense": "The right robotic arm grasps an orange ring from the wooden table, moves it to the wooden pegboard, aligns it with a peg, lowers and releases the ring onto the peg, then moves toward another orange ring on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 93, "tasks": ["place food"], "length": 425, "global_instruction": "Place an orange ring onto a peg of the wooden peg rack", "scene_description": "A light wooden table holds two orange circular rings, a rectangular wooden peg rack with multiple small vertical pegs, and two tall clear vertical pegs. The orange rings are positioned to the right of the peg rack, the clear pegs are left of the rack, a grey office chair sits left of the table, and a robotic arm is positioned above the upper right edge of the table in an office lab environment.", "global_instruction_dense": "The right robotic arm descends toward the upper orange ring on the right side of the wooden table, grasps the ring, lifts it, moves it left to align over a peg on the wooden peg rack, lowers it, and releases it to rest on the peg.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 94, "tasks": ["place food"], "length": 198, "global_instruction": "Place an orange ring from the table onto a peg of the wooden peg rack", "scene_description": "A wooden table holds a wooden peg rack with metal pegs, two orange circular rings, and two white standalone pegs. A robotic arm is at the upper right of the frame, in an open office workspace with chairs, storage cabinets, and workstations in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the table, grasps an orange ring, lifts it, moves it to the wooden peg rack, lowers the ring onto a metal peg of the rack, and releases the gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 95, "tasks": ["place food"], "length": 277, "global_instruction": "Pick up an orange ring from the table and place it onto the wooden peg rack.", "scene_description": "Two orange ring-shaped objects, a wooden peg rack with metal pegs, and two clear vertical stands are placed on a wooden table in a lab office. A robotic arm is at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves from its initial upper position toward the wooden table, grasps an orange ring on the table, lifts it, moves it to the wooden peg rack, lowers it, and releases it onto one of the pegs of the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 96, "tasks": ["place food"], "length": 320, "global_instruction": "Pick up an orange ring from the wooden table and place it onto the wooden peg rack.", "scene_description": "A wooden table in the foreground holds a light brown wooden peg rack with small vertical pegs, two orange circular rings, and two tall white upright pegs, with an open office workspace in the background.", "global_instruction_dense": "The right robotic arm moves into position above the table, lowers to grasp an orange ring, lifts the ring, moves it to the wooden peg rack, lowers it onto a peg of the rack, and releases the ring.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 97, "tasks": ["place food"], "length": 444, "global_instruction": "Place an orange ring onto a peg of the wooden peg rack on the table", "scene_description": "A light brown wooden table holds two orange ring-shaped pieces, a beige wooden peg rack with multiple vertical pegs, and two white single-peg stands. A FRANKA EMIKA robotic arm is positioned at the top right of the frame, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves downward from the top of the frame toward the table, adjusts position above an orange ring, grasps the ring, lifts it, moves it over the wooden peg rack, lowers the ring onto a peg of the rack, then releases the ring and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 98, "tasks": ["place food"], "length": 284, "global_instruction": "Pick up an orange ring from the table and place it onto a peg of the wooden pegboard", "scene_description": "A light wooden table holds two orange rings, two white vertical post stands, and a light brown wooden pegboard with multiple pegs. A white ABB robotic arm is positioned to the right of the table, in an office environment with desks, chairs, and people in the background.", "global_instruction_dense": "The right robotic arm moves from the upper right area down toward the orange ring on the wooden table, grasps the ring with its gripper, lifts it, moves it over the wooden pegboard, and releases the orange ring onto one of the pegs of the board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 99, "tasks": ["place food"], "length": 322, "global_instruction": "Place an orange ring from the table onto the wooden peg rack", "scene_description": "A light brown wooden table holds two orange circular rings, two white vertical posts, and a wooden peg rack with multiple upright metal pegs; a white robotic arm is positioned to the upper right of the table.", "global_instruction_dense": "The right robotic arm moves down toward an orange ring on the wooden table, grasps the ring, lifts it, moves it leftward over the wooden peg rack, lowers it onto an empty peg, and releases the ring onto the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 100, "tasks": ["place food"], "length": 240, "global_instruction": "Place an orange ring from the table onto a peg of the wooden pegboard.", "scene_description": "A light brown wooden table holds two orange holed rings on its right half, a rectangular wooden peg base with upright metal pegs at its center, and two white thin upright posts on its left half, situated in an open office with chairs, cabinets, work desks, and large glass windows in the background, with a robotic arm partially visible at the top right edge.", "global_instruction_dense": "The right robotic arm moves down from the top right toward the orange rings on the table, grasps one orange ring with its gripper, lifts the ring, moves it over the central wooden pegboard, lowers the ring to fit it onto one of the pegboard's metal pegs, releases the ring, and lifts its gripper away from the pegboard.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 101, "tasks": ["place food"], "length": 124, "global_instruction": "Place the small orange object into the small silver metal cup on the table.", "scene_description": "A small silver metal cup and a small orange object next to it are placed on a light brown wooden table, with a left robotic arm positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object beside the silver cup, grasps the object, lifts it, moves it over the cup, and releases it to drop the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 102, "tasks": ["place food"], "length": 111, "global_instruction": "Pick up the small orange object and place it into the silver metal cup.", "scene_description": "A small orange object and an open silver metal cylindrical cup are placed on a light brown wooden table, with the orange object positioned behind the cup to its right. A white robotic arm is positioned above the background to the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the wooden table, grasps it with its gripper, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 103, "tasks": ["place food"], "length": 130, "global_instruction": "Place the small orange object into the silver metal cup.", "scene_description": "A light wooden table holds a small silver metal cup and a small orange object, with the orange object to the right of the cup. A white robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange object on the wooden table, grasps it, lifts it, moves it over the silver metal cup, releases the object into the cup, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 104, "tasks": ["place food"], "length": 131, "global_instruction": "Place the small orange cone on the wooden table into the silver metallic cup.", "scene_description": "A light wooden table holds a silver metallic cylindrical cup and a small orange cone-shaped object, with the cup positioned to the left of the orange object. A left robotic arm is above the far end of the table, and a stationary right robotic arm is at the right edge of the scene.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange cone on the wooden table, grasps the cone with its gripper, lifts and moves the cone over the silver cup, then releases the cone to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 105, "tasks": ["place food"], "length": 114, "global_instruction": "Place the small orange object into the silver metal cup on the table", "scene_description": "A light wooden table has a small silver metal cup and a small orange object. The silver cup is left of the orange object, a robotic arm is at the right side of the table.", "global_instruction_dense": "The right robotic arm extends toward the small orange object on the table, grasps it, lifts it, moves it over the silver metal cup, lowers it, and releases it into the cup before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 106, "tasks": ["place food"], "length": 109, "global_instruction": "Place the small orange object into the silver metal cup.", "scene_description": "A light brown wooden table holds a small silver cylindrical metal cup and a small orange object near its center, with a left robotic arm positioned above the right side of the table.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the table, grasps it, lifts it upward, positions it over the silver metal cup, lowers it into the cup, then releases the object and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 107, "tasks": ["place food"], "length": 108, "global_instruction": "Place the small orange objects into the silver metal cup on the wooden table", "scene_description": "A light brown wooden table holds a small silver cylindrical metal cup, with two small orange objects to the right of the cup. A stationary right robotic arm is at the right edge of the frame, while a left robotic arm is positioned above the table in the background initially.", "global_instruction_dense": "The left robotic arm moves down toward the small orange objects next to the silver cup on the wooden table, grasps one orange object, lifts it over the cup, releases it into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 108, "tasks": ["place food"], "length": 127, "global_instruction": "Place the small orange object into the silver metallic cup on the table", "scene_description": "A small silver metallic cup and two small orange objects are placed on a light brown wooden table, the left robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm moves toward the small orange object next to the silver cup, grasps the object, lifts it, moves it over the cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 109, "tasks": ["place food"], "length": 109, "global_instruction": "Place the small orange object into the silver metal cup on the table.", "scene_description": "A light brown wooden table holds a silver cylindrical metal cup and a small orange object next to the cup, with a white robotic arm positioned to the right of the table and a colorful striped wall on the left.", "global_instruction_dense": "The right robotic arm moves toward the small orange object on the wooden table, grasps it with its gripper, lifts it, moves it over the silver metal cup, releases it into the cup, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 110, "tasks": ["place food"], "length": 109, "global_instruction": "Pick up the small orange object and place it into the silver metal cup.", "scene_description": "A light brown wooden table has a silver metal cup and a small orange object placed on its surface, with a left robotic arm positioned above the rear of the table, and a right robotic arm at the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object on the wooden table, grasps the object, lifts it, moves it over the silver metal cup, then lowers and releases the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 111, "tasks": ["place food"], "length": 112, "global_instruction": "Place the orange object into the silver metal cup on the table.", "scene_description": "A small silver metal cup and two small orange objects are placed on a light brown wooden tabletop, with the left robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves toward the small orange object on the wooden table, grasps it, lifts it, moves it over the silver metal cup, and releases the orange into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 112, "tasks": ["place food"], "length": 121, "global_instruction": "Pick up the small orange object on the table and place it into the silver metal cup", "scene_description": "A light brown wooden table holds a small silver metal cup and a small orange object, with the cup to the left of the orange object. A right robotic arm is mounted at the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object on the table, grasps it, lifts it, moves it over the silver metal cup, releases the object to drop it into the cup, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 113, "tasks": ["place food"], "length": 104, "global_instruction": "Pick up the small orange object on the table and place it into the silver metal cup.", "scene_description": "A light brown wooden table holds a small silver metal cup and a small orange object, with the orange object to the right of the cup. A white robotic arm is positioned to the right of the table, and a multicolored vertical striped wall is on the left.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange object on the table, grasps it, lifts it, moves it over the silver metal cup, releases it into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 114, "tasks": ["place food"], "length": 126, "global_instruction": "Place the small orange object on the table into the metallic silver cup", "scene_description": "A light wooden table holds a metallic silver cylindrical cup and a small orange object, with a colorful vertical striped wall behind the table and a robotic arm base on the right side of the table.", "global_instruction_dense": "The left robotic arm moves toward the small orange object on the wooden table, grasps it, lifts it, moves it over the metallic silver cup, releases it to drop into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 115, "tasks": ["place food"], "length": 113, "global_instruction": "Pick up a small orange object on the table and place it into the silver metal cup.", "scene_description": "On a light brown wooden table, a small silver cylindrical metal cup sits next to two small orange objects, and the right robotic gripper is positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the small orange object on the table, grasps it with its gripper, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 116, "tasks": ["place food"], "length": 98, "global_instruction": "Place the small orange object into the silver metal cup on the table.", "scene_description": "A light brown wooden table has a small silver metal cup and a small orange object placed next to each other, with a left robotic arm positioned above the far end of the table and a right robotic arm at the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object on the wooden table, grasps the object with its gripper, lifts it, moves it over the silver metal cup, releases the object to drop it into the cup, then lifts upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 117, "tasks": ["place food"], "length": 102, "global_instruction": "Place the small orange object on the wooden table into the silver metal cup.", "scene_description": "A light brown wooden table holds a silver cylindrical metal cup and a small orange object next to the cup, with a left robotic arm positioned above the table, a colorful vertical striped wall on the left, and the right robotic arm base on the right side of the table.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the wooden table, grasps it, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 118, "tasks": ["place food"], "length": 116, "global_instruction": "Place the small orange object on the table into the silver metal cup", "scene_description": "A small silver metal cup and a small orange object are placed on a light wooden table. A white robotic arm is positioned to the right of the table, and a colorful striped tiled wall is to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the small orange object on the wooden table, grasps it with the gripper, lifts it, moves it over the opening of the silver metal cup, and releases it to drop the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 119, "tasks": ["place food"], "length": 117, "global_instruction": "Place the small orange object into the silver metal cup on the table.", "scene_description": "A light brown wooden table has a small silver metal cup and two small orange objects next to the cup, with a white robotic arm base on the table's right side.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object next to the silver cup on the wooden table, grasps the object with its gripper, lifts it, moves it over the cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 120, "tasks": ["place food"], "length": 106, "global_instruction": "Place the small orange object on the wooden table into the silver metal cup.", "scene_description": "A light brown wooden table holds a small silver metal cup and a small orange object beside the cup, with two white robotic arms near the table's right edge.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange object on the wooden table, grasps it, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 121, "tasks": ["place food"], "length": 102, "global_instruction": "Pick up the orange object and place it into the silver metal cup", "scene_description": "A small silver metal cup and an orange object are placed on a light brown wooden table, a multi-colored striped wall is to the left of the table, and a left robotic arm is positioned at the upper right of the initial scene.", "global_instruction_dense": "The left robotic arm moves down toward the orange object next to the silver cup on the table, grasps the orange object, lifts it, moves it over the silver cup, then releases it to drop the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 122, "tasks": ["place food"], "length": 91, "global_instruction": "Place the small orange object on the table into the silver metal cup.", "scene_description": "A light wooden table sits in front of a wall with vertical multicolored stripes. A small silver metal cup and a small orange object are placed on the table, the orange object is next to the right side of the cup. The left robotic arm is retracted above the table initially, with the right robotic arm base positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the wooden table, grasps it with its gripper, lifts it up, moves it over the silver metal cup, and releases the object to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 123, "tasks": ["place food"], "length": 84, "global_instruction": "Place the small orange object into the silver metal cup on the table.", "scene_description": "A light brown wooden table holds a silver cylindrical metal cup and a small orange object, with two robotic arms to the right of the table.", "global_instruction_dense": "The left robotic arm moves downward to the small orange object, grasps it, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 124, "tasks": ["place food"], "length": 136, "global_instruction": "Place the small orange object into the silver metal cup on the table", "scene_description": "A silver cylindrical metal cup and a small orange object are placed on a light brown wooden table. The orange object is to the right of the cup, and a robotic arm is positioned above the far end of the table, with a colorful striped wall on the left of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange object on the table, grasps it with its gripper, lifts the object, moves it over the silver metal cup, and releases the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 125, "tasks": ["place food"], "length": 104, "global_instruction": "Place the small orange object on the table into the silver metal cup.", "scene_description": "A light brown wooden table holds a small silver metal cup and a small orange object, with a colorful vertical striped tile wall to the left of the table, and a robotic arm base to the right of the table.", "global_instruction_dense": "The left robotic gripper moves down toward the orange object on the wooden table, grasps the orange object, lifts it, moves it above the silver metal cup, then releases it to drop into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 126, "tasks": ["place food"], "length": 100, "global_instruction": "Pick up the orange small object and place it into the silver metal cup.", "scene_description": "A small silver metal cup and an orange small object are placed on a light brown wooden table. The left robotic arm is positioned above the table, the right robotic arm rests at the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object on the table, grasps it with its gripper, lifts it, moves it over the silver cup, and releases the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 127, "tasks": ["place food"], "length": 99, "global_instruction": "Place the small orange objects into the silver metal cup on the table.", "scene_description": "A light wooden table holds a small silver metal cup and two small orange objects to the right of the cup, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange objects on the wooden table, grasps them, lifts them over the silver metal cup, releases them into the cup, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 128, "tasks": ["place food"], "length": 105, "global_instruction": "Place a small orange object into the silver metallic cup on the wooden table", "scene_description": "A light brown wooden table has a small silver metallic cup and two small orange objects next to the cup on its left section, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves down to the orange object on the table, grasps it, lifts it, moves it over the silver cup, and drops the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 129, "tasks": ["place food"], "length": 95, "global_instruction": "Place the small orange object on the table into the silver metal cup.", "scene_description": "A light brown wooden table holds a silver metal cup, a small orange object, and a tiny black object. A colorful vertical striped wall is to the left of the table, and robotic arms are positioned to the right.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object on the table, grasps it, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 130, "tasks": ["place food"], "length": 102, "global_instruction": "Place the tiny orange object on the table into the stainless steel cup.", "scene_description": "A small stainless steel cup, a tiny orange object, and a small dark object are placed on a light wooden table. A colorful striped vertical panel is on the left of the table, with two robotic arms positioned around the table.", "global_instruction_dense": "The left robotic arm moves downward toward the tiny orange object on the wooden table, grasps the object with its gripper, lifts it, moves it over the stainless steel cup, and releases the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 131, "tasks": ["place food"], "length": 103, "global_instruction": "Place the orange object on the wooden table into the small silver metal cup", "scene_description": "A wooden table holds a small silver metal cup, an orange small object, and a small black cylinder. A multicolored striped wall is to the left of the table, and robotic arms are positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange object on the wooden table, grasps it, lifts it, moves it over the small silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 132, "tasks": ["place food"], "length": 89, "global_instruction": "Pick up the orange object on the table and place it into the stainless steel cup.", "scene_description": "A light wooden table holds a small stainless steel cup, an orange small object, and a tiny black object. Two white robotic arms are positioned to the right of the table, and a wall with vertical colorful stripes is on the left.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object on the table, grasps it, lifts it, moves it over the stainless steel cup, releases it into the cup, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 133, "tasks": ["place food"], "length": 102, "global_instruction": "Place the small orange object into the silver metal cup on the table.", "scene_description": "A small silver metal cup, a small orange object, and a tiny black object are placed on a light brown wooden table. The left robotic arm is positioned above the table at the start.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the wooden table, grasps it with its gripper, lifts it up to position over the silver metal cup, then releases the object to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 134, "tasks": ["place food"], "length": 94, "global_instruction": "Place the small orange object into the small silver metal pot on the table.", "scene_description": "A light brown wooden table has a small silver metal pot and two small orange objects. A multicolored striped wall is on the left of the table, and a robotic arm is positioned at the right of the table.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the table, grasps it, lifts it, moves it over the silver pot, then releases the object into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 135, "tasks": ["place food"], "length": 89, "global_instruction": "Place the orange object on the wooden table into the small silver metal pot.", "scene_description": "A small silver dual-handle metal pot, an orange small object, and a tiny black object are placed on a light wooden table. A left white robotic arm is positioned above the table initially.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object beside the silver pot, grasps the object with its gripper, lifts it, moves it over the pot, then releases the object to drop it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 136, "tasks": ["place food"], "length": 91, "global_instruction": "Pick up the small orange object on the table and place it into the silver metal cup", "scene_description": "A small silver metal cup and a small orange object are placed on a light wooden table. The orange object is to the right of the cup, a multicolored vertical striped wall is left of the table, and robotic arms are positioned right of the table.", "global_instruction_dense": "The left robotic arm moves toward the small orange object on the table, grasps it with its gripper, lifts it, moves it over the silver metal cup, and releases it to drop the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 137, "tasks": ["place food"], "length": 103, "global_instruction": "Pick up the small orange object on the table and place it into the silver metal cup.", "scene_description": "A light brown wooden table holds a small silver stainless steel cup, with a small orange object placed behind the cup. Two robotic arms are positioned to the right of the table, and a colorful vertical striped tiled wall is behind the table.", "global_instruction_dense": "The left robotic arm moves down toward the small orange object on the table, grasps the object with its gripper, lifts it, moves it over the silver cup, then releases it to drop the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 138, "tasks": ["place food"], "length": 124, "global_instruction": "Pick up the orange object on the table and place it into the silver metal cup", "scene_description": "A small silver metal cup and an orange small object are placed on a light brown wooden table. The cup is to the left of the orange object, a colorful vertical striped wall is on the left of the table, and robotic equipment is on the right of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object on the table, grasps it with its gripper, lifts it, moves it over the silver metal cup, releases the object to drop it into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 139, "tasks": ["place food"], "length": 100, "global_instruction": "Place the small orange object into the silver metallic cup on the table.", "scene_description": "A light brown wooden table holds a small silver metallic cup and a small orange object. A robotic arm is positioned above the table near the top of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object on the table, grasps it, lifts it and moves it over the silver cup, then releases the object to drop it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 140, "tasks": ["place food"], "length": 115, "global_instruction": "Place the small orange object on the table into the silver metal cup", "scene_description": "A small silver metal cup and a small orange object are placed on a light brown wooden table. The orange object is to the right of the cup, a left robotic arm is positioned above the table, and a right robotic arm is stationary at the right side of the table, with a colorful vertical striped wall behind the table.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object on the wooden table, grasps the object, lifts it, moves it over the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 141, "tasks": ["place food"], "length": 107, "global_instruction": "Place the small orange objects on the table into the metallic silver cup", "scene_description": "A light brown wooden table holds a small metallic silver cup and two small stacked orange objects. A left robotic arm is positioned above the rear of the table, and a white right robotic arm is on the right side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange objects on the wooden table, grasps them, lifts them up, moves over the metallic silver cup, and releases the objects into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 142, "tasks": ["place food"], "length": 102, "global_instruction": "Place the orange object on the wooden table into the small silver metal cup", "scene_description": "A small silver metal cup and an orange object are placed on a light wooden table. The left robotic arm is positioned above the far end of the table, and the right robotic arm is at the right side of the table.", "global_instruction_dense": "The left robotic arm moves down toward the orange object on the wooden table, grasps the orange object, lifts it, moves it over the small silver metal cup, and releases the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 143, "tasks": ["place food"], "length": 90, "global_instruction": "Pick up the orange object on the table and place it into the silver metal cup.", "scene_description": "A light wooden table holds a small silver metal cup and an orange small object, with the orange object located to the right of the cup. Colorful vertical striped panels line the left wall, and two white robotic arms are positioned at the right side of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange object on the wooden table, grasps the object, lifts it, moves it above the silver metal cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 144, "tasks": ["place food"], "length": 104, "global_instruction": "Place the small orange object on the wooden table into the metallic silver cup.", "scene_description": "A metallic silver cup and a small orange object rest on a light brown wooden table. The orange object sits to the right of the cup, a left robotic gripper is positioned above the table, a right robotic arm is at the table's right side, and a vertical multicolored striped wall is on the left.", "global_instruction_dense": "The left robotic arm descends toward the small orange object on the wooden table, grasps the object with its gripper, lifts and positions it over the metallic silver cup, releases the object to drop it into the cup, then lifts upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 145, "tasks": ["place food"], "length": 107, "global_instruction": "Place the orange object on the wooden table into the small silver metal cup.", "scene_description": "A light brown wooden table holds a small silver metal cup and an orange object, with a colorful vertical striped wall to the left of the table and robotic arms positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object on the table, grasps the orange object, lifts it, moves it over the silver metal cup, releases the object to drop it into the cup, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 146, "tasks": ["place food"], "length": 101, "global_instruction": "Place the small orange object into the silver metal cup on the table.", "scene_description": "A light brown wooden table sits in front of a multicolored vertical striped wall. A small silver metal cup is on the table, with a small orange object beside the cup. A left robotic arm is above the table, and a right robotic arm is at the table's right.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange object on the wooden table, grasps it with its gripper, lifts it, moves it over the silver metal cup, and releases it to drop the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 147, "tasks": ["place food"], "length": 95, "global_instruction": "Pick up the orange object from the blue assembly on the black table and place it on the back wooden desk.", "scene_description": "In an office lab, a black foreground table holds a blue cup on a blue-and-orange block assembly, a wooden desk behind it holds small items including a small light blue cup, a multi-tier 3D filament spool stand leans against a whiteboard with handwritten notes, a framed portrait hangs next to the spool stand, and a right robotic gripper is positioned above the black table.", "global_instruction_dense": "The right robotic arm lowers toward the orange object on the blue block assembly on the black table, grasps the object with its gripper, lifts it, moves it to the wooden desk behind the table, releases the object onto the desk, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 148, "tasks": ["place food"], "length": 88, "global_instruction": "Place the orange object on the wooden desk into the blue cup on the black cabinet.", "scene_description": "A wooden work desk with tools, 3D printing spools and papers sits against a marked whiteboard. A black cabinet with a blue cup on top is in front of the desk, a framed photo hangs below the whiteboard, a black hard case and white appliance are on the floor left of the desk, and a robotic arm is partially visible at the top right.", "global_instruction_dense": "The right robotic arm moves downward toward the orange object on the wooden desk, grasps it, lifts it, moves it over the blue cup on the black cabinet, lowers it, and releases it into the blue cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 149, "tasks": ["place food"], "length": 209, "global_instruction": "Pick up the small orange object from the wooden desk and place it onto the blue organizer on the black table.", "scene_description": "A black table with a blue and orange plastic organizer and a light blue cup sits in the foreground. Behind it, a wooden office desk holds 3D printing filament spools, small tools, and miscellaneous items, adjacent to a whiteboard with handwritten notes, a framed picture, a black hard case, and a white air purifier. Office chairs and computer monitors are visible in the background, with no robotic arm present.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves down to the wooden desk to grasp the small orange object, lifts it, moves it over the blue and orange organizer on the black table, releases the object onto the organizer, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 150, "tasks": ["place food"], "length": 103, "global_instruction": "Retrieve the orange peg from the open tray, close the tray, and place the peg into the blue cup.", "scene_description": "An open blue and orange tray with an orange peg, and a blue cup are placed on a black table. A wooden work desk with assorted small items, stacked 3D filament spools, and a framed picture sits against a whiteboard wall behind the table, with equipment cases on the floor to the desk's left, and a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the orange peg in the open blue tray, grasps and lifts the peg to press the tray closed, moves the peg toward the blue cup on the table, and inserts the peg into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 151, "tasks": ["place food"], "length": 97, "global_instruction": "Place the orange object from the wooden desk into the large blue cup on the black side table.", "scene_description": "A wooden work desk holding stacked 3D filament spools, small blue cups, tools, and miscellaneous containers is positioned against a whiteboard with handwritten notes. A black side table next to the desk holds a large blue cup and a blue-and-orange layered tray, with black equipment cases and white machinery on the floor left of the desk, a person sits at the far end of the desk, and a robotic arm is partially visible at the top right edge.", "global_instruction_dense": "The right robotic arm extends from the top right of the frame, moves down to the wooden desk to grasp the orange object, lifts it, moves it over the large blue cup on the adjacent black side table, and releases the object into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 152, "tasks": ["place food"], "length": 141, "global_instruction": "Pick up the peach from the top shelf and place it on the upper surface of the white shelf unit.", "scene_description": "A light orange peach rests on the top open shelf of a white freestanding shelf unit, a robotic arm is positioned above the shelf, with a whiteboard, framed photo, 3D filament spools, and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the light orange peach on the top shelf, grasps it with its gripper, lifts it upward above the shelf unit, moves it over the top of the unit, and releases it to place it on the upper surface of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 153, "tasks": ["place food"], "length": 116, "global_instruction": "Pick the peach from the upper open shelf of the white shelf unit and place it on the flat top surface of the shelf unit.", "scene_description": "A pink-orange peach rests on the upper open shelf of a white three-tier open shelf unit. To the left of the shelf, stacked 3D printer filament spools sit on a small table, a framed grayscale portrait hangs on a grey wall under a marked whiteboard, and a black hard case and white air purifier are on the floor. A robotic arm is positioned at the top right, away from the shelf.", "global_instruction_dense": "The right robotic arm moves toward the peach on the upper open shelf of the white shelf unit, grasps the peach, lifts it upward, moves it over the flat top surface of the shelf unit, and releases the peach to place it on that top surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 154, "tasks": ["place food"], "length": 119, "global_instruction": "Move the orange apple from the top inner shelf of the white shelf to the top surface of the white shelf.", "scene_description": "An open white shelf is in the center of an office area, an orange apple rests on the top inner shelf of the white shelf, a robotic arm is positioned to the right of the shelf, a whiteboard with notes, framed portrait, and stacked 3D printer spools are against the wall behind the shelf.", "global_instruction_dense": "The right robotic arm moves toward the orange apple on the top inner shelf of the white shelf, grasps the apple with its gripper, lifts it upward above the shelf, positions it over the top surface of the shelf, then releases the apple to place it on the shelf top.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 155, "tasks": ["place food"], "length": 120, "global_instruction": "Pick the orange peach from the inner top shelf of the white shelving unit and place it on the upper outer surface of the shelving unit.", "scene_description": "In an office workspace, a white open shelving unit holds an orange peach with a green stem on its inner top shelf; a robotic arm is positioned at the upper right, with a whiteboard, framed photo, filament spools, office desks, and equipment cases in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange peach on the inner top shelf of the white shelving unit, grasps the peach with its gripper, lifts it upward above the shelving unit, moves it over the unit's top surface, and releases it to rest there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 156, "tasks": ["place food"], "length": 105, "global_instruction": "Pick the orange peach from the inner top shelf of the white shelving unit and place it on the unit's top surface.", "scene_description": "An orange peach is placed on the top inner shelf of a white open-front shelving unit, a robotic arm sits to the right of the shelf, with a whiteboard, 3D filament spools and office equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange peach on the inner top shelf of the white shelving unit, grasps the peach with its gripper, lifts it upward out of the inner shelf, then places it on the flat top surface of the shelving unit.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 157, "tasks": ["place food"], "length": 104, "global_instruction": "Pick up the peach from the upper shelf and place it on the top surface of the shelving unit.", "scene_description": "A pink peach rests on the upper shelf of a white open shelving unit in an office workspace, with a robotic arm positioned to the right of the unit, office equipment, desks, chairs, and a marked whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves toward the pink peach on the upper shelf of the white shelving unit, grasps it with its gripper, lifts it upward, moves it over the top edge of the unit, and releases it to rest on the unit's top surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 158, "tasks": ["place food"], "length": 93, "global_instruction": "Pick the pink peach from the inner top shelf and place it on the top surface of the white shelf unit.", "scene_description": "A pink peach rests on the inner top shelf of a white open shelf unit. A robotic arm is positioned to the right of the shelf, with a marked whiteboard, framed portrait, filament spools, and office equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the pink peach on the inner top shelf of the white unit, grasps the peach with its gripper, lifts it upward above the unit, and releases it to place it on the top surface of the shelf unit.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 159, "tasks": ["place food"], "length": 203, "global_instruction": "Grasp the pink peach from inside the shelf and place it on top of the shelf.", "scene_description": "A white open-sided shelving unit stands in an office workspace, with a pink peach in its upper middle compartment; a robotic arm is positioned to the right of the shelf, and the background includes a marked whiteboard, framed portrait, filament spool stand, office equipment, and desk workstations.", "global_instruction_dense": "The right robotic arm moves toward the white shelf, reaches into its upper compartment to grasp the pink peach, lifts the peach out of the compartment, raises it to the top of the shelf, lowers the peach onto the shelf's top surface, then releases the peach and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 160, "tasks": ["place food"], "length": 159, "global_instruction": "Pick the peach from the upper open shelf and place it on the top surface of the white shelf unit.", "scene_description": "A light orange peach with a green stem rests on the upper open shelf of a white vertical open shelf unit. The workspace includes a whiteboard with markings, a framed portrait, stacked 3D printer filament spools, black hard cases, a white air purifier, office desks, chairs, and a right-side robotic arm positioned away from the shelf initially.", "global_instruction_dense": "The right robotic arm moves toward the light orange peach on the upper open shelf of the white unit, grasps it with its gripper, lifts it upward above the unit, lowers it onto the top surface of the shelf unit, and releases the peach before pulling away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 161, "tasks": ["place food"], "length": 119, "global_instruction": "Move the orange peach from the upper open shelf of the white unit to the top flat surface of the unit.", "scene_description": "A white open shelf unit sits in an office workspace, an orange peach with a green leaf rests on its uppermost open shelf. A robotic arm is positioned to the right of the shelf, with a whiteboard, framed photo, filament spools, equipment cases and office furniture in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange peach on the uppermost open shelf of the white shelf unit, grasps the peach, lifts it upward above the unit, positions it over the unit's top flat surface, and releases the peach to place it on the top surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 162, "tasks": ["place food"], "length": 100, "global_instruction": "Pick the light orange peach from the upper shelf of the white shelf unit and place it on the top surface of the same shelf unit.", "scene_description": "In an office lab workspace, a light orange peach sits on the upper open shelf of a white freestanding shelf unit. A white robotic arm is positioned to the right of the shelf. The background includes a whiteboard with handwritten notes, a framed photo, 3D filament spools, black equipment cases, a white air purifier, and rear office desks with chairs.", "global_instruction_dense": "The right robotic arm moves toward the light orange peach resting on the upper shelf of the white shelf unit, grasps the peach with its gripper, lifts the peach upward, moves it over the top surface of the shelf unit, lowers it, and releases the peach to place it on the shelf top.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 163, "tasks": ["place food"], "length": 111, "global_instruction": "Pick the peach from the top interior of the white shelf and place it on the top exterior surface of the shelf.", "scene_description": "An office workspace has a white open-sided shelf unit. An orange peach with a green stem sits on the top interior shelf of the unit. A 3D filament spool rack, framed portrait, black equipment case, and white air purifier are placed against a whiteboard-marked wall next to the shelf, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the peach inside the top layer of the white shelf, grasps the peach with its gripper, lifts it upward out of the shelf interior, moves it over the top exterior surface of the shelf, and releases the peach onto the top of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 164, "tasks": ["place food"], "length": 132, "global_instruction": "Pick the orange peach from the upper shelf and place it on the top of the white shelf unit.", "scene_description": "An open white multi-tier shelf sits in an office workspace; an orange peach with a green leaf rests on the upper open shelf, a robotic gripper is positioned above the shelf, with a whiteboard, framed photo, 3D filament spools, and office desks in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange peach on the upper shelf, grasps the peach, lifts it upward to the top of the white shelf unit, places the peach on the shelf's top surface, then releases the peach and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 165, "tasks": ["place food"], "length": 101, "global_instruction": "Pick the peach from the top inner shelf of the white shelving unit and place it on the unit's top surface.", "scene_description": "A white open vertical shelving unit sits in an office lab space, with a pink-orange peach on its top inner shelf. A robotic arm is positioned to the right of the shelf, with a marked whiteboard, framed photo, 3D filament spools, and office equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the pink-orange peach on the top inner shelf of the white shelving unit, grasps the peach, lifts it upward over the top of the shelving unit, lowers it onto the unit's top surface, and releases it to rest there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 166, "tasks": ["place food"], "length": 101, "global_instruction": "Pick the peach from the upper shelf of the white storage unit and place it on the top surface of the storage unit.", "scene_description": "A pink peach rests on the upper open shelf of a white standing storage unit. A robotic arm is positioned at the top right of the frame. The background includes a whiteboard with written notes, a framed photo, stacked 3D printing filament spools on a small desk, black equipment cases on the floor, and office desks and chairs in the far background.", "global_instruction_dense": "The right robotic arm moves toward the peach on the upper shelf of the white storage unit, grasps the peach with its gripper, lifts the peach upward above the top edge of the storage unit, lowers it onto the unit's top surface, releases the peach, and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 167, "tasks": ["place food"], "length": 168, "global_instruction": "Pick the light orange peach from the upper shelf and place it on the top surface of the white shelf.", "scene_description": "A light orange peach rests on the upper open shelf of a white standing shelf. The surrounding office workspace includes a whiteboard with handwritten notes, a framed portrait, 3D printing filament spools, office equipment, and a robotic arm positioned to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the light orange peach on the upper shelf of the white standing shelf, grasps the peach with its gripper, lifts the peach upward, moves it over the top flat surface of the shelf, lowers the peach, and releases it to rest on the top of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 168, "tasks": ["place food"], "length": 136, "global_instruction": "Pick the peach from the top shelf tier and place it on the top edge of the shelf.", "scene_description": "A light pink peach rests on the top tier of a white three-tier shelf, with a whiteboard, 3D filament spools, equipment cases, and office desks in the background workspace.", "global_instruction_dense": "The right robotic gripper moves toward the peach on the top tier of the white shelf, grasps the peach, lifts it upward above the shelf, moves it to the top edge of the shelf, lowers it, and releases it onto the top edge of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 169, "tasks": ["place food"], "length": 115, "global_instruction": "Pick the peach from the top shelf tier and place it on the top surface of the shelf unit.", "scene_description": "A red-yellow peach rests on the top tier of a white three-tier open shelf unit. A robotic arm is positioned to the right of the shelf, with a marked whiteboard, framed portrait, 3D filament spools, and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves toward the peach on the top shelf tier, grasps the peach, lifts it upward above the shelf unit, then lowers and releases the peach to rest on the top surface of the shelf unit.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 170, "tasks": ["place food"], "length": 105, "global_instruction": "Pick the apple from the inner top tier of the white shelf and place it on the outer top surface of the shelf.", "scene_description": "A 3-tier open white shelf stands in an office workspace, a red-yellow apple rests on the shelf's inner top tier, a robotic arm is positioned to the right of the shelf, with a marked whiteboard, framed photo, 3D filament spools, and equipment cases arranged around the shelf.", "global_instruction_dense": "The right robotic arm moves toward the apple on the inner top tier of the white shelf, grasps the apple with its gripper, lifts the apple upward out of the shelf tier, moves it over the top of the shelf, then lowers it onto the shelf's outer top surface and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 171, "tasks": ["place food"], "length": 169, "global_instruction": "Pick an orange circular piece from the white tray and place it on the wooden table.", "scene_description": "A wooden table has a blue box on its left, an upper white tray with four orange and one blue circular pieces, an empty lower white tray, small green and yellow square blocks, a single orange circular piece, and red scissors, with a robotic arm positioned on the right above the table.", "global_instruction_dense": "The right robotic arm moves toward the rightmost orange circular piece in the upper white tray, grasps it, lifts it, moves it to the table surface, places it down, releases it, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 172, "tasks": ["place food"], "length": 254, "global_instruction": "Pick an orange round object from the left tray and place it on the empty area of the wooden table.", "scene_description": "A light brown wooden table has a blue NUC box on its left, a long white flexible tube, a small green cube, a black measuring tape, a white tray with yellow and green cubes, another white tray with stacked orange-red round objects, two black flat strips, a yellow measuring strip, and a robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm moves downward toward the tray of orange round objects, grasps an orange round object with its gripper, lifts the object, moves it to an empty spot on the table, releases the object onto the table, then retracts upward back to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 173, "tasks": ["place food"], "length": 213, "global_instruction": "Pick an orange circular piece from the white base and place it on the wooden table", "scene_description": "A wooden table holds a blue NUC box on its left, a white base with stacked orange circular pieces, loose orange circular pieces, a black tape measure, small green/yellow blocks, a black strip, and scissors, with a robotic arm above the table's right side.", "global_instruction_dense": "The right robotic arm moves downward toward the white base with stacked orange pieces, grasps an orange circular piece from the base, moves the piece to an empty spot on the wooden table, releases it, then lifts and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 174, "tasks": ["place food"], "length": 208, "global_instruction": "Place the top orange circular piece from the stacked strip onto the wooden table surface.", "scene_description": "A light wooden worktable in an office lab holds a strip of stacked orange circular pieces, green rectangular blocks, a red block, black track parts, scissors, and white papers, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves leftward from its initial position above the right table area to the stacked strip of circular pieces, grasps the top orange circular piece, lifts it, moves rightward to an empty table spot, lowers and releases the piece, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 175, "tasks": ["place food"], "length": 208, "global_instruction": "Place an orange ring from the wooden peg base onto the wooden tabletop.", "scene_description": "A wooden tabletop holds a peg base with stacked orange rings, scattered orange, yellow and green blocks, scissors, papers, and black foam strips, with a robotic arm positioned above the table in an office workspace background.", "global_instruction_dense": "The right robotic arm moves downward toward the peg base on the table, grasps an orange ring from the base, lifts it, moves it leftward, releases it onto the tabletop, then returns to its starting position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 176, "tasks": ["place food"], "length": 233, "global_instruction": "Pick an orange ring from the peg strip and place it onto the wooden table surface.", "scene_description": "A wooden table in an office lab holds small colorful blocks, orange circular rings on a peg strip, scissors, paper, and foam strips, with a robotic arm at the table's top right.", "global_instruction_dense": "The right robotic arm moves left and down toward the orange rings on the table's peg strip, grasps one orange ring, lifts it, moves it to an empty table area, releases it onto the table, then moves back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 177, "tasks": ["place food"], "length": 245, "global_instruction": "Place an orange circular piece onto the peg on the white wooden base that already holds a yellow piece.", "scene_description": "A light brown wooden table holds a white peg base with colorful shape pieces, scattered yellow, red, orange, green blocks, a green lego-style brick, a black rectangular pad, and orange-handled scissors, in an office workspace with desks, monitors and cabinets in the background, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward an orange circular piece on the table, grasps it, lifts and moves it over the peg on the white wooden base with a yellow piece, lowers and places the orange piece onto the peg, then lifts and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 178, "tasks": ["place food"], "length": 361, "global_instruction": "Pick up the single orange round object on the wooden table and place it into the empty slot of the white holder with existing orange round pieces.", "scene_description": "A light brown wooden table in a lab holds red-handled scissors, a black flat rectangular object, a red rectangular block, a yellow round flat piece, a single orange round object, a white rectangular holder with three orange round pieces, a yellow cube, a small blue round piece, a small green cylinder, and a white tray with yellow and green elements. A white robotic arm is positioned above the right side of the table, with a colorful striped wall and workbench with drawers in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the single orange round object on the wooden table, grasps it with its gripper, lifts it, moves it leftward to the white holder with three existing orange round pieces, places the orange object into the empty leftmost slot of the holder, then lifts upward back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 179, "tasks": ["place food"], "length": 263, "global_instruction": "Place the orange circular piece on the wooden table into the white tray of colored circular pieces.", "scene_description": "A light brown wooden table holds a white tray of orange, yellow, and blue circular pieces, a small green cylindrical block, two black rectangular blocks, orange-handled scissors, a red rectangular block, and a small white tray with yellow and green blocks; a white robotic arm is positioned above the table, with office furniture and a monitor in the background.", "global_instruction_dense": "The right robotic arm moves down toward an orange circular piece on the wooden table, grasps it, lifts it, moves it over the white tray of colored circular pieces, lowers and releases the piece into the tray, then lifts and returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 180, "tasks": ["place food"], "length": 262, "global_instruction": "Place the loose orange circular piece on the table into the white tray holding other orange pieces.", "scene_description": "A light brown wooden table in a robotics lab holds a white tray with orange and blue circular pieces, loose orange and yellow circular pieces, a red block, red-handled scissors, small green and yellow blocks, and a small wooden sorting tray. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward a loose orange circular piece on the wooden table, grasps and lifts the piece, moves it over the white tray holding other orange pieces, releases the piece into the tray, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 181, "tasks": ["place food"], "length": 214, "global_instruction": "Place an orange ring from the wooden peg puzzle onto the wooden tabletop.", "scene_description": "A wooden tabletop holds a wooden peg puzzle with colorful rings, orange circular discs, toy blocks, scissors, and a blue-and-orange stand. A robotic arm is positioned above the right side of the table, with an office workspace of desks, monitors, and chairs in the background.", "global_instruction_dense": "The right robotic arm moves down toward the wooden peg puzzle on the table, grasps an orange ring from the puzzle, lifts it, moves it to an empty spot on the table, releases the ring onto the table, then retracts upward back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 182, "tasks": ["place food"], "length": 231, "global_instruction": "Pick up an orange ring from the worktable and place it at a new spot on the worktable.", "scene_description": "A wooden worktable holds various items including orange ring-shaped objects, orange-handled scissors, black metal components, a blue fixture with orange-handled tools, a red block, a yellow block, and a small wooden tray with a yellow square. A robotic arm is positioned above the right side of the table, with an office background containing a dark cabinet, Amazon box, wall-mounted TV, and office computers.", "global_instruction_dense": "The right robotic arm lowers toward an orange ring on the wooden worktable, grasps the ring, lifts and moves it to a new position on the table, releases the ring, then lifts back up to its original position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 183, "tasks": ["place food"], "length": 1190, "global_instruction": "Place all orange circular pieces from the checkered board and table into the clear glass and white paper cups.", "scene_description": "A yellow table holds a black-and-white checkered board with orange circular pieces, a clear glass cup, a white paper cup on a black cylindrical roll, a wooden number puzzle, and additional orange circular pieces scattered around the board, with a robotic arm positioned above the right side of the table.", "global_instruction_dense": "The right robotic gripper sequentially moves to each orange circular piece on the checkered board and surrounding table, grasps each piece, moves it to either the clear glass cup or white paper cup, releases the piece into the target cup, and moves away after all pieces are placed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 184, "tasks": ["place food"], "length": 607, "global_instruction": "Place all orange circular pieces into the clear glass and the blue circular piece into the white paper cup.", "scene_description": "A light brown office table holds a black-and-white checkerboard mat, four orange circular pieces (three on the mat, one adjacent to the mat on the table), a small blue circular piece, a white paper cup, a clear small glass, a black tape roll, and a wooden number strip, with a gray and white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each orange circular piece from the checkerboard mat and table surface, moves each to the clear glass and releases it inside, then grasps the blue circular piece, moves it to the white paper cup and releases it inside, before moving back to a position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 185, "tasks": ["place food"], "length": 611, "global_instruction": "Place all orange circular tokens on the table into the white disposable cup.", "scene_description": "A light yellow table holds a white disposable cup, a black tape roll, a blue circular token, two orange circular tokens beside the cup, two orange circular tokens on a black-and-white checkerboard-patterned board, and a wooden numbered strip on the table's left edge, with a robotic arm positioned above the checkerboard.", "global_instruction_dense": "The right robotic arm first grasps a blue token and drops it back onto the table, then sequentially picks up three orange circular tokens from the table and checkerboard, places each into the white disposable cup, and finally moves back to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 186, "tasks": ["place food"], "length": 633, "global_instruction": "Place all orange circular pieces from the table and checkered board into the white disposable cup.", "scene_description": "A light wooden table holds a white disposable cup, a dark gray tape roll, a black-and-white checkered board with two yellow and one orange circular pieces, a wooden number puzzle, and three loose orange circular pieces. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm first moves the two yellow circular pieces from the checkered board onto the table, then grasps each orange circular piece from the checkered board and table surface, lifts them, and drops them into the white disposable cup before returning to rest above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 187, "tasks": ["place food"], "length": 217, "global_instruction": "Place the orange fabric from the gray chair into the white storage bin", "scene_description": "A white storage bin holding light pink and black fabric sits on a small wooden stand. A gray chair next to the bin has black and orange fabric draped over it, with a glass-partitioned office area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange fabric on the gray chair, grasps it, lifts it, moves over the white storage bin, and releases the fabric into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 188, "tasks": ["place food"], "length": 223, "global_instruction": "Retrieve the orange fabric from the white storage bin and place it on the light gray chair.", "scene_description": "A white storage bin holding orange, black, and light pink fabric is placed on a wooden table. A light gray chair with a blue patterned cloth draped over its back sits beside the table, and a glass partition reveals a meeting area with yellow tables and rolling office chairs in the background.", "global_instruction_dense": "The right robotic arm positions itself above the white storage bin, lowers to grasp the orange fabric, lifts it out of the bin, moves it over the light gray chair, releases the fabric onto the chair next to the blue cloth, then retracts away from the chair.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 189, "tasks": ["place food"], "length": 522, "global_instruction": "Open the upper toy kitchen cabinet, then place the green bell pepper on the counter into the cabinet.", "scene_description": "A green bell pepper sits on the white counter of a toy kitchen next to a sink holding a light green cup, a large light green bowl with a yellow item inside is on the right of the counter, and the upper white cabinet door is closed.", "global_instruction_dense": "The right robotic arm moves toward the closed upper toy kitchen cabinet door, grasps and pulls the door open, then moves to the green bell pepper on the counter, grasps the pepper, lifts it, moves it into the open upper cabinet, releases the pepper inside, and retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 190, "tasks": ["place food"], "length": 503, "global_instruction": "Place the yellow lemon from the sink and the orange from the green bowl into the upper left cabinet of the toy kitchen.", "scene_description": "A white toy kitchen set has a yellow lemon in its metal sink, a green bowl with an orange inside placed on the stove area, and the upper left cabinet door is closed.", "global_instruction_dense": "The left robotic arm first opens the closed upper left cabinet door of the toy kitchen, then moves to the sink to grasp the yellow lemon, lifts it and places it into the upper cabinet, then moves to the green bowl on the stove to grasp the orange, lifts it and places it into the upper cabinet next to the lemon, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 191, "tasks": ["place food"], "length": 659, "global_instruction": "Place the green bell pepper from the light green bowl into the upper storage compartment of the white toy kitchen.", "scene_description": "A light green bowl holding a green bell pepper sits on the counter of a white toy kitchen set, with an open office area in the background.", "global_instruction_dense": "The left robotic arm extends into the frame, moves toward the light green bowl on the toy kitchen counter, grasps the green bell pepper inside the bowl, lifts it, moves it toward the upper storage compartment, releases it (the pepper falls back into the bowl), grasps the bell pepper again, lifts it, moves it into the upper storage compartment, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 192, "tasks": ["place food"], "length": 534, "global_instruction": "Place the green bell pepper from the pink bowl into the open lower cabinet and close the cabinet door.", "scene_description": "A white toy kitchen set is on a table, with a pink bowl holding a green bell pepper and yellow orange on the stove top, a green ball in the sink, and an open lower cabinet containing a yellow ball, with an office in the background.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves toward the green bell pepper in the pink bowl on the toy kitchen counter, grasps the pepper, lifts it, moves it to the open lower cabinet, releases the pepper inside the cabinet, pushes the cabinet door closed, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 193, "tasks": ["place food"], "length": 704, "global_instruction": "Wrap the green pear in the white cloth and place the wrapped cloth into the blue snack box.", "scene_description": "A wooden tabletop holds a green pear near its center, a crumpled white cloth in the foreground, a blue and red multi-pack snack box at the back, and a robotic arm on the right side.", "global_instruction_dense": "The right robotic gripper grasps the green pear on the table, places it onto the white cloth, manipulates the cloth to wrap around the pear, lifts the wrapped cloth, moves it to the blue snack box at the back of the table, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 194, "tasks": ["place food"], "length": 629, "global_instruction": "Wrap the green apple in the white cloth and place it into the blue snack box", "scene_description": "A light brown wooden table holds a blue printed snack box at its far end, a green apple in the middle of the table, and a crumpled white cloth near the front, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm first grasps the green apple on the wooden table, places it onto the white cloth, manipulates the cloth to wrap around the apple, then lifts the cloth-wrapped apple, moves it to the blue snack box at the far end of the table, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 195, "tasks": ["place food"], "length": 904, "global_instruction": "Place all the fruits and balls on the wooden table into the two black bowls.", "scene_description": "Two black bowls, a yellow banana, a green pear, a small light green ball, a small yellow ball, a small red strawberry, an orange bell pepper, and two light green apples are arranged on a light wooden tabletop, with one black bowl at the front left of the table and the other at the back.", "global_instruction_dense": "The right robotic gripper moves across the table, sequentially grasps the banana, green pear, small light green ball, light green apple, small red strawberry, two small yellow balls, and orange bell pepper, placing all items except the bell pepper into the two black bowls, with the bell pepper dropped back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 196, "tasks": ["place food"], "length": 758, "global_instruction": "Remove all objects from both black bowls and place them on the wooden tabletop.", "scene_description": "Two black bowls rest on a light wooden tabletop. The left bowl holds a yellow banana, a red cube, a green pear, and a pale green apple; the right bowl holds an orange bell pepper, a green ball, and two pale yellow balls.", "global_instruction_dense": "The right robotic gripper sequentially grasps the red cube, pale green apple, yellow banana, and green pear from the left black bowl, places each on the table, then grasps the green ball, orange bell pepper, and two pale yellow balls from the right black bowl, placing each on the table until both bowls are empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 197, "tasks": ["place food"], "length": 833, "global_instruction": "Place all artificial fruits on the tabletop into the two black bowls.", "scene_description": "A light wooden tabletop holds two black bowls (one at front-left, one at rear-center), plus multiple artificial fruits: a green pear near the front-left bowl, a small green ball, two yellow balls, a yellow banana, a light green round fruit, a red bell pepper near the rear bowl, and a small red strawberry with a green base at the table's right edge.", "global_instruction_dense": "The right robotic gripper sequentially grasps each artificial fruit on the table, transports each to either the front-left or rear-center black bowl, and releases the fruit into the bowl until all fruits are placed in the bowls, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 198, "tasks": ["place food"], "length": 798, "global_instruction": "Place all the fruits from the tabletop into the two black bowls.", "scene_description": "A light wooden tabletop holds two black bowls (one front-left, one further back) and various colorful fruits: a green sphere, red strawberry, yellow banana, light green flat object, yellow sphere, green apple, two red bell peppers, and another yellow sphere arranged in front of the bowls.", "global_instruction_dense": "The right robotic gripper sequentially picks up each fruit from the light wooden tabletop, placing yellow spheres, a red strawberry, a green sphere, and a green apple into the front black bowl, and a light green flat object, a yellow banana, and a red bell pepper into the back black bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 199, "tasks": ["place food"], "length": 1287, "global_instruction": "Remove all fake fruits, vegetables, and balls from both black bowls and place them on the wooden tabletop.", "scene_description": "A light wooden table holds two black bowls. The front (closer to the camera) black bowl contains a yellow banana, a red apple, a light green apple, a yellow lemon, a red radish with green leaves, and an orange fruit. The back (further from the camera) black bowl contains an orange ball, a green ball, a yellow ball, and a green pear. Office furniture and equipment are visible in the background.", "global_instruction_dense": "The right robotic gripper sequentially reaches into the front and back black bowls on the table, grasps each contained fake produce and ball one by one, lifts each item out of its bowl, moves it to a position on the tabletop, and releases it until all items are removed from both bowls.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 200, "tasks": ["place food"], "length": 849, "global_instruction": "Place all scattered fruits on the wooden table into the two black bowls", "scene_description": "A light wooden table holds two black bowls and scattered fake fruits: an orange bell pepper, a light green round fruit, a light yellow round fruit, a small red round fruit, a red radish, a green pear, a yellow banana, and two back round fruits (one yellow, one light green). The front black bowl is on the table left, the back black bowl is at the table upper center.", "global_instruction_dense": "The right robotic gripper moves to each scattered fruit on the light wooden table one by one, grasps each fruit, lifts it, and places it into either the front left black bowl or the back upper black bowl until all fruits are placed in the bowls.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 201, "tasks": ["place food"], "length": 782, "global_instruction": "Place all fruits on the wooden table into the two black bowls on the table.", "scene_description": "A wooden table holds two black bowls (one at the front left, one at the rear) and assorted fruits: a green ball, a green pear, two yellow balls, a red strawberry, a yellow banana, a light green apple, a red bell pepper, and a red radish.", "global_instruction_dense": "The right robotic gripper sequentially approaches each fruit on the wooden table, grasps each fruit, moves it to either the front-left black bowl or the rear black bowl, and releases it into the target bowl until all fruits are placed in the bowls.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 202, "tasks": ["place food"], "length": 1109, "global_instruction": "Place all fruits from the front black bowl and additional fruits from the rear black bowl onto the wooden tabletop.", "scene_description": "A light wooden cart top has a black bowl on its left holding a yellow banana, green pear, and small red fruit. A second black bowl with assorted fruits sits at the far back, and VR equipment is to the right of the table.", "global_instruction_dense": "The right robotic gripper takes the banana, green pear, green round fruit, and small red fruit out of the front left black bowl and places them on the table, then moves to the rear black bowl, takes out a green apple, orange pepper, red radish, and yellow lemons, and places each of these fruits on the tabletop one by one.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 203, "tasks": ["place food"], "length": 1248, "global_instruction": "Remove all items from both black bowls on the wooden cart and place them onto the cart's table surface.", "scene_description": "A light wood-topped cart holds two black bowls: the front bowl contains a yellow banana, red radish with green tops, light green round fruit, and dark green pear; the back bowl holds colorful round balls and an orange fruit. A brown table with building blocks and papers is to the left, with robotics hardware to the right.", "global_instruction_dense": "The right robotic gripper sequentially picks the banana, radish, light green fruit, and dark green pear from the front black bowl, places each onto the cart's table, then picks the green ball, two yellow balls, orange fruit, and small red ball from the back black bowl, placing each onto the cart's table until both bowls are empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 204, "tasks": ["place food"], "length": 1033, "global_instruction": "Remove all fruits from the two black bowls and place them on the wooden tabletop.", "scene_description": "A light wooden tabletop holds two black bowls: the front bowl contains a yellow banana, a pale yellow spherical fruit, a green pear, and small red fruits; the rear bowl holds assorted colorful fruits. A right robotic gripper is positioned above the table, with VR equipment visible to the table's right.", "global_instruction_dense": "The right robotic gripper sequentially grasps each fruit from the front black bowl first, then the rear black bowl, and places every fruit onto the empty area of the wooden tabletop in front of the bowls until both bowls are emptied.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 205, "tasks": ["place food"], "length": 746, "global_instruction": "Place all the fruits on the tabletop into the two black bowls.", "scene_description": "A light wooden tabletop holds two black bowls: an empty front black bowl on the left table area, a back black bowl further up the table, and multiple fruits (green pear, yellow ball, red strawberry-shaped fruit, green ball, yellow banana, red apple, small red pepper, another yellow ball, light green apple) placed on the table.", "global_instruction_dense": "The right robotic arm sequentially grasps each fruit from the wooden table, moves each to either the front or back black bowl, lowers it, and releases it into the respective bowl until all fruits are placed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 206, "tasks": ["place food"], "length": 1070, "global_instruction": "Remove all fake fruits from the two black bowls and place them on the wooden tabletop.", "scene_description": "A light wooden tabletop holds two black bowls. The front left bowl contains a yellow banana, a yellow ball, a green ball, and a pale green round fruit. The rear bowl holds additional fake fruits, with a robotic arm positioned above it.", "global_instruction_dense": "The robotic arm sequentially grasps fake fruits from the rear and front black bowls, lifts each fruit, moves it over the open table surface, and releases it onto the table until no fruits remain in either bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 207, "tasks": ["place food"], "length": 970, "global_instruction": "Place all items from the two black bowls onto the light wooden table surface.", "scene_description": "A light wooden table holds two black bowls. The foreground bowl contains a yellow banana, a green ball, a light green apple, and a small red item. The background bowl contains a red radish, an orange tomato, two yellow balls, and a green pear.", "global_instruction_dense": "The left robotic arm sequentially grasps each item from the background and foreground black bowls, lifts each item, moves it to an empty spot on the table, and releases it until all items from both bowls are placed on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 208, "tasks": ["place food"], "length": 1043, "global_instruction": "Remove all fruits and balls from the two black bowls and place them onto the wooden tabletop.", "scene_description": "A wooden tabletop holds two black bowls: the front closer bowl contains a red apple, a pale green apple, a green ball, and a yellow ball; the back farther bowl contains a green pear, a banana, yellow balls, and other small fruits, with VR equipment visible to the right of the table.", "global_instruction_dense": "The right robotic arm sequentially grasps the red apple, pale green apple, yellow ball, and green ball from the front black bowl, places each on the wooden table, then grasps the banana, red radish, yellow ball, green pear, and small red fruit from the back black bowl, placing each on the table until both bowls are empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 209, "tasks": ["place food"], "length": 966, "global_instruction": "Place all the fruits on the wooden table into the two black bowls.", "scene_description": "Two black bowls, an orange bell pepper, a small orange-red ball, multiple yellow and green balls, a yellow banana, a red radish, and a green bell pepper are placed on a wooden table, with one black bowl at the front left and the other at the rear right.", "global_instruction_dense": "The right robotic gripper sequentially grasps each fruit from the table, lifts them, and places them into either the front left black bowl or the rear right black bowl until all targeted fruits are sorted into the bowls.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 210, "tasks": ["place food"], "length": 931, "global_instruction": "Remove all fruits and vegetables from both black bowls and place them on the light wooden table.", "scene_description": "Two black bowls are placed on a light wooden table. The left black bowl contains a red bell pepper, a green pear, a yellow round fruit, and a red radish with green leaves. The upper black bowl contains a yellow banana, a yellow fruit, and two green fruits.", "global_instruction_dense": "The robotic gripper sequentially picks the red radish, red bell pepper, yellow round fruit, and green pear from the left black bowl and places each on the table, then sequentially picks the yellow banana, light green fruit, green fruit, and small red fruit from the upper black bowl and places each on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 211, "tasks": ["place food"], "length": 162, "global_instruction": "Grasp the small orange object on the white tray, lift it, then place it back onto the tray.", "scene_description": "A black table holds a white plastic pitcher on its left area, and a small orange translucent object rests on a white tray on the table's right area. A brown paper bag hangs from a black overhead rod, with stacked cardboard boxes and office equipment in the background, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic gripper enters the frame from the top right, moves downward toward the small orange object on the white tray at the right side of the black table, grasps the object, lifts it briefly, then lowers it back onto the white tray, releases the object, and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 212, "tasks": ["place food"], "length": 171, "global_instruction": "Pick up the small orange object on the white platform and place it back onto the platform.", "scene_description": "A black work table is in the foreground, with a white kettle on its left, a small orange object on a white platform at its right, and a brown paper bag hanging from a black rod in the background office space.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, descends toward the small orange object resting on the white platform at the right of the black table, grasps the orange object, lifts it briefly, lowers it back onto the white platform, releases it, and moves upward away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 213, "tasks": ["place food"], "length": 180, "global_instruction": "Pick up the small orange object on the table and place it back onto the table surface.", "scene_description": "A white paper cup sits on the black section of a table, a white electric kettle and a small orange object rest on the white and purple section of the table, with a right robotic gripper positioned above the table and a left robotic arm in the left background.", "global_instruction_dense": "The right robotic arm moves downward from its initial position above the table, grasps the small orange object next to the white electric kettle, lifts it briefly, then lowers it back to its original position on the table and releases the gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 214, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the small orange object beside the white kettle and place it back to its original position on the counter.", "scene_description": "A black table holds a white disposable cup. To the table's right, a white counter has a white electric kettle on a purple mat, with a small orange object next to the kettle. A right robotic arm is positioned above the counter, with a left robotic arm on a background wooden desk in the office space.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange object next to the white electric kettle on the counter, grasps it, lifts it briefly, then lowers it and releases it back to its original position on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 215, "tasks": ["place food"], "length": 202, "global_instruction": "Reposition the small orange object in its holder on the table.", "scene_description": "A white tabletop holds a black coffee maker, a clear plastic container with white cylindrical batteries on a purple mat, an extra white battery beside the container, a white paper cup, and a small orange object in a white holder. A monitor is at the left edge of the table, with assorted items in the background.", "global_instruction_dense": "The right robotic gripper moves down from above the table toward the small orange object in its holder, grasps the object, adjusts its position within the holder, then releases the object and moves slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 216, "tasks": ["place food"], "length": 448, "global_instruction": "Place the purple strawberry-shaped object on the table into the black rectangular tray.", "scene_description": "A light wooden table against light gray walls holds a white power strip at the left edge, a white plastic bottle, a purple dotted strawberry-shaped object, a black rectangular tray at the center, a pink-potted small green plant, a white cup with a blue sleeve, two small printed cards, a small mushroom figurine, and a white plastic spoon arranged across its surface.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, lowers toward the purple strawberry-shaped object on the wooden table, grasps it with its gripper, lifts it, moves it over the black rectangular tray, releases the object into the tray, then moves away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 217, "tasks": ["place food"], "length": 348, "global_instruction": "Move the yellow lemon from the white plate to different positions on the light wooden side table.", "scene_description": "A brown sofa sits on the left, next to a light wooden side table holding a white plate with a yellow lemon, a white mug, and a small key. To the table's right are a white wall heater under a window, and a robotic arm on a dark table with blue indicator lights.", "global_instruction_dense": "The right robotic arm moves its gripper toward the yellow lemon on the white plate, grasps and lifts the lemon, moves it left to place it on the table beside the plate, then re-grasps the lemon, moves it right, and places it next to the white mug on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 218, "tasks": ["place food"], "length": 336, "global_instruction": "Move the black cloth from the small extendable table to the windowsill, then place the yellow lemon onto the small extendable table.", "scene_description": "A brown sofa is on the left, next to a two-part light wooden table: the larger left section holds a white plate with a yellow lemon and a set of keys, the smaller extendable right section holds a black cloth. A dark table with a robotic arm is on the right, a window with a red-blue cap on its sill and a heater under it are in the background.", "global_instruction_dense": "The right robotic arm first grasps and lifts the black cloth from the small extendable wooden table, moves it to the windowsill and releases it, then grasps and lifts the yellow lemon from the white plate on the left wooden table, moves it to the empty small extendable table and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 219, "tasks": ["place food"], "length": 235, "global_instruction": "Place the yellow lemon from the small wooden shelf onto the white round plate on the adjacent larger wooden cabinet.", "scene_description": "A yellow lemon rests on a small light wooden shelf next to a larger light wooden cabinet with a white round plate on top. A brown sofa is on the left, a robotic arm is positioned on a black worktable on the right, with a white heater below a window that has a red and blue cap on its sill.", "global_instruction_dense": "The right robotic arm reaches toward the yellow lemon on the small wooden shelf, grasps it, lifts it, moves it over the white round plate on the larger wooden cabinet, lowers and releases the lemon onto the plate, then retracts away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 220, "tasks": ["place food"], "length": 182, "global_instruction": "Pick the yellow lemon from the white plate and place it on the windowsill", "scene_description": "A yellow lemon is on a white plate atop a light brown wooden cabinet. A brown sofa is in the foreground, a white windowsill with a red baseball cap is at the back, and a robotic arm setup is on the right.", "global_instruction_dense": "The right robotic gripper moves toward the yellow lemon on the white plate, grasps the lemon, lifts it, moves it over to the windowsill, lowers it, and releases it onto the windowsill.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 221, "tasks": ["place food"], "length": 183, "global_instruction": "Place the yellow lemon from the white plate onto the adjacent smaller wooden board.", "scene_description": "A light brown wooden side table holds a white mug, a white plate with a yellow lemon, and a small key. A smaller light wood extension board sits adjacent to the table, with a white heater below a window in the background, a brown couch in the left foreground, and a black worktable with a robotic arm base on the right.", "global_instruction_dense": "The right robotic gripper moves into view above the side table, lowers to grasp the yellow lemon on the white plate, lifts and moves the lemon over the adjacent smaller wooden board, lowers the lemon onto the board, then releases the lemon and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 222, "tasks": ["place food"], "length": 171, "global_instruction": "Move the yellow lemon from the white plate to the adjacent extended side table surface.", "scene_description": "A light wooden side table holds a white plate with a yellow lemon, a white mug, an orange-handled screwdriver, and papers, with a brown couch in the foreground, a window sill with a red and blue hat behind, and a robotic arm on a dark table to the right.", "global_instruction_dense": "The right robotic arm moves down toward the yellow lemon on the white plate, grasps it, lifts it, moves it right over the extended adjacent side table surface, lowers it, and releases it onto the surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 223, "tasks": ["place food"], "length": 156, "global_instruction": "Pick up the yellow lemon and place it onto the white plate on the cabinet.", "scene_description": "A light wooden side cabinet holds a white round plate, a small metal key, and a yellow lemon, with the plate left of the lemon. A brown sofa with a black remote on its arm is left of the cabinet, a black table with a robotic arm sits to the right, and a window with a red-blue cap on the sill and a white heater under it are in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemon on the wooden cabinet, grasps it with its gripper, lifts the lemon, moves it over the white plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 224, "tasks": ["place food"], "length": 194, "global_instruction": "Move the yellow lemon from the white plate to the adjacent light wooden pull-out surface.", "scene_description": "A light brown wooden table holds a white plate with a yellow lemon and silver keys, a white cup sits adjacent to the plate; a brown couch is to the left of the table, a robotic arm setup is on a dark table to the right, and a window sill with a red and blue cap is in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemon on the white plate, grasps the lemon with its gripper, lifts the lemon, moves it to the adjacent light wooden pull-out surface, and releases the lemon onto that surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 225, "tasks": ["place food"], "length": 189, "global_instruction": "Place the yellow lemon on the small extended table surface onto the white plate with keys.", "scene_description": "A light brown wooden table has a white plate with silver keys on its left section, a white cup behind the plate, and a yellow lemon on a small extended wooden surface to the right of the plate. A brown sofa is at the lower left, a dark worktable with a robotic arm is at the right, and a red and blue hat is on the window sill above a white heater.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemon on the small extended wooden surface, grasps the lemon, lifts it, moves leftward over the white plate, lowers and releases the lemon onto the plate, then moves back away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 226, "tasks": ["place food"], "length": 329, "global_instruction": "Pick the yellow lemon from the plate on the side table and place it on the window sill.", "scene_description": "A brown leather sofa is on the left, a light wooden side table next to the sofa holds a white plate with a yellow lemon and a white cup, a white heater sits below the window on the right, and a dark worktable with a robotic arm is to the right of the heater.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemon on the white plate on the side table, grasps the lemon with its gripper, lifts it, moves it rightward to the window sill, and releases it onto the window sill.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 227, "tasks": ["place food"], "length": 175, "global_instruction": "Place the orange cylindrical object onto the narrow shelf adjacent to the side table.", "scene_description": "A yellow lemon sits on a white plate next to a white mug on a light brown wooden side table. A narrow light wood shelf is attached to the table's right, a brown sofa is on the left, a robotic arm setup is on the right, and a dark blue bowl rests on the window ledge above.", "global_instruction_dense": "The right robotic arm moves the orange cylindrical object downward from above the window, positions it over the narrow light wood shelf next to the side table, and releases the object onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 228, "tasks": ["place food"], "length": 209, "global_instruction": "Pick the yellow lemon from the white plate and place it into the blue bowl on the windowsill.", "scene_description": "A brown couch is in the foreground, a light wooden side table behind its arm holds a white plate with a yellow lemon and a white mug. A blue bowl sits on the windowsill to the right next to a robotic arm setup on a dark table.", "global_instruction_dense": "The left robotic gripper moves toward the yellow lemon on the white plate atop the wooden side table, grasps the lemon, lifts it, moves rightward to the blue bowl on the windowsill, and releases the lemon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 229, "tasks": ["place food"], "length": 630, "global_instruction": "Place the small white cube and yellow lemon from the side table into the table's pull-out drawer.", "scene_description": "A light brown wooden side table sits next to a tan sofa. The table holds a white plate with a white mug and a yellow lemon, plus a small white cube on its surface. A black-and-white robotic arm is to the right of the table, a window with a blue bowl on the sill and a radiator below it are in the background, and a dark workbench with a purple-lit device is on the far right. The table's side drawer is initially closed.", "global_instruction_dense": "The right robotic arm pulls open the closed side drawer of the wooden table, grasps the small white cube on the table top and places it into the open drawer, then grasps the yellow lemon on the white plate and places it into the drawer before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 230, "tasks": ["place food"], "length": 502, "global_instruction": "Place the yellow lemon from the extended shelf into the blue bowl on the window sill, and place the small white object from the extended shelf onto the wooden side table.", "scene_description": "A brown leather sofa is on the left, next to a light wooden side table with a white cup on a white saucer. An attached extended light wooden shelf holds a yellow lemon, a small white object, and papers. A blue bowl sits on the window sill in the background, with a red hat at the far right of the sill, and a robotic arm setup is on the right side of the frame.", "global_instruction_dense": "The right robotic arm moves toward the extended shelf, grasps the yellow lemon, lifts and moves it to the window sill to release it into the blue bowl, then returns to the shelf to grasp the small white object, moves it to the wooden side table next to the white cup, and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 231, "tasks": ["place food"], "length": 901, "global_instruction": "Rearrange the yellow lemon, white mug, and blue bowl to place the lemon inside the blue bowl on the white plate on the side table.", "scene_description": "A light brown wooden side table holds a white mug on a white plate, with a yellow lemon next to the mug. The window sill behind the table has a blue bowl, a small red bottle, and a hat at the far right. A brown leather couch is to the left of the side table, and a black worktable with a robotic arm is to the right.", "global_instruction_dense": "The right robotic arm first grasps the yellow lemon from the white plate on the side table, moves it to the window sill and places it next to the blue bowl, then grasps the white mug from the plate, moves it to the window sill and places it next to the lemon, then grasps the blue bowl from the window sill, moves it to the side table and places it on the empty white plate, then grasps the yellow lemon from the window sill, moves it over the blue bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 232, "tasks": ["place food"], "length": 218, "global_instruction": "Pick up the yellow lemon from the radiator and place it into the blue bowl on the windowsill.", "scene_description": "A light brown side table holds a white mug, a white plate with an orange pill bottle, and a small white square object. To the table's right, a white radiator has a yellow lemon on it, above which a windowsill holds a small dark object, a blue bowl, and a red hat at its far end. A brown sofa is in the lower foreground, and a robotic arm setup is on the right black work surface.", "global_instruction_dense": "The right robotic arm moves from offscreen toward the yellow lemon on the white radiator, grasps the lemon, lifts it upward to the windowsill, lowers it into the blue bowl on the sill, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 233, "tasks": ["place food"], "length": 527, "global_instruction": "Place the orange-white bottle from the black bowl onto the windowsill, then place the yellow lemon from the black bowl onto the white plate.", "scene_description": "A light brown wooden table has a white round plate on its left section, and a small extended right table section holds a black bowl containing an orange-white bottle, a small white object, and a yellow lemon. A brown sofa is to the left of the table, a window with two caps on its sill is behind the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves to the black bowl, grasps the orange-white bottle inside, lifts and moves it to the windowsill to release it, then returns to the bowl, grasps the yellow lemon, lifts and moves it to the white plate to release it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 234, "tasks": ["place food"], "length": 527, "global_instruction": "Place the bread slice sitting on top of the microwave into the microwave interior.", "scene_description": "A light wooden table holds a two-tiered black and white round rotating tray with several white cups (some with orange lids, one with a clear lid), and a blue and wooden toy with a red handle sits left of the tray. A silver microwave behind the tray has a wooden cutting board with an orange and white bread slice on top, and the right robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the bread slice on the cutting board atop the microwave, grasps and lifts the bread, pulls open the microwave door, places the bread inside the microwave cavity, then pushes the microwave door closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 235, "tasks": ["place food"], "length": 555, "global_instruction": "Pick up the yellow lemon and place it into the open middle drawer of the white storage unit.", "scene_description": "A wooden table holds a green double-handled shallow bowl, a yellow lemon, a small blue conical object, and a white three-drawer storage unit with its middle drawer open. A whiteboard with text stands to the left of the table in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemon on the wooden table, grasps it with its gripper, lifts the lemon, moves it over the open middle drawer of the white storage unit, releases the lemon into the drawer, then moves back above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 236, "tasks": ["place food"], "length": 276, "global_instruction": "Place the red apple from the black tray onto the slice of bread on the table.", "scene_description": "A wooden office table holds a black tray with a red apple, a white paper cup, a clear bottle with black bands, a black square bin, a yellow disc, a small wooden stand with stacked pads, a slice of bread, an orange carrot, a small glass, and a white box with a blue-red triangle logo, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red apple inside the black tray on the right of the table, grasps the apple with its gripper, lifts it out of the tray, moves it left to above the slice of bread, lowers the apple, and releases it onto the bread.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 237, "tasks": ["place food"], "length": 299, "global_instruction": "Place the yellow bread slice from the small wooden stool onto the white bread slice with the red tomato on the table.", "scene_description": "A light wooden office table holds a black rectangular bin, a silver-black small cylindrical device, a white disposable cup, a small clear glass, a red tomato on a slice of white bread, a white carton with a blue triangular logo, a black square tray, a tiny dark wooden stool with a yellow bread slice and green plate stacked on top, and a yellow round disc on the left edge of the table, in an office workspace with chairs and other equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow bread slice on the small wooden stool at the back of the table, grasps and lifts the slice from the green plate, moves it over the white bread slice with the red tomato, lowers the slice onto the bread, and releases the gripper to complete the placement.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 238, "tasks": ["place food"], "length": 260, "global_instruction": "Place the white snack package from the right side of the desk near the clear plastic bowl.", "scene_description": "A light wooden office desk holds a small green cup, green drink bottle, green bowl, black and grey four-slice toaster, wine glass with a silver packet inside, clear small plastic bowl, white printed snack package, and a large white plastic bag, with office chairs, whiteboards, and computer monitors in the background, plus a stack of blue bins left of the desk.", "global_instruction_dense": "The right robotic gripper moves toward the white snack package on the right side of the light wooden office desk, grasps it, lifts it, moves it left toward the clear small plastic bowl, lowers it onto the desk near the bowl, and releases the package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 239, "tasks": ["place food"], "length": 266, "global_instruction": "Place the white snack package from the right desk area near the drinking glass on the left desk area.", "scene_description": "A light wooden office desk is in an office setting, with a white snack package on its right area near a green bowl, plus a green drink bottle, red circular object, small green cup, drinking glass, black landfill bin, assorted stationery, and a marked whiteboard in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white snack package on the right side of the desk, grasps it, lifts it, moves it leftward to the area near the drinking glass, then lowers and releases it onto the desk surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 240, "tasks": ["place food"], "length": 226, "global_instruction": "Move the white cylindrical snack tube from the center of the table to the right side of the table.", "scene_description": "A light wooden office table holds a small green cup, green bottle, red circular ring, white printed cylindrical snack tube, yellow marker, green bowl with a clear wine glass, black 'LANDFILL ONLY' bin, and white plastic bag; a blue trash bin sits to the left of the table, with whiteboards behind the table and a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves down from the upper right of the frame to the middle of the table, grasps the white cylindrical snack tube, lifts it, moves it rightward across the table, and places it down near the green bowl on the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 241, "tasks": ["place food"], "length": 780, "global_instruction": "Remove the bread slice from the toaster oven and place it onto the red plate.", "scene_description": "A light wooden table holds a gray toaster oven, red plate, wooden spatula on the plate, silver small pot, silver pot lid, small silver mug, black tall cup, black T-shaped stand, and white round coaster in an office space.", "global_instruction_dense": "The right robotic arm opens the door of the gray toaster oven, grasps the wooden spatula from the red plate, uses the spatula to pull the bread slice out of the oven, and places the bread slice onto the red plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 242, "tasks": ["place food"], "length": 678, "global_instruction": "Use a wooden spatula to place the slice of bread onto the red plate.", "scene_description": "A light wooden table holds a gray toaster oven at its back edge, a silver metal milk pitcher left of the toaster, a black bottle opener on a white circular pad at the table's left, a slice of white bread near the table center, a small stainless steel pot right of the bread, a red ceramic plate right of the pot with a wooden slotted spatula resting on it, and a black plastic cup in the foreground. The background is an office with glass-walled rooms and a corridor.", "global_instruction_dense": "The right robotic arm moves toward the wooden spatula on the red plate, grasps its handle, lifts the spatula, slides it under the bread slice to lift the bread, moves the spatula and bread over the red plate, tilts the spatula to drop the bread onto the plate, then places the spatula back on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 243, "tasks": ["place food"], "length": 813, "global_instruction": "Place the white bread slice into the open toaster oven using the wooden spatula.", "scene_description": "A light wooden table holds an open gray toaster oven at its back, a silver metal milk jug to the oven's left, a black stand with a white bread slice leaning against it, a black plastic cup at the table's front, a wooden slotted spatula on the table's right, and a silver small pan next to a red plate topped with a small silver dish, in an office with glass walls.", "global_instruction_dense": "The right robotic arm moves toward the wooden slotted spatula on the table's right, grasps and lifts it, uses it to move the white bread slice into the open toaster oven, then returns the spatula to the table and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 244, "tasks": ["place food"], "length": 617, "global_instruction": "Take the bread slice out of the toaster oven and place it on the wooden table.", "scene_description": "A light wooden table holds a silver toaster oven with a bread slice inside (door open), a small silver metal cup, a black L-shaped stand, a black plastic cup, a wooden slotted spatula, a metal sauce pan, and a red plate with a silver lid, in an office space with glass walls and gym equipment in the background.", "global_instruction_dense": "The right robotic arm moves to the wooden slotted spatula on the table, grasps and lifts it, uses the spatula to pull the bread slice out of the toaster oven, places the bread onto the table surface, then releases the spatula back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 245, "tasks": ["place food"], "length": 765, "global_instruction": "Place the slice of bread into the toaster oven and close the oven door.", "scene_description": "A light wooden table holds a silver toaster oven at the rear, a slice of bread leaning against a black stand near the center, a black cup in the front right, a wooden spatula to the right of the bread, a small silver pitcher left of the toaster oven, a red plate with a silver insert right of the toaster oven, and a small silver pan in front of the toaster oven, with a white wall and office glass doors in the background.", "global_instruction_dense": "The right robotic gripper grasps the wooden spatula on the table, uses it to lift the slice of bread from its stand, moves the bread into the open toaster oven, places the spatula back on the table, then closes the toaster oven door and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 246, "tasks": ["place food"], "length": 302, "global_instruction": "Place the yellow banana from the red plate onto the wooden table next to the lidded silver container.", "scene_description": "A light wooden table holds a small silver metal cup, black bookend, gray toaster oven, black plastic cup, small white cube, lidded silver metal container, red plate with a yellow banana, and wooden spatula on the red plate edge, with a whiteboard and office area in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the red plate, grasps it, lifts it, moves it to the area beside the lidded silver container on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 247, "tasks": ["place food"], "length": 1358, "global_instruction": "Place the white bread slice from the red plate into the silver toaster oven and close the oven door.", "scene_description": "A light wooden table holds a closed silver toaster oven, a red plate with a slice of white bread, a wooden slotted spatula, a small lidded silver pot, a black plastic cup, a small white cubic object, a yellow silicone rolling pin, and a small silver metal cup. A blue water bottle sits at the far end of the table, with a glass-partitioned office workspace in the background.", "global_instruction_dense": "The left robotic arm first opens the silver toaster oven door, grasps the wooden slotted spatula from the table, uses the spatula to lift the white bread slice from the red plate, moves the bread slice into the open toaster oven and sets it inside, places the spatula back on the table, then closes the toaster oven door before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 248, "tasks": ["place food"], "length": 629, "global_instruction": "Move the yellow corn from the red plate to the table space next to the gray toaster oven using the wooden spatula.", "scene_description": "A light wooden table holds a gray toaster oven (with bread inside) on the left, a small metal cup left of the oven, a tall black cup at the front center, a small white cube beside the black cup, a metal bowl right of the oven, a red plate with a yellow corn on it next to the bowl, a wooden spatula right of the plate, and a dark blue bottle at the back right, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the wooden spatula right of the red plate, grasps the spatula, lifts and positions it over the yellow corn on the plate, uses the spatula to adjust the corn, and pushes the corn onto the empty table space beside the toaster oven.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 249, "tasks": ["place food"], "length": 615, "global_instruction": "Remove the bread slice from the toaster oven and place it on the red plate.", "scene_description": "A light wooden table holds a grey toaster oven with a bread slice inside, a black cup at the front edge, a red plate to the oven's right, a small metal bowl with a yellow grip tool next to the plate, a small metallic cup left of the oven, a blue water bottle at the table's back, and a white robotic arm at the table's right side.", "global_instruction_dense": "The right robotic arm opens the toaster oven door, uses a yellow grip tool to grasp the bread slice inside the oven, lifts the bread out, moves it to the red plate, places the bread on the plate, returns the grip tool to the small metal bowl, then closes the toaster oven door and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 250, "tasks": ["place food"], "length": 658, "global_instruction": "Place the yellow food slice from the red plate into the toaster oven.", "scene_description": "A light wooden table holds a closed gray toaster oven, a lidded silver container, a red plate with a slice of white bread and a yellow food slice, a tall black cup, and a small silver cup against the white wall left of the oven.", "global_instruction_dense": "The right robotic arm opens the toaster oven door, moves the silver container lid to the right table edge, grasps the yellow food slice from the red plate, places it inside the toaster oven, closes the oven door, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 251, "tasks": ["place food"], "length": 511, "global_instruction": "Take the bread from inside the microwave and place it on the red plate.", "scene_description": "A light wooden table holds a gray microwave at its back edge, alongside a black U-shaped stand, black tall cup, small white cube, silver metal lid, silver small pot, red flat plate, and long wooden spatula on the table surface.", "global_instruction_dense": "The right robotic arm moves into the frame, opens the microwave door, reaches inside to grasp the bread, pulls the bread out of the microwave, moves it over to the red plate, places the bread on the plate, and then moves away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 252, "tasks": ["place food"], "length": 855, "global_instruction": "Place the slice of bread on the red plate into the silver oven, then lift the lid of the metal container on the table.", "scene_description": "A light wooden table holds a black U-shaped stand, black cup, small yellow object, white cube, lidded metal container, red plate with a slice of bread, wooden spatula, and a silver oven against a white wall at the back of the table.", "global_instruction_dense": "The right robotic arm first opens the silver oven's door, grasps the wooden spatula from the table, uses the spatula to move the bread slice from the red plate into the open oven, places the spatula back on the table, closes the oven door, then lifts the lid of the metal container on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 253, "tasks": ["place food"], "length": 1028, "global_instruction": "Open the toaster oven, remove the bread inside, place the bread on the red plate, close the oven, then place the silver lid on the metal pot.", "scene_description": "A light wooden table holds a black U-shaped stand, black cup, small white square container, silver metal pot, separate silver pot lid, red plate with a yellow elongated object, wooden spatula, and closed silver toaster oven at the table's back.", "global_instruction_dense": "The right robotic gripper moves to the closed silver toaster oven at the back of the wooden table, opens the oven door, reaches inside to grasp the bread slice, pulls the slice out, places it onto the red plate next to the yellow elongated object, closes the toaster oven door, then moves to the separate silver pot lid, grasps it, and places the lid onto the silver metal pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 254, "tasks": ["place food"], "length": 578, "global_instruction": "Place the yellow banana on the red plate into the stainless steel pot, then cover the pot with its silver lid.", "scene_description": "A light wooden table holds a small silver countertop oven at the back, a black U-shaped stand, black plastic cup, small white square object, stainless steel pot, red plate with a yellow toy banana and a slice of white bread, wooden slotted spatula, and silver pot lid to the right of the plate, with a right robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the red plate, grasps it, lifts and places it into the adjacent stainless steel pot, then moves to grasp the silver pot lid, lifts it and places it onto the stainless steel pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 255, "tasks": ["place food"], "length": 209, "global_instruction": "Pick the yellow corn from the red plate and place it into the open stainless steel bowl", "scene_description": "A light wooden table holds a black cup, two stainless steel bowls (one open, one lid beside it), a small white salt shaker, a red plate with white bread and yellow corn, a wooden slotted spatula, and a grey toaster oven at the back, with an office area in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow corn on the red plate, grasps it, lifts it, moves it left over the open stainless steel bowl, lowers and releases the corn into the bowl, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 256, "tasks": ["place food"], "length": 388, "global_instruction": "Pick up the bread slice behind the spatula and place it on the blue tray.", "scene_description": "On a light wooden table, a black tumbler with a red mark sits at the front left, a black metal book stand is behind it, a small silver cup is behind the stand, a silver toaster oven on a wooden base is at the back right, a stainless steel lidded pot is right of center, a blue tray with a yellow sponge, two orange blocks and a small white bottle is to the pot's right, a wooden spatula is to the tray's right, and a bread slice is behind the spatula.", "global_instruction_dense": "The right robotic arm enters the workspace, moves the wooden spatula aside, grasps the bread slice behind it, lifts the slice, moves it over the blue tray, and releases it onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 257, "tasks": ["place food"], "length": 732, "global_instruction": "Place the orange carrot from the blue plate into the silver pot and replace the pot's lid.", "scene_description": "A light wooden table in an office holds a gray toaster oven with a yellow sponge on top, a small silver cup left of the oven, a black metal stand in front of the oven, a blue plate with a bread slice and connected orange carrot pieces right of the oven, and a lidded silver pot in front of the plate.", "global_instruction_dense": "The right robotic arm first removes the lid from the silver pot and sets it on the table, then grasps the orange carrot from the blue plate, moves it to the pot and drops it inside, then picks up the lid and places it back onto the pot to close it before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 258, "tasks": ["place food"], "length": 671, "global_instruction": "Remove the lid from the metal pot, place the orange carrot from the pot onto the blue plate with the bread, then replace the pot lid.", "scene_description": "A light wooden table holds a gray countertop oven with a yellow object on top, a small silver metal cup to the left of the oven, a black metal stand in front of the oven, a blue plate with a slice of bread to the right of the oven, and a lidded silver metal pot in front of the plate. A glass-walled office area is visible in the background.", "global_instruction_dense": "The right robotic gripper first moves to the silver metal pot, grasps its lid, lifts the lid and places it on the table, then reaches into the pot to grasp the orange carrot, lifts the carrot and places it on the blue plate next to the bread slice, then grasps the pot lid again, moves it back to the pot and places it on top of the pot before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 259, "tasks": ["place food"], "length": 925, "global_instruction": "Place the slice of bread from the blue plate into the toaster oven, then close the toaster oven door.", "scene_description": "A light wooden table holds a gray toaster oven with a yellow sponge on its top, a silver metal cup to the left of the oven, a blue plate to the oven's right holding a carrot and a slice of bread, a wooden spatula beside the plate, a small white shaker, and a lidded silver pot; the background is an office space with glass walls and equipment.", "global_instruction_dense": "The right robotic gripper first grasps the wooden spatula on the table, uses the spatula to lift the bread slice from the blue plate, places the bread into the open toaster oven, sets the spatula back on the blue plate, then grasps the toaster oven door handle and closes the oven door before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 260, "tasks": ["place food"], "length": 177, "global_instruction": "Place the small orange square tile into the clear glass storage container on the table", "scene_description": "A gray table holds a clear glass storage container, a small orange square tile, colorful decorative bows, tape spools, a tablet, notebooks, and a right-side robotic arm. A black office chair, red floor bags, and a wall-mounted TV are in the background.", "global_instruction_dense": "The right robotic arm moves toward the small orange square tile on the gray table, grasps it, lifts it, moves it over the clear glass storage container, and lowers it to place the tile inside the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 261, "tasks": ["place food"], "length": 258, "global_instruction": "Place the orange glove on the right side of the table into the transparent square container.", "scene_description": "A gray table holds assorted craft supplies (scissors, tape rolls, decorative bows, markers, a black box), a transparent square container, a purple umbrella, and white grid paper, with an orange glove positioned on the right side of the table, a black office chair behind the table, and a wall-mounted TV above the chair.", "global_instruction_dense": "The right robotic gripper moves toward the orange glove on the right side of the gray table, grasps the glove, lifts it, carries it left over the transparent square container, lowers it, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 262, "tasks": ["place food"], "length": 227, "global_instruction": "Pick up an orange fabric piece from the table and place it into the clear plastic container on the table", "scene_description": "A grey table holds crafting supplies including orange fabric pieces, green and blue handled scissors, tape rolls, a black cup, clear plastic containers, and golden decorative bows. A black mesh office chair sits behind the table, a black TV is mounted on the left wall, and a blue trash bin is near the background glass door, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the right, moves toward the orange fabric pieces at the far end of the grey table, grasps one orange fabric piece with its gripper, moves the fabric left over the clear plastic container on the table, and releases the fabric into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 263, "tasks": ["place food"], "length": 243, "global_instruction": "Place an orange bow from the clear plastic tray into the clear container holding orange fabric.", "scene_description": "A gray cloth-covered table holds various items including purple fabric, green scissors, a black cup, golden bows, a small red object, a clear plastic tray with orange bows, a clear container with orange fabric, tape rolls, a small blue object, a tablet, and a white sticker sheet. A right robotic arm is positioned on the right of the table, with a black office chair, wall-mounted TV, and orange bags near a door in the background.", "global_instruction_dense": "The right robotic arm moves toward an orange bow on the clear plastic tray at the far end of the table, grasps the orange bow, lifts it, moves it over the clear container with orange fabric on the right side of the table, lowers the bow into the container, releases it, and then moves away from the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 264, "tasks": ["place food"], "length": 421, "global_instruction": "Pick up the dark blue snack package from the table and place it on top of the blue yogurt cup.", "scene_description": "A light wooden table holds a white rice cooker, a light gray mug, a brown bag, a dark blue long snack package, a glass lid with a black knob, a smartphone, and a blue-and-white yogurt cup from left to right; two wooden chairs are behind the table, and a white robotic arm is mounted on a workbench to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the dark blue snack package on the table, grasps it, lifts and moves it over the blue yogurt cup, lowers it to place the package on top of the cup, then releases the package and moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 265, "tasks": ["place food"], "length": 200, "global_instruction": "Place the small packaged snack on the yellow cloth into the black open box", "scene_description": "A light wooden table holds a light blue tissue box, a small dark packaged snack on a yellow cloth, an open black cubic box, and a green-capped small bottle on a white cloth. Two wooden chairs are behind the table, a brown sofa is in the background, and a white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm of the right-mounted manipulator moves toward the packaged snack on the yellow table cloth, grasps it, lifts it, moves it over the black open box, and releases the snack into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 266, "tasks": ["place food"], "length": 258, "global_instruction": "Place the brown packaged food on the table into the brown paper shopping bag.", "scene_description": "A light wooden table holds a white paper towel roll, an orange bottle with a green base, a small green round lid, and a brown packaged food item; a brown paper shopping bag hangs at the left edge of the table, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the brown packaged food on the table, grasps it, lifts it, moves it over the brown paper shopping bag, releases the food into the bag, then moves back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 267, "tasks": ["place food"], "length": 207, "global_instruction": "Pick the orange fruit from the table and place it into the brown paper bag", "scene_description": "A light wooden dining table holds a brown paper bag, an orange fruit, a small dark bottle, a red circular object, a white cloth, and a white paper towel roll. The brown paper bag is at the left edge of the table, and a robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its position on the right toward the orange fruit in the center of the table, grasps and lifts the orange, moves it left over the brown paper bag, lowers it, and releases it into the brown paper bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 268, "tasks": ["place food"], "length": 278, "global_instruction": "Pick up the purple food bag from the counter and place it on top of the microwave.", "scene_description": "Light wood upper cabinets with silver handles are above a granite kitchen counter. On the counter: a clear blue-capped spray bottle, black coffee maker, silver-and-black microwave (with a yellow box on top), purple food bag with pink lids in front of the microwave, and black stove, with a white robotic arm positioned near the stove.", "global_instruction_dense": "The right robotic arm moves left from the stove area, grasps the purple food bag between the coffee maker and microwave, lifts it, moves it over the microwave top, releases the bag there, then moves back toward the stove.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 269, "tasks": ["place food"], "length": 275, "global_instruction": "Move the sealed food bag from the top of the microwave to the kitchen counter below it.", "scene_description": "A kitchen counter with a black coffee maker on the left, a silver and black microwave in the center, and a black stovetop to the microwave's right, below light wooden upper cabinets. A sealed plastic food bag, a yellow-red box, and a small purple cup rest on top of the microwave, a transparent water bottle sits left of the coffee maker, and towels hang on the stovetop oven door, with a robotic arm positioned on the frame's right side.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the top of the microwave, grasps the sealed plastic food bag, lifts it, moves it downward to the kitchen counter between the microwave and coffee maker, releases the bag, then moves back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 270, "tasks": ["place food"], "length": 827, "global_instruction": "Pick up the food package from the counter, place it on top of the microwave, open and close the microwave door, then place a small purple object on the microwave.", "scene_description": "A kitchen counter has a silver and black microwave at center, a black coffee maker to the left of the microwave, a transparent water bottle to the left of the coffee maker, a food package on the counter in front of the microwave, light wooden upper cabinets with silver handles above the counter, and a white robotic arm positioned to the right of the microwave.", "global_instruction_dense": "The right robotic arm moves toward the food package on the kitchen counter, grasps it, lifts and places it on top of the microwave, then pulls the microwave door open, pushes it closed, grasps a small purple object from the lower counter, places it on top of the microwave, and moves away to a resting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 271, "tasks": ["place food"], "length": 320, "global_instruction": "Place the purple coffee pods from the microwave top into the coffee maker.", "scene_description": "A granite kitchen countertop has a black coffee maker on its left and a silver-and-black microwave to the coffee maker's right. A purple coffee pod, a yellow-red box, and a packaged snack sit on the microwave top, with light wooden upper cabinets mounted above the counter, and a white-gray robotic arm positioned on the right above the stove next to the microwave.", "global_instruction_dense": "The right robotic arm moves left toward the purple coffee pods on top of the microwave, grasps the pods, moves to the black coffee maker, pulls out its filter basket, places the pods into the basket, and inserts the basket back into the coffee maker.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 272, "tasks": ["place food"], "length": 282, "global_instruction": "Place the sealed clear food bag from beside the microwave onto the left edge of the kitchen counter.", "scene_description": "Light wood upper cabinets with silver handles are mounted above a speckled green granite kitchen counter. On the counter, left to right: a blue sponge, a clear plastic bottle with blue liquid, a small pink ring-shaped object, a black drip coffee maker, a sealed clear bag of dry food, a silver-and-black microwave with a small yellow box with an orange label on its top, and a black electric stove with two towels hanging on its oven door. A white and gray robotic arm is positioned above the right side of the counter near the stove.", "global_instruction_dense": "The right robotic arm moves left from above the stove, grasps the black coffee carafe, lifts and resets it on the coffee maker, then grasps the clear sealed food bag, lifts it, carries it to the left edge of the counter, releases it, and moves toward the microwave door.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 273, "tasks": ["place food"], "length": 315, "global_instruction": "Pick up the plastic nut snack bag from the counter, move it, and place it back on the kitchen counter.", "scene_description": "A granite kitchen counter holds a black coffee maker left of a silver and black microwave, a clear water bottle with a blue base next to the coffee maker, and a plastic snack bag of nuts near the counter front. Light wood upper cabinets are above the counter, a black stove with hanging towels is to the right of the microwave, and a white-gray robotic arm is positioned above the microwave's right side.", "global_instruction_dense": "The right robotic arm moves downward from above the microwave, grasps the plastic nut snack bag on the counter, lifts and moves the bag horizontally, then lowers it back to the counter, releases the bag, and moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 274, "tasks": ["place food"], "length": 343, "global_instruction": "Place a purple food package onto the top of the silver microwave", "scene_description": "Light wood upper cabinets with silver handles are mounted above a speckled granite kitchen counter. A clear bottle with a blue base sits at the far left of the counter, next to a black electric kettle; a white bottle with a brown cap is in front of the kettle, a silver microwave sits behind the white bottle with a yellow and white box on top of it, and a black stove with hanging towels is to the right of the microwave. A white and grey robotic arm is positioned at the right side above the counter initially.", "global_instruction_dense": "The right robotic arm first shifts the white bottle with a brown cap left on the counter to clear access, grasps the purple food package next to the black kettle, lifts it, moves it over the silver microwave, and releases it to place the package on the microwave's top surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 275, "tasks": ["place food"], "length": 259, "global_instruction": "Place the brown packaged snack from the main desk onto the adjacent small side table", "scene_description": "A light wood main desk with a black monitor on its left holds a brown packaged snack, black gloves, a black strap, small white tubes, a red elongated object, and a plate with dark items. An adjacent small side table holds a black cloth and a yellow item, with a robotic arm positioned above the right of the main desk.", "global_instruction_dense": "The right robotic arm moves down to grasp the brown packaged snack on the main desk, lifts it, moves it rightward to the adjacent small side table, lowers and releases the snack on the side table, then moves back upward above the main desk.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 276, "tasks": ["place food"], "length": 272, "global_instruction": "Pick up the brown packaged food item from the small side table and place it on the main desk near the monitor.", "scene_description": "A light wooden desk with a black monitor on the left holds small tube items, a green packet, black straps, a red long object, and a plate. A smaller adjacent light wooden table to the right holds a brown packaged food item and a black cloth, with a robotic arm positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the brown packaged food on the small side table, grasps it, lifts it, transports it left to the main desk near the black monitor, lowers and releases the food onto the desk, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 277, "tasks": ["place food"], "length": 282, "global_instruction": "Pick up the green snack bag on the right side of the table and place it on the left side of the table near the keyboard.", "scene_description": "A light beige wooden table holds a silver and black keyboard, clear plastic water bottle with a blue cap, green tote bag printed with donut images, two rolls of white paper towel, a small black spoon, a blue snack packet, a red snack packet, and a green snack bag; a white robotic arm is positioned at the right edge of the frame above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the green snack bag on the right section of the table, grasps the bag, lifts it, moves leftward above the table toward the keyboard, lowers the bag, and releases it onto the table surface near the keyboard.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 278, "tasks": ["place food"], "length": 410, "global_instruction": "Place the blue snack packet on top of the red snack packet on the tabletop.", "scene_description": "A light wooden table holds a green nut snack bag, a blue snack packet, a red snack packet, a white keyboard, a clear water bottle, a green gift bag, and a roll of white paper towel. A robotic arm is positioned above the right side of the table, with a light wooden chair behind the table.", "global_instruction_dense": "The right robotic arm moves toward the blue snack packet on the table, grasps it, lifts it, moves it over the red snack packet, places the blue packet onto the red one, then adjusts the position of the stacked snack packets.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 279, "tasks": ["place food"], "length": 254, "global_instruction": "Place the red snack bag next to the green nut bag on the table", "scene_description": "A light wooden table against a light gray wall holds a white keyboard with black keys, a green nut bag, a red snack bag, a blue snack bag, a transparent water bottle, a dark green shopping bag, two rolls of white kitchen paper, a small dark spoon and other sundries. A wooden chair is behind the table, and a right robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red snack bag on the table, closes its gripper to grasp the bag, lifts it, moves left to the area near the green nut bag, lowers the bag, and releases the gripper to place the bag on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 280, "tasks": ["place food"], "length": 295, "global_instruction": "Place the clear plastic packaged snack into the green shopping bag then return it to the table.", "scene_description": "A light brown table holds a green printed paper shopping bag, a black-and-white grid keyboard, a clear water bottle with a blue cap, a clear plastic packaged snack, a white paper roll, and a blue packet, with a right robotic arm at the upper right of the table.", "global_instruction_dense": "The right robotic arm first adjusts the position of the green shopping bag on the table, then grasps the clear plastic packaged snack from the table surface, lifts the snack and places it into the shopping bag, then retrieves the snack from the bag and places it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 281, "tasks": ["place food"], "length": 146, "global_instruction": "Place the small packaged snack on the table into the green gift bag.", "scene_description": "A light brown table holds a black-and-white grid calibration board, a clear plastic water bottle with a blue cap, a roll of white paper, assorted small packaged items, and a green gift bag printed with pastry patterns on its right side; a robotic arm is positioned above the right area of the table.", "global_instruction_dense": "The right robotic arm moves down toward the small packaged snack on the lower part of the table, grasps it with its gripper, lifts the snack, moves it rightward above the green gift bag, releases the snack to drop it into the bag, then moves away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 282, "tasks": ["place food"], "length": 295, "global_instruction": "Pick up the small snack package on the right of the desk and place it into the dark green shopping bag.", "scene_description": "A light wooden desk holds a black-and-white keyboard, clear water bottle with blue cap, white paper roll, blue packaged item, and dark green paper shopping bag with white handles. A small snack package sits on the desk's right side near a wooden chair, with a white robotic arm positioned above the desk's right area.", "global_instruction_dense": "The right robotic arm moves down toward the small snack package on the desk's right side, grasps it with its gripper, lifts it, moves left to position it over the dark green shopping bag, then lowers and releases it into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 283, "tasks": ["place food"], "length": 240, "global_instruction": "Pick up the packaged snack on the table and place it into the dark green paper shopping bag", "scene_description": "A light wooden table holds a black-and-white keyboard, a clear blue-capped plastic bottle, a blue packaged item, a white paper roll, a dark green printed paper shopping bag, and a small packaged snack. A right robotic arm is at the top right, and a wooden chair is against the wall behind the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the packaged snack on the right of the table, grasps the snack, lifts it, moves left over the dark green paper shopping bag, and releases the snack into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 284, "tasks": ["place food"], "length": 238, "global_instruction": "Place the red snack packet on the table into the dark green shopping bag.", "scene_description": "A light brown table holds a dark green printed shopping bag, a red snack packet, a black and white keyboard, a clear water bottle with a blue cap, a roll of white paper, and a blue flat package. A wooden chair is next to the table, and a robotic arm is positioned at the upper right above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red snack packet on the table, grasps it with its gripper, lifts the packet, moves it above the dark green shopping bag, and releases the snack packet into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 285, "tasks": ["place food"], "length": 324, "global_instruction": "Place the red snack package on the table into the dark green tote bag.", "scene_description": "A dark green printed tote bag, a black and white keyboard, a clear plastic bottle with a blue cap, a roll of white paper towels, and other small items are placed on a light wooden table, with a wooden chair behind the table and a right robotic arm above the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the red snack package on the table, grasps it with its gripper, lifts it, moves it over the dark green tote bag, lowers it, releases it into the bag, then moves upward away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 286, "tasks": ["place food"], "length": 196, "global_instruction": "Place the red snack package on the table into the dark green paper bag.", "scene_description": "A light wooden table holds a black-and-white keyboard, a clear plastic bottle with blue cap, a white paper roll, small assorted packages, and a dark green printed paper bag with white handles on the table's right side; a wooden chair is positioned behind the bag.", "global_instruction_dense": "The right robotic arm moves from its initial position above the table toward the red snack package, grasps it, lifts it, moves it over the dark green paper bag, and releases it into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 287, "tasks": ["place food"], "length": 180, "global_instruction": "Place the dark green snack package into the green shopping bag on the table", "scene_description": "A light beige table holds a dark green printed shopping bag with white handles, a black-and-white keyboard, a clear plastic water bottle with a blue cap, a blue box, and a white paper roll. To the right of the table near the wall are a dark green snack package, a light wooden slatted chair, and a right robotic arm is positioned in the upper right of the view.", "global_instruction_dense": "The right robotic arm moves downward to grasp the dark green snack package next to the wooden chair, lifts the package, moves it over the green shopping bag on the table, then releases the package to drop it into the shopping bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 288, "tasks": ["place food"], "length": 329, "global_instruction": "Place the green snack package on the right side of the table into the green shopping bag", "scene_description": "A light wooden table has a dark green printed shopping bag at its center, a black and white keyboard, a clear plastic bottle with blue cap, a white paper roll, and a green snack package to the right of the bag. A light wooden chair sits at the table's right end, and a robotic arm is positioned above the bag.", "global_instruction_dense": "The right robotic arm moves right toward the green snack package on the right of the table, grasps the package with its gripper, lifts it, moves left over the green shopping bag, then releases the snack package into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 289, "tasks": ["place food"], "length": 313, "global_instruction": "Pick up the green snack bag on the table and place it into the blue gift bag.", "scene_description": "A light wooden table holds a white keyboard, clear plastic water bottle, white paper towel roll, green snack bag, and blue gift bag with pink prints on its right side, with a robotic arm above the table's right area.", "global_instruction_dense": "The right robotic arm moves downward toward the green snack bag on the table, grasps it with its gripper, lifts it, moves right to position over the blue gift bag, then releases the snack bag into the gift bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 290, "tasks": ["place food"], "length": 491, "global_instruction": "Place the snack packages from the stove and lower counter into the blue bowl.", "scene_description": "A blue bowl rests on a kitchen counter, with a stainless steel microwave to its left, a green packaged snack on the adjacent black stove top, and a robotic arm positioned above the bowl.", "global_instruction_dense": "The right robotic arm grasps the green snack package from the stove, places it into the blue bowl, then grasps a blue snack package and a red snack package from the lower counter near the microwave, placing each sequentially into the blue bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 291, "tasks": ["place food"], "length": 476, "global_instruction": "Place the two snack packages from the stove into the blue bowl on the counter.", "scene_description": "In a kitchen, a silver microwave is on the left counter, a black electric stove is to the microwave's right, a large blue bowl sits on the counter between them, a red snack package and a green snack package rest on the stove, and a robotic arm is positioned above the stove.", "global_instruction_dense": "The right robotic arm grasps the red snack package on the stove, lifts and moves it over the blue bowl to release it into the bowl, then moves back to grasp the green snack package on the stove, lifts and moves it over the blue bowl to release it into the bowl, and finally retracts to a position above the stove.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 292, "tasks": ["place food"], "length": 296, "global_instruction": "Place a snack package from the stove into the dark blue bowl on the kitchen counter.", "scene_description": "A silver microwave is on the left of a kitchen counter next to a black cylindrical appliance. A black electric stove is to the right of the microwave with a robotic arm above it, and a dark blue bowl of snack packages sits on the counter between them under wooden upper cabinets.", "global_instruction_dense": "The right robotic arm moves across the stove, adjusts the lid inside the dark blue bowl, returns to the stove to grasp a small snack package, then moves the package over the bowl and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 293, "tasks": ["place food"], "length": 370, "global_instruction": "Remove all snack packages from the dark blue bowl and place them on the counter adjacent to the electric stove.", "scene_description": "A kitchen counter has a silver microwave on its left side, a large dark blue bowl holding blue, green, and red snack packages between the microwave and a black electric stove, with light wood upper cabinets mounted above the counter, and a robotic arm positioned near the stove.", "global_instruction_dense": "The right robotic arm moves toward the dark blue bowl on the counter, sequentially grasps the blue, green, and red snack packages from the bowl, lifts each one, moves it over to the counter next to the stove, and releases each package onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 294, "tasks": ["place food"], "length": 509, "global_instruction": "Place all snack packets from the stovetop into the dark blue basin.", "scene_description": "A kitchen scene with a black stovetop, a silver microwave to the left of the stovetop, a dark blue basin on the counter in front of the stovetop, three snack packets on the left edge of the stovetop, and a gray-and-white robotic arm positioned above the stovetop.", "global_instruction_dense": "The right robotic arm sequentially grasps each snack packet from the left side of the stovetop, moves each packet over the dark blue basin in front of the stovetop, and releases each packet into the basin until all three snack packets are inside the basin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 295, "tasks": ["place food"], "length": 451, "global_instruction": "Remove all snack packages from the dark blue bowl and place them on the kitchen counter below the bowl.", "scene_description": "A silver microwave sits on the left of a kitchen counter, a dark blue bowl holding multiple colorful snack packages is to the right of the microwave, a black stove and wooden upper cabinets are in the background, and a robotic arm is positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves down toward the dark blue bowl, sequentially grasps each snack package inside the bowl, lifts each package out, and places it on the counter below the bowl until the bowl is empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 296, "tasks": ["place food"], "length": 612, "global_instruction": "Place the three snack packages on the kitchen counter into the clear plastic container", "scene_description": "On a kitchen counter below wooden upper cabinets, a silver-black microwave with a large blue bowl on top is positioned left; to its right are a black air fryer, three snack packages (green, red, blue), and a clear rectangular plastic container; a black electric stove with pans and condiments sits to the counter's right, with a robotic arm above the stove at the top right.", "global_instruction_dense": "The right robotic arm moves downward from above the stove, sequentially grasps the green, red, and blue snack packages on the counter, lifts each and places it into the clear plastic container, then moves away after all packages are placed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 297, "tasks": ["place food"], "length": 287, "global_instruction": "Remove snack packets from the clear container and place them on the kitchen counter.", "scene_description": "A silver microwave with a dark blue bowl on top sits on a speckled kitchen counter, next to a black cylindrical appliance, a clear container holding colored snack packets, and a black electric stove to the right, with a robotic arm positioned above the stove.", "global_instruction_dense": "The right robotic gripper moves left toward the clear snack container on the kitchen counter, grasps individual snack packets one by one, lifts each, moves each to the empty counter space left of the container, and releases each packet onto the counter until all small packets are removed from the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 298, "tasks": ["place food"], "length": 314, "global_instruction": "Place the green and blue snack packets from the counter into the clear rectangular container.", "scene_description": "A kitchen counter holds a black microwave topped with a dark blue bowl, three snack packets (green, orange, blue), and a clear rectangular container, with a black stovetop to the counter's right.", "global_instruction_dense": "The right robotic arm moves to the green snack packet on the counter, grasps and lifts it, drops it into the clear container, then moves to the blue snack packet, grasps and lifts it, and drops it into the clear container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 299, "tasks": ["place food"], "length": 227, "global_instruction": "Remove packaged snacks from the transparent container and place them on the kitchen counter.", "scene_description": "A silver microwave with a dark blue bowl on top sits on a kitchen counter next to a black air fryer. A transparent container holding packaged snacks and a small orange-red snack packet are on the counter between the air fryer and a black coil stove with pots on it, with a white-gray robotic arm positioned above the stove and brown upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves from above the stove toward the transparent snack container, grasps a blue packaged snack, lifts and places it on the counter next to the existing red-orange snack packet, then grasps a green packaged snack from the container, lifts and places it on the counter next to the blue snack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 300, "tasks": ["place food"], "length": 267, "global_instruction": "Pick up the green snack package and place it into the clear plastic container on the kitchen counter", "scene_description": "A kitchen counter holds a silver-black microwave with a large dark blue (light blue interior) bowl on top, a black cylindrical appliance next to the microwave, a green snack package, small assorted snack packets, and a clear rectangular plastic container. A black electric stove with pots sits behind the counter, with light brown wooden cabinets mounted above, and a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves downward toward the green snack package on the kitchen counter, grasps it with its gripper, lifts it, moves it over the clear plastic container, lowers it, and places it into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 301, "tasks": ["place food"], "length": 843, "global_instruction": "Move the two snack packages from the open cardboard box to the higher adjacent granite countertop.", "scene_description": "An open brown cardboard box holding two colorful orange snack packages, a white paper shopping bag, and a robotic arm are on a granite kitchen counter, with a dining table and wooden chairs in the background.", "global_instruction_dense": "The right robotic arm moves down to the open box on the lower counter, grasps a snack package, lifts and places it on the higher counter, returns to grasp the remaining snack package, lifts and places it on the higher counter, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 302, "tasks": ["place food"], "length": 457, "global_instruction": "Place the yellow snack packets from the raised counter section into the open white box on the lower counter section.", "scene_description": "A speckled granite kitchen counter has two yellow snack packets on its raised back section, an empty open white flat box on its lower front section, and two wooden chairs behind the raised counter; a white robotic arm is positioned above the counter in the top right.", "global_instruction_dense": "The right robotic arm lowers toward the yellow snack packets on the raised counter, grasps one packet, lifts it, moves it over the open white box on the lower counter, releases the packet into the box, then moves back to grasp another yellow snack packet, lifts it, moves it over the box, releases it into the box so both packets are inside the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 303, "tasks": ["place food"], "length": 713, "global_instruction": "Move the yellow snack packets from the lower counter tray to the upper counter tier.", "scene_description": "A speckled granite kitchen counter has a brown tray with white edges on its lower tier, two yellow packaged snacks on the tray, two light wooden chairs behind the upper counter tier, and a white robotic arm with a black gripper is positioned above the top right of the counter.", "global_instruction_dense": "The left robotic arm lowers to grasp a yellow snack packet from the lower tray, moves it to the upper counter and releases it, then returns to grasp a yellow snack packet from the tray, moves it to the upper counter and releases it, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 304, "tasks": ["place food"], "length": 417, "global_instruction": "Pick all snack packets from the upper kitchen counter and place them into the brown tray on the lower counter.", "scene_description": "A granite kitchen counter has two levels: the upper level holds multiple snack packets and a black phone, with two wooden chairs behind it; the lower level holds an empty brown tray with white edges, and a robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic gripper sequentially moves to the upper kitchen counter, grasps each snack packet, moves each packet over the empty brown tray on the lower counter, releases each packet into the tray, then returns to its resting position once all packets are placed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 305, "tasks": ["place food"], "length": 254, "global_instruction": "Place the snack packets from the upper kitchen counter into the tray on the lower counter.", "scene_description": "A speckled granite kitchen counter has two snack packets and a black mobile phone on its raised upper level, two light wooden chairs behind the upper level, an empty brown tray with white edges on the lower counter surface, and a white robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm extends toward the raised upper kitchen counter, grasps a yellow snack packet, moves it over the tray on the lower counter and releases it, then grasps the remaining snack packet from the upper counter, moves it over the tray and releases it, before retracting away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 306, "tasks": ["place food"], "length": 458, "global_instruction": "Move the orange snack packets from the open tray on the lower counter to the higher granite counter surface.", "scene_description": "A granite kitchen counter has a lower section with an open white tray holding two orange snack packets, a higher section with woven placemats, two wooden chairs behind the counter, and a robotic arm on the right side of the view.", "global_instruction_dense": "The left robotic arm moves down to the tray, grasps the first orange snack packet, lifts and places it on the higher counter, returns to grasp the second snack packet, drops it near the counter edge, then re-grasps and places it on the higher counter next to the first packet before retreating.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 307, "tasks": ["place food"], "length": 500, "global_instruction": "Remove the two snack packets from the open white tray and place them on the higher section of the granite kitchen counter.", "scene_description": "An open white tray with a brown interior holds two small snack packets (one orange with printed graphics, one pale with a yellow border) on the lower section of a speckled granite kitchen counter; a robotic arm is positioned to the upper right of the tray.", "global_instruction_dense": "The right robotic gripper moves toward the open white tray on the lower granite kitchen counter, grasps the orange printed snack packet, lifts it and places it on the higher counter behind the tray, then grasps the pale snack packet with a yellow border (dropping it back into the tray once before grasping it again), and places it on the higher counter next to the orange snack packet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 308, "tasks": ["place food"], "length": 445, "global_instruction": "Place the snack packages from the upper counter into the empty tray on the lower counter.", "scene_description": "A two-level granite kitchen counter has two colorful snack packages and a dark mobile phone on the upper level, and an empty open white tray on the lower level. Two light wooden chairs are behind the upper counter, and a white robotic arm is at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the upper kitchen counter, grasps a snack package, lifts and moves it over the lower empty tray to release it inside, returns to the upper counter, grasps a snack package, lifts and moves it over the tray to release it inside, then moves upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 309, "tasks": ["place food"], "length": 403, "global_instruction": "Pick up the yellow snack packets from the pizza box and place them on the adjacent kitchen counter.", "scene_description": "A granite kitchen counter holds an open brown pizza box containing two yellow packaged snacks, with two wooden chairs behind the counter, and a robotic arm positioned to the right of the counter; a couch, whiteboard, and trash bin are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the open pizza box on the kitchen counter, grasps a yellow snack packet, lifts and places it on the counter outside the box, then returns to grasp another yellow snack packet, lifts and places it next to the first snack on the counter, before moving back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 310, "tasks": ["place food"], "length": 660, "global_instruction": "Pick up the yellow snack packs on the counter and place them into the brown tray.", "scene_description": "Two yellow snack packs, a black bottle with a yellow cap, and an empty brown tray rest on a granite kitchen counter. The bottle is at the left of the lower counter, the snack packs are centered on the lower counter, and the tray is to the right of the snack packs. A robotic gripper is positioned in the upper right above the counter.", "global_instruction_dense": "The right robotic gripper moves down to the yellow snack packs on the lower counter, grasps one snack pack, lifts it, moves it over the brown tray and releases it into the tray, then returns to grasp the remaining snack pack, moves it over the tray, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 311, "tasks": ["place food"], "length": 432, "global_instruction": "Place the yellow snack packets from the brown tray onto the raised granite counter section.", "scene_description": "A speckled granite kitchen counter has an open brown tray holding two yellow printed snack packets, a black bottle with a light brown wooden cap left of the tray. A raised counter section has two round light woven placemats, a dark mobile phone on the right placemat, two light wooden chairs behind it, and a white robotic arm above the right counter.", "global_instruction_dense": "The right robotic arm moves down to the brown tray on the lower counter, grasps a yellow snack packet, lifts and moves it to the raised counter to release, then returns to the tray, grasps the remaining yellow snack packet, lifts and moves it to the raised counter to release, leaving the tray empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 312, "tasks": ["place food"], "length": 330, "global_instruction": "Place the two packaged snacks from the open brown box onto the raised counter section near the placemats.", "scene_description": "Two orange-yellow packaged snacks rest inside an open brown box on a speckled granite kitchen counter. A dark bottle with a light wooden cap sits to the left of the box, two round light-colored woven placemats are on the raised counter section behind the box, and wooden dining chairs are visible in the background.", "global_instruction_dense": "The right robotic arm moves down to the open brown box on the kitchen counter, grasps a packaged snack, lifts and moves it to the raised counter section near the placemats and releases it, then returns to the box, grasps a packaged snack, lifts and moves it to the raised counter next to the first placed snack, releases it, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 313, "tasks": ["place food"], "length": 280, "global_instruction": "Place the snack packets from the raised counter into the brown tray on the lower counter.", "scene_description": "A granite kitchen counter has a raised section with two round woven placemats, and multiple colorful snack packets are positioned near the right placemat on the raised section. The lower counter section holds a dark bottle with a light wooden cap on the left, an open empty brown tray in the center, and a white robotic arm is above the counter to the right. Two wooden chairs are behind the raised counter section.", "global_instruction_dense": "The right robotic arm moves toward the snack packets on the raised granite counter, grasps a snack packet, moves it over the brown tray on the lower counter and releases it into the tray, then grasps a second snack packet from the raised counter, moves it over the tray, releases it into the tray, and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 314, "tasks": ["place food"], "length": 413, "global_instruction": "Place both snack packages from the open pizza box onto the upper section of the kitchen granite counter.", "scene_description": "A granite kitchen counter has an open pizza box holding two snack packages (one orange-printed, one pale yellow) on its lower section, two round woven placemats on its upper section, a black bottle with a yellow cap to the left of the box, two wooden chairs behind the upper counter, and a robotic arm on the right, with a living area containing a couch and trash bin in the background.", "global_instruction_dense": "The right robotic arm moves down to the pizza box on the lower counter, grasps the orange-printed snack package, lifts and moves it to the upper counter near the right placemat and releases it, then returns to the box to grasp the pale yellow snack package, lifts and moves it next to the previously placed snack and releases it, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 315, "tasks": ["place food"], "length": 214, "global_instruction": "Place the snack packets from the rear kitchen counter into the open brown box", "scene_description": "A speckled granite kitchen counter has two small yellow-orange snack packets on round woven placemats at its rear edge, a black bottle with a light brown cap on its left, and an empty open brown box in the foreground; two wooden chairs sit behind the counter, with a white robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm descends to the rear counter, grasps a snack packet, lifts and drops it into the open brown box, then grasps another snack packet, lifts and drops it into the box, before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 316, "tasks": ["place food"], "length": 344, "global_instruction": "Place the snack packs from the brown tray onto the higher rear section of the kitchen counter.", "scene_description": "A granite kitchen counter holds a black bottle with a yellow cap on its left side, an open brown tray with three snack packs on its right side, two round woven placemats on its higher rear section in front of two wooden chairs, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves down from its initial position to the brown tray, adjusts the positions of the snack packs inside the tray, sequentially grasps each snack pack, lifts each and places it on the higher rear section of the counter, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 317, "tasks": ["place food"], "length": 254, "global_instruction": "Place the two snack packets from the upper kitchen counter into the brown tray on the lower counter.", "scene_description": "A two-level granite kitchen counter is shown: the upper level has two light wooden chairs positioned behind it, two round beige woven placemats, and a silver snack packet next to an orange snack packet near the right placemat. The lower level has a black bottle with a light yellow cap on the left, and an empty brown tray with white edges on the right. A robotic arm is positioned above the upper counter.", "global_instruction_dense": "The right robotic arm extends from the right side of the frame, moves down to grasp the silver snack packet on the upper counter, lifts it, moves it over the brown tray on the lower counter and releases it into the tray, then moves back to grasp the orange snack packet on the upper counter, lifts it, moves it over the tray and releases it into the tray before moving upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 318, "tasks": ["place food"], "length": 242, "global_instruction": "Move snack packets from the brown tray on the lower kitchen counter to the raised upper counter near the placemats.", "scene_description": "A granite kitchen counter has a black bottle with a yellow lid on its left lower section, a brown tray with small snack packets on its right lower section, two round beige woven placemats on the raised upper counter section, two wooden slatted chairs behind the upper counter, and a white and grey robotic arm positioned above the upper counter.", "global_instruction_dense": "The right robotic arm moves down to the brown tray on the lower granite counter, grasps the snack packets one at a time, lifts each, moves them up to the raised upper counter section, and places them next to the round woven placemats.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 319, "tasks": ["place food"], "length": 331, "global_instruction": "Place the snack packets from the upper counter ledge into the tray on the lower counter.", "scene_description": "A granite kitchen counter has a black bottle with a yellow cap on its lower left, an empty brown tray with white edges on its lower right, two round woven placemats on its upper ledge, two small snack packets next to the right placemat, two wooden chairs behind the counter, and a robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves toward the upper counter ledge, grasps a snack packet, lifts and moves it over the tray to release it inside, then moves back to the upper ledge, grasps a snack packet, lifts and moves it over the tray to release it inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 320, "tasks": ["place food"], "length": 147, "global_instruction": "Pick a white egg from the yellow egg carton and place it on the wooden workbench surface.", "scene_description": "A wooden workbench holds a yellow plastic egg carton with multiple white eggs, loose white eggs are on the workbench beside the carton, assorted tools and wires are scattered on the workbench, and a white robotic arm is positioned on a work surface to the right of the egg carton.", "global_instruction_dense": "The right robotic arm moves toward the yellow egg carton on the wooden workbench, grasps a white egg from the carton with its gripper, lifts the egg, moves it to the empty workbench area adjacent to the carton, lowers it, and releases it onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 321, "tasks": ["place food"], "length": 140, "global_instruction": "Place a white egg from the yellow egg tray onto the workbench surface beside the tray.", "scene_description": "A wooden workbench holds a yellow plastic egg tray with multiple white eggs inside, several white eggs are scattered on the workbench surface to the right of the tray, electronic tools and wires are arranged at the back of the workbench, and a white dual-arm robot is positioned to the right of the workbench.", "global_instruction_dense": "The left robotic arm of the dual-arm robot moves toward the yellow egg tray on the workbench, grasps a white egg from the tray with its gripper, lifts the egg, moves it rightward over the workbench surface next to the other scattered eggs, lowers the egg, and releases it onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 322, "tasks": ["place food"], "length": 162, "global_instruction": "Pick a white egg from the yellow egg tray and place it on the adjacent workbench surface.", "scene_description": "A light wood workbench holds a yellow plastic egg tray, multiple white eggs (some in the tray, some loose on the bench), electronic tools, and tangled wires. A white robotic arm is positioned above the far end of the workbench, mounted on a table to the right of the workbench.", "global_instruction_dense": "The right robotic arm moves left toward the workbench, lowers to grasp a white egg from the yellow egg tray, lifts the egg, moves it to the pile of loose white eggs on the workbench, and releases the egg onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 323, "tasks": ["place food"], "length": 166, "global_instruction": "Pick a white egg from the yellow egg tray and place it among the loose eggs on the workbench.", "scene_description": "A wooden lab workbench holds a yellow plastic egg tray with three white eggs, seven loose white eggs to the right of the tray, assorted lab wires and equipment, with a robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow egg tray, grasps a white egg from the tray, lifts it, moves it horizontally to the area of scattered loose eggs, and releases the egg onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 324, "tasks": ["place food"], "length": 131, "global_instruction": "Place a white egg from the yellow egg tray onto the wooden worktable surface.", "scene_description": "A light wooden worktable holds multiple white eggs, a yellow plastic egg tray at its front left, scattered electronics and tools, with a left robotic arm positioned above the table, and a right robotic arm on an adjacent workbench to the right.", "global_instruction_dense": "The left robotic arm moves down toward the yellow egg tray on the worktable, grasps a white egg with its gripper, lifts the egg, moves it to an empty spot on the worktable, and releases the egg onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 325, "tasks": ["place food"], "length": 167, "global_instruction": "Pick a white egg from the yellow egg tray and place it on the open area of the wooden workbench.", "scene_description": "A wooden workbench holds a yellow plastic egg tray with multiple white eggs on its left side, additional white eggs scattered on the workbench surface to the right of the tray, and a white robotic arm positioned above the workbench.", "global_instruction_dense": "The right robotic arm moves leftward and downward toward the yellow egg tray, grasps a white egg from the tray, lifts the egg, moves it rightward, and places it on the wooden workbench surface near the other scattered eggs.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 326, "tasks": ["place food"], "length": 144, "global_instruction": "Place a white egg from the yellow egg tray onto the workbench surface.", "scene_description": "A light wooden workbench holds two yellow plastic egg trays, multiple white eggs (some in the trays, some scattered on the table), assorted electronic tools and cables, and two white robotic arms positioned above the workbench.", "global_instruction_dense": "The left robotic arm moves down toward the yellow egg tray, grasps a white egg from the tray, lifts the egg, moves it toward the scattered eggs on the workbench, lowers it, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 327, "tasks": ["place food"], "length": 165, "global_instruction": "Pick a white egg from the yellow egg tray and place it on the workbench surface.", "scene_description": "A wooden lab workbench holds a yellow plastic egg tray with white eggs, multiple loose white eggs next to the tray, and assorted electronic tools and wires. A white robotic arm is positioned above the right side of the workspace.", "global_instruction_dense": "The right robotic arm moves from its initial position above the right side of the workspace toward the yellow egg tray, grasps a white egg from the tray, lifts it, moves it to the area with loose eggs on the workbench, lowers it, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 328, "tasks": ["place food"], "length": 179, "global_instruction": "Pick a white egg from the yellow tray and place it onto the workbench among the loose eggs.", "scene_description": "A wooden lab workbench has a yellow egg tray with white eggs inside on the left, loose white eggs scattered on the bench right of the tray, a left robotic arm above the tray, and a right robotic arm on the right bench with tools and wires around.", "global_instruction_dense": "The left robotic arm moves toward a white egg in the yellow tray, grasps the egg with its gripper, lifts it, moves it right over the scattered loose eggs on the workbench, then releases the egg onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 329, "tasks": ["place food"], "length": 149, "global_instruction": "Pick a white egg from the yellow egg tray and place it on the workbench next to the other loose white eggs.", "scene_description": "A wooden lab workbench holds a yellow plastic egg tray with multiple white eggs, five additional white eggs rest on the workbench to the right of the tray, a left robotic arm is positioned above the far end of the workbench, electronic tools and cables are scattered across the workbench, with a second robotic arm on the right side of the scene.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow egg tray on the wooden workbench, grasps a white egg from the tray, lifts the egg, moves it rightward above the group of loose white eggs on the workbench, lowers the egg, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 330, "tasks": ["place food"], "length": 145, "global_instruction": "Place a white egg from the yellow egg tray onto the wooden workbench with the other loose eggs.", "scene_description": "A wooden lab workbench holds a yellow egg tray with white eggs, multiple loose white eggs, and scattered electronic tools and cables. A left robotic arm is positioned above the workbench, a right robotic arm base sits on the adjacent right worktable, and parts organizers are mounted on the left wall.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow egg tray, grasps a white egg inside the tray, lifts the egg, moves it to the area of loose white eggs on the workbench, and places the egg onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 331, "tasks": ["place food"], "length": 149, "global_instruction": "Pick a white egg from the yellow egg tray and place it among the loose eggs on the workbench.", "scene_description": "A wooden workbench in a lab holds a yellow plastic egg tray with four white eggs, six loose white eggs to the right of the tray, and scattered lab equipment on the bench. A white robotic arm is raised above the bench on the right side.", "global_instruction_dense": "The left robotic arm moves downward from its raised starting position toward the yellow egg tray, grasps a white egg from the tray, lifts and moves the egg right to the loose egg area on the workbench, then releases the egg onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 332, "tasks": ["place food"], "length": 197, "global_instruction": "Pick a white egg from the yellow egg tray and place it on the workbench among the scattered white eggs.", "scene_description": "A wooden workbench is in a lab space. On the left of the workbench, a yellow plastic egg tray holds 3 white eggs, with 7 additional white eggs scattered on the workbench to the right of the tray. A white robotic arm is positioned at the right side of the workbench.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the yellow egg tray on the left of the workbench, grasps a white egg from the tray, lifts the egg, moves it rightward over the scattered eggs on the workbench, lowers the egg, and releases it onto the workbench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 333, "tasks": ["place food"], "length": 143, "global_instruction": "Pick a white egg from the yellow egg tray and place it on the workbench near the other loose white eggs.", "scene_description": "A light wooden workbench holds a yellow egg tray with white eggs on its left section, four loose white eggs to the right of the tray, assorted lab tools and wires, and two white robotic arms positioned above the bench.", "global_instruction_dense": "The left robotic arm lowers toward the yellow egg tray on the workbench, grasps a white egg from the tray, lifts and moves the egg rightward toward the loose eggs on the workbench, then releases the egg to place it on the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 334, "tasks": ["place food"], "length": 147, "global_instruction": "Pick a white egg from the yellow tray and place it among the loose eggs on the workbench.", "scene_description": "A wooden workbench holds a yellow plastic egg tray with six white eggs, five loose white eggs to the right of the tray, and scattered lab tools and wires. A white robotic arm is positioned above the right side of the bench, with lab storage and a corridor in the background.", "global_instruction_dense": "The right robotic arm extends leftward toward the yellow egg tray on the workbench, grasps a white egg from the tray, lifts the egg, moves rightward over the workbench, and places the egg among the loose white eggs on the bench.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 335, "tasks": ["place food"], "length": 197, "global_instruction": "Rearrange white eggs between the yellow egg tray and the wooden worktable surface.", "scene_description": "A wooden lab worktable holds a yellow egg tray with multiple white eggs, plus scattered white eggs to the right of the tray. A left robotic arm is positioned above the table, a right robotic arm sits on the adjacent right workbench, with assorted tools and wires spread across table surfaces.", "global_instruction_dense": "The left robotic arm moves downward toward the worktable, grasps a white egg from the scattered group on the table, moves it to the yellow egg tray and places it inside, then grasps a white egg from the tray, moves it back to the scattered egg area and places it on the worktable.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 336, "tasks": ["place food"], "length": 180, "global_instruction": "Place a white egg from the yellow egg tray onto the loose egg area of the workbench.", "scene_description": "A light brown wooden lab workbench is in the foreground. Multiple white eggs are present, with some in yellow plastic egg trays on the left of the workbench, and others loose on the middle workbench surface. Various electronic tools, wires, and equipment are scattered on the workbench, and a white-gray robotic arm is positioned to the right of the workbench.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow egg tray on the workbench, grasps a white egg with its gripper, lifts the egg, moves it toward the area of loose white eggs on the workbench, lowers the egg, and releases it onto the workbench surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 337, "tasks": ["place food"], "length": 586, "global_instruction": "Retrieve a glass pepper grinder from the open upper cabinet, place it on the kitchen counter, then close the cabinet door.", "scene_description": "A granite kitchen counter holds a silver utensil caddy with utensils, an orange cylindrical bottle, round wooden lids, a black spatula, and a plastic package. Above the counter are light wood upper cabinets with one door open, plus a stainless steel microwave mounted over a silver oven. A white and gray robotic arm is positioned to the right of the open cabinet.", "global_instruction_dense": "The right robotic arm reaches into the open upper cabinet, grasps the glass pepper grinder inside, lowers it onto the granite kitchen counter and releases it, then grips the cabinet door handle and pulls the door fully closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 338, "tasks": ["place food"], "length": 182, "global_instruction": "Place a yellow lemon from the glass fruit bowl onto the kitchen counter next to the plate of onions.", "scene_description": "A granite kitchen counter holds a glass bowl of yellow lemons and an apple, a plate of onions, clear glass bottles, a black coffee maker, a paper towel holder, and blue storage lids, with a right robotic gripper at the upper right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the glass fruit bowl on the counter, grasps a yellow lemon from the bowl, lifts and moves it right to the area next to the onion plate, then lowers and releases the lemon onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 339, "tasks": ["place food"], "length": 149, "global_instruction": "Place a yellow fruit from the glass bowl onto the kitchen counter next to the bowl.", "scene_description": "A speckled granite kitchen counter holds a glass bowl of yellow fruits and an apple, a yellow lemon next to the bowl, a plate of onions behind the bowl, a black coffee machine, silver small appliance, several water bottles, a white paper towel roll, and blue storage containers on the left, with a right robotic arm positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the glass fruit bowl on the kitchen counter, lowers its gripper to grasp a yellow fruit inside the bowl, lifts the fruit out of the bowl, moves it right to the counter area beside the bowl, and releases the fruit onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 340, "tasks": ["place food"], "length": 200, "global_instruction": "Place a yellow lemon from the glass fruit bowl onto the kitchen counter next to the other lemons.", "scene_description": "A granite kitchen counter holds a white paper towel holder, blue plastic lids on a black drying mat, multiple water bottles, a black coffee maker, a clear glass, a small silver appliance, a glass bowl with yellow lemons and an apple, two loose yellow lemons, and a plate of onions in the background, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the glass fruit bowl on the kitchen counter, lowers its gripper into the bowl to grasp a yellow lemon, lifts the lemon out of the bowl, moves right to the counter space next to the existing lemons, lowers the lemon, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 341, "tasks": ["place food"], "length": 201, "global_instruction": "Place the yellow lemon from the glass bowl onto the counter next to the other yellow lemons", "scene_description": "A granite kitchen counter below light wooden upper cabinets. Left counter has a white paper towel holder, stacked blue plastic lids, a black ribbed mat, and clear glass bottles. Center has a black coffee maker, empty clear glass, and silver small appliance. Right has a glass bowl with a yellow lemon and apple, three loose yellow lemons, a produce plate, and a right robotic arm at the far right.", "global_instruction_dense": "The right robotic arm moves toward the glass bowl on the kitchen counter, grasps the yellow lemon inside the bowl, lifts it, moves it to the counter area next to the three existing yellow lemons, and releases the lemon onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 342, "tasks": ["place food"], "length": 158, "global_instruction": "Place a yellow lemon from the kitchen counter into the glass bowl.", "scene_description": "A speckled granite kitchen counter below light wood upper cabinets holds a white paper towel holder, multiple bottles, a black water dispenser, clear glass, silver small appliance, and blue lidded containers on a black mat on the left; a glass bowl with an apple, three yellow lemons, and a plate of produce are on the right, with a robotic arm at the far right.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemons on the right of the counter, grasps one lemon, lifts it, moves left over the glass bowl holding an apple, and releases the lemon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 343, "tasks": ["place food"], "length": 148, "global_instruction": "Place a yellow countertop lemon into the glass fruit bowl.", "scene_description": "A granite kitchen counter has a glass bowl with an apple and one lemon inside, two loose yellow lemons to the right of the bowl, a right-side robotic arm, overhead wooden cabinets, plus a coffee maker, water bottles, paper towel holder, blue food storage lids, small silver appliance, and a plate of onions at the counter back.", "global_instruction_dense": "The right robotic gripper moves toward the loose yellow lemons on the counter, grasps one lemon, lifts it, moves it above the glass bowl, and releases the lemon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 344, "tasks": ["place food"], "length": 172, "global_instruction": "Place the loose yellow lemon on the kitchen counter into the glass fruit bowl.", "scene_description": "A speckled granite kitchen counter below light wooden upper cabinets holds a white paper towel holder, clear plastic bottles, a black beverage dispenser, a clear glass, a small silver appliance, a black drying mat with stacked blue storage lids on the left. Center-right has a glass fruit bowl with lemons and an apple, a loose yellow lemon next to the bowl, and a white plate with produce behind the bowl, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the loose yellow lemon on the counter, grasps it, lifts it, moves it over the glass fruit bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 345, "tasks": ["place food"], "length": 304, "global_instruction": "Transfer a lemon from the right produce plate into the fruit bowl, then transfer a lemon from the fruit bowl to the counter beside the produce plate.", "scene_description": "A light granite kitchen counter holds a white paper towel holder on the far left, clear water bottles, a black beverage dispenser, a clear glass, a small silver countertop appliance, a central glass fruit bowl with yellow lemons and an apple, a white produce plate with onions to the bowl's right, blue food storage lids, and a black drying mat, with light wood upper cabinets above and a robotic arm at the upper right edge.", "global_instruction_dense": "The right robotic arm moves toward the right white produce plate, grasps a yellow lemon, moves it to the central glass fruit bowl and releases it inside, then reaches into the fruit bowl to grasp a yellow lemon, moves it right, and releases it onto the counter next to the produce plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 346, "tasks": ["place food"], "length": 135, "global_instruction": "Place the loose yellow lemon on the kitchen counter into the glass fruit bowl.", "scene_description": "A granite kitchen countertop holds a white paper towel holder, clear water bottles, a black beverage dispenser, clear drinking glass, silver small kitchen appliance, glass fruit bowl with yellow fruits and an apple, a loose yellow lemon to the right of the bowl, and a white produce plate behind the lemon, with light wooden upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves toward the loose yellow lemon on the right of the counter, grasps the lemon, lifts it, moves left over the glass fruit bowl, and releases the lemon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 347, "tasks": ["place food"], "length": 179, "global_instruction": "Take a yellow fruit from the glass bowl and place it on the kitchen countertop.", "scene_description": "A granite kitchen counter holds a clear glass bowl of yellow fruits and an apple, a plate of onions to the bowl's right, blue-lidded storage containers, a black drying mat, a white paper towel holder, clear plastic bottles, a black beverage dispenser, a small silver appliance, and a clear drinking glass, with light wood cabinets above, and a robotic arm at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the glass fruit bowl on the counter, lowers its gripper into the bowl to grasp a yellow fruit, lifts the fruit out of the bowl, moves rightward toward the empty counter space next to the bowl, then lowers and releases the yellow fruit onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 348, "tasks": ["place food"], "length": 192, "global_instruction": "Place a yellow lemon from the glass fruit bowl onto the kitchen counter near the plate of onions.", "scene_description": "A kitchen granite countertop under light wooden upper cabinets holds, from left to right: a white paper towel roll, blue-lidded plastic containers, clear glass bottles, a black water dispenser, a small silver appliance, a glass bowl with yellow lemons and a red apple, a loose yellow lemon next to the bowl, and a white plate with onions behind the bowl.", "global_instruction_dense": "The right robotic gripper enters from the right edge of the frame, moves toward the glass fruit bowl on the kitchen counter, grasps a yellow lemon inside the bowl, lifts the lemon, moves it rightward over the counter, lowers it, and releases it onto the counter near the plate of onions.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 349, "tasks": ["place food"], "length": 212, "global_instruction": "Take a yellow lemon from the glass fruit bowl and place it on the kitchen counter next to the existing lemon.", "scene_description": "A granite kitchen counter sits below light wooden upper cabinets. On the counter: left side has a white paper towel holder, blue plastic storage containers, a black ribbed mat, several clear and dark bottles, a black beverage dispenser, a clear glass beaker, and a small silver countertop appliance. A glass fruit bowl holding two yellow lemons and an apple is at the center-right, with an additional single yellow lemon on the counter to its right, and a plate of produce behind it. A robotic arm is positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves left toward the glass fruit bowl on the kitchen counter, lowers its gripper to grasp a yellow lemon inside the bowl, lifts the lemon out of the bowl, moves right to the counter space next to the already present lemon, lowers the lemon, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 350, "tasks": ["place food"], "length": 451, "global_instruction": "Place the yellow lemons on the kitchen countertop into the glass fruit bowl.", "scene_description": "A granite kitchen countertop holds a white paper towel roll, blue plastic containers, clear glass bottles, a black water dispenser, a small silver appliance, a clear glass, a glass bowl with an apple and two lemons inside, three loose yellow lemons next to the bowl, and a white plate of onions behind the lemons; light wood cabinets are mounted above the counter, with a right robotic arm positioned at the upper right.", "global_instruction_dense": "The right robotic arm moves downward to grasp a yellow lemon from the counter, lifts it, releases it into the glass bowl, then repeats this sequence twice to place the remaining two yellow lemons into the bowl before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 351, "tasks": ["place food"], "length": 684, "global_instruction": "Move all yellow lemons and the apple from the central glass bowl to the countertop to the right of the bowl.", "scene_description": "Light wood upper cabinets sit above a speckled granite kitchen countertop. On the counter, left to right: a white paper towel roll, blue plastic storage lids, a black ridged drying mat, clear plastic bottles, a black water dispenser, a small silver appliance, a clear glass beaker, a clear glass bowl holding yellow lemons and one red-yellow apple, a white rectangular plate with onions and bread, and a gray-and-white robotic arm positioned at the right side of the counter.", "global_instruction_dense": "The right robotic arm sequentially moves to the central glass bowl, grasps each yellow lemon, moves it right to place it on the adjacent countertop, then grasps the remaining apple, moves it right, and places it on the countertop next to the lemons, leaving the bowl empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 352, "tasks": ["place food"], "length": 612, "global_instruction": "Place the yellow lemons and apple from the kitchen counter into the clear glass bowl.", "scene_description": "Light wood upper cabinets are above a granite kitchen counter, which holds a roll of white paper towels, blue plastic storage containers, a black beverage dispenser, clear water bottles, a small silver appliance, an empty clear glass bowl, three yellow lemons, and a white plate with onions and other produce.", "global_instruction_dense": "The right robotic arm enters the frame, sequentially grasps each yellow lemon from the counter and places them into the clear glass bowl, then grasps an apple from the counter, places it into the bowl, and moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 353, "tasks": ["place food"], "length": 639, "global_instruction": "Remove all fruits from the clear glass bowl and place them on the adjacent kitchen counter.", "scene_description": "A clear glass bowl containing yellow lemons and a reddish apple sits on a speckled granite kitchen counter. A white plate with onions and other food items is positioned to the right of the bowl, while a paper towel roll, clear water bottles, a black coffee machine, and a small silver appliance are on the left side of the counter, with wooden cabinets mounted above the countertop.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the clear glass bowl on the kitchen counter, grasps each fruit inside, lifts the fruit, moves it rightward, and places it on the countertop next to the plate until the bowl is empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 354, "tasks": ["place food"], "length": 548, "global_instruction": "Place all yellow lemons and the red apple from the kitchen counter into the clear glass bowl.", "scene_description": "A light granite kitchen counter under light wooden upper cabinets holds a black beverage dispenser, a transparent water bottle with a silver cap partially filled with water, a small clear plastic lid, a tall empty clear plastic cup, a small silver kitchen appliance, a clear glass bowl, three yellow lemons to the right of the bowl, and a plate with yellow onions and a small blue-and-white packaged item behind the lemons.", "global_instruction_dense": "The right robotic arm extends sequentially toward each yellow lemon and the red apple on the kitchen counter, grasps each fruit, lifts it, moves it over the clear glass bowl, and releases it into the bowl until all selected fruits are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 355, "tasks": ["place food"], "length": 658, "global_instruction": "Remove all fruits from the glass bowl and place them on the counter next to the plate of onions", "scene_description": "A granite kitchen counter holds a clear glass bowl with four yellow lemons and one red apple, a plate of onions with a small blue package to the bowl's right, a silver small appliance, clear plastic cup, black beverage dispenser, clear water bottle with silver cap, and dark drying mat to the bowl's left. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves to the glass bowl on the kitchen counter, grasps each yellow lemon and the red apple individually, lifts each out of the bowl, moves each to the counter next to the onion plate, releases each onto the counter, then moves away once the bowl is empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 356, "tasks": ["place food"], "length": 220, "global_instruction": "Place yellow lemons from the white tray into the clear glass bowl.", "scene_description": "A granite kitchen countertop below light wooden cabinets holds a half-full clear water bottle with silver cap, black coffee machine, clear empty plastic pitcher, silver small appliance, clear glass bowl with one apple and multiple yellow lemons, and a white tray with yellow onions and yellow lemons, with a right robotic gripper near the tray.", "global_instruction_dense": "The right robotic gripper grasps a yellow lemon from the white tray, lifts it, moves it over the clear glass bowl, releases it into the bowl, then repeats the action to move a second yellow lemon from the tray into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 357, "tasks": ["place food"], "length": 710, "global_instruction": "Remove all fruits from the clear glass bowl and place them on the counter next to the onion plate.", "scene_description": "A granite kitchen counter under light wooden cabinets holds, from left to right: a clear half-full water bottle with a silver cap, black single-serve coffee maker, clear empty plastic pitcher, silver small food processor, clear glass bowl containing yellow lemons and a red apple, and a white plate of brown onions. A right robotic arm is positioned at the far right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the clear glass bowl, successively grasps each yellow lemon and the red apple from the bowl, lifts each item, moves it rightward, and places it on the counter next to the plate of brown onions until the bowl is empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 358, "tasks": ["place food"], "length": 612, "global_instruction": "Remove all yellow lemons and the red apple from the glass bowl and place them on the kitchen counter.", "scene_description": "A speckled granite kitchen counter sits below light wooden cabinets. On the counter, left to right: a half-full clear plastic water bottle with a silver cap, a black coffee machine, a small clear plastic lid, a tall clear plastic cup, a silver small kitchen appliance, a glass bowl filled with yellow lemons and one red apple, with onions and a small blue package behind the bowl. A right robotic gripper is positioned at the upper right above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the glass bowl on the right side of the kitchen counter, repeatedly grasps yellow lemons from the bowl, lifts each, moves left, and places them on the empty counter space, then grasps the red apple from the bowl, lifts it, moves left, and places it on the counter next to the lemons.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 359, "tasks": ["place food"], "length": 648, "global_instruction": "Place the red-yellow apple and yellow lemons on the kitchen counter into the clear glass bowl.", "scene_description": "On a speckled granite kitchen counter under light wooden upper cabinets: the left side holds a black coffee machine, clear water bottle with a silver cap, clear plastic cup, small clear plastic lid, and silver compact kitchen appliance. The right side has four yellow lemons, one red-and-yellow apple, and a clear glass bowl positioned to the right of the fruits, with a robotic gripper at the far right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves to the red-yellow apple on the counter, grasps and places it into the clear glass bowl, then repeats the grasp-and-place process for each of the four yellow lemons until all fruits are inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 360, "tasks": ["place food"], "length": 683, "global_instruction": "Remove the lemons and red apple from the clear glass bowl and place them on the granite kitchen counter.", "scene_description": "A speckled granite kitchen counter has a clear glass bowl (filled with yellow lemons and a red apple) on its right side, a black water dispenser, clear plastic water bottle, empty clear plastic cup, and small silver countertop appliance on its left side, with onions on a tray behind the bowl and light brown wooden cabinets above the counter.", "global_instruction_dense": "The right robotic gripper enters from the right edge of the frame, repeatedly grasps individual yellow lemons and a red apple from the clear glass bowl on the right of the counter, lifts each item, moves it left to the empty section of the counter between the bowl and the silver appliance, places it down, then returns to the bowl until all targeted fruits are resting on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 361, "tasks": ["place food"], "length": 551, "global_instruction": "Place all the yellow lemons and the red-and-yellow apple on the counter into the clear glass bowl.", "scene_description": "A speckled granite kitchen counter holds four yellow lemons, one red-and-yellow apple, a clear glass bowl to the right of the fruit, a black beverage dispenser, silver small kitchen appliance, clear water bottle, empty clear plastic cup, and small plastic lid on the left, with wooden upper cabinets and a white robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the fruit on the counter, grasps each yellow lemon individually to lift and place them into the clear glass bowl, then grasps the red-and-yellow apple, lifts it, and places it into the bowl with the lemons.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 362, "tasks": ["place food"], "length": 894, "global_instruction": "Move all garlic bulbs and the red shallot from the white plate onto the adjacent kitchen counter.", "scene_description": "A granite kitchen counter holds a black coffee machine, silver water bottle, clear plastic cup, silver food processor, glass bowl of fruit, and a white rectangular plate with multiple whole garlic bulbs and one small red shallot, with a robotic arm positioned to the right of the plate.", "global_instruction_dense": "The right robotic arm repeatedly moves to the white plate, grasps a garlic bulb (and finally the red shallot), lifts and moves the item to the counter space next to the plate, releases the item, and returns to the plate until all items are moved from the plate to the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 363, "tasks": ["place food"], "length": 961, "global_instruction": "Move all whole white garlic bulbs from the square glass tray onto the adjacent empty kitchen counter surface.", "scene_description": "A granite kitchen counter sits under light brown upper cabinets. On the counter from left to right: a partially filled silver water bottle, a black beverage dispenser, a clear empty plastic cup, a small silver kitchen appliance, a glass bowl with yellow and red fruit, a square glass tray holding multiple whole white garlic bulbs, and a white and gray robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the square glass tray of whole white garlic bulbs on the kitchen counter, repeatedly grasps individual or multiple garlic bulbs, moves each grasped garlic a short distance left to the empty counter space next to the tray, releases the garlic onto the counter until all garlic from the tray is placed on the counter, then moves slightly away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 364, "tasks": ["place food"], "length": 275, "global_instruction": "Place the scattered white garlic cloves on the kitchen counter into the clear glass dish", "scene_description": "A granite kitchen counter holds a black coffee machine, silver water bottle, clear empty cup, silver food processor, fruit bowl, scattered white garlic cloves, and a clear glass dish right of the garlic, with wooden cabinets above and a right robotic arm at the right frame edge.", "global_instruction_dense": "The right robotic arm moves from the right edge of the frame toward the scattered white garlic cloves, grasps each clove one by one, moves each to the clear glass dish, and releases the cloves into the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 365, "tasks": ["place food"], "length": 469, "global_instruction": "Place the white garlic bulbs from the small glass dish onto the adjacent kitchen countertop.", "scene_description": "Light wood upper cabinets are above a speckled granite kitchen countertop. On the counter from left to right: a partially filled clear water bottle with a silver cap, a black coffee machine, a clear plastic pitcher, a small silver kitchen appliance, a glass fruit bowl with mixed fruits, and a small glass dish holding white garlic bulbs on the far right.", "global_instruction_dense": "The right robotic arm moves toward the small glass dish holding white garlic bulbs, grasps a garlic bulb, lifts it, moves it left over the empty counter space next to the dish, releases the bulb onto the counter, and repeats this process to move three garlic bulbs from the dish to the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 366, "tasks": ["place food"], "length": 372, "global_instruction": "Place the white garlic bulbs from the kitchen counter into the clear rectangular glass dish", "scene_description": "A kitchen granite countertop sits below light wooden upper cabinets. On the counter from left to right: a silver water bottle with partial water, a small clear plastic lid, a clear plastic pitcher, a black coffee machine, a silver food processor, a glass fruit bowl with yellow and red fruits, three white garlic bulbs, and a clear rectangular glass dish. A robotic arm is at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm moves left from the right edge of the frame, grasps each white garlic bulb on the counter individually, lifts each garlic, moves it to the clear rectangular glass dish, and releases the garlic into the dish until all three garlic bulbs are placed in the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 367, "tasks": ["place food"], "length": 416, "global_instruction": "Move whole garlic heads from the small glass dish onto the adjacent kitchen countertop.", "scene_description": "Light wooden upper cabinets hang above a speckled granite kitchen countertop. On the counter from left to right: a half-full clear water bottle with a silver cap, a black coffee machine, a clear plastic pitcher with a matching clear lid, a silver food processor, a glass bowl of mixed yellow and red fruit, a small square glass dish holding whole white garlic heads, and a small crumpled white piece of trash near the dish.", "global_instruction_dense": "The right robotic arm enters from the top right, repeatedly grasps whole garlic heads from the small glass dish, moves each over the countertop left of the dish, and releases them onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 368, "tasks": ["place food"], "length": 323, "global_instruction": "Place all whole garlic cloves from the counter into the small clear glass dish.", "scene_description": "A speckled granite kitchen counter sits under light wooden upper cabinets. On the counter from left to right: a clear plastic water bottle with a silver cap, a black coffee machine, a clear empty plastic pitcher, a silver food processor, a glass fruit bowl holding yellow and red fruit, three whole white garlic cloves next to discarded garlic peels, and a small clear square glass dish. A white robotic arm is positioned at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves sequentially toward each whole garlic clove on the counter, grasps each clove, lifts it, moves it over the small clear glass dish, and releases each clove into the dish until all cloves are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 369, "tasks": ["place food"], "length": 423, "global_instruction": "Place garlic bulbs from the small glass dish onto the adjacent empty granite countertop area.", "scene_description": "Light wood cabinets are mounted above a speckled granite kitchen counter. On the counter left to right: a partially filled silver water bottle, black capsule coffee machine, small clear plastic lid, empty clear plastic pitcher, silver food processor, glass bowl of mixed yellow and red fruit, small clear glass dish holding whole white garlic bulbs, with small crumpled white bits scattered on the counter. A white and gray robotic arm is at the right frame edge.", "global_instruction_dense": "The right robotic arm moves toward the small clear glass dish of garlic bulbs on the right of the kitchen counter, sequentially grasps individual garlic bulbs, lifts each, moves them left a short distance, and places them on the open counter section next to the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 370, "tasks": ["place food"], "length": 301, "global_instruction": "Place all white garlic bulbs on the kitchen counter into the small clear glass dish.", "scene_description": "A granite kitchen counter sits beneath light wooden upper cabinets. On the counter from left to right: a partially filled silver water bottle, a black beverage machine, a clear plastic pitcher, a small silver food processor, a clear plastic lid, a glass bowl of mixed yellow and red fruit, three whole white garlic bulbs, and a small square clear glass dish. A doorway is at the far right edge of the scene.", "global_instruction_dense": "The right robotic arm enters from the right side of the frame, moves to the garlic bulbs on the counter, grasps each garlic bulb one by one, transports each over the small glass dish, and releases each into the dish until all three bulbs are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 371, "tasks": ["place food"], "length": 296, "global_instruction": "Place the whole garlic bulbs from the counter into the square glass container.", "scene_description": "A granite kitchen counter holds a transparent silver-capped water bottle, black coffee machine, clear beaker, silver small appliance, glass bowl of yellow-orange fruits, three whole garlic bulbs, and a square glass container, with the right robotic arm positioned at the upper right of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the garlic bulbs on the counter, grasps one garlic bulb, moves it to the square glass container and releases it inside, then repeats this process for the remaining two garlic bulbs, placing all of them into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 372, "tasks": ["place food"], "length": 336, "global_instruction": "Place garlic bulbs from the small glass container onto the kitchen countertop", "scene_description": "A granite kitchen countertop holds a black coffee maker, clear glass bottle with silver cap, clear beaker, silver small appliance, glass bowl of yellow-orange fruit, and a small glass container of white garlic bulbs. A robotic arm is at the right edge of the counter, with lit under-cabinet lights below upper wooden cabinets.", "global_instruction_dense": "The right robotic arm repeatedly moves to the small glass container, grasps a garlic bulb, lifts and moves it to the open countertop, releases the bulb, and places three garlic bulbs total on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 373, "tasks": ["place food"], "length": 338, "global_instruction": "Place all white garlic heads from the kitchen counter into the clear glass baking dish.", "scene_description": "A granite kitchen counter under wooden upper cabinets with under-cabinet lights holds a black coffee machine, clear glass bottle with silver cap, clear measuring cup, small silver kitchen appliance, glass bowl of orange-yellow fruits, clear glass baking dish, and several whole white garlic heads next to the dish. A robotic arm is at the far right edge of the initial frame.", "global_instruction_dense": "The right robotic arm moves from the right edge toward the garlic heads on the counter, grasps each garlic head individually, moves it over the clear glass baking dish, releases the garlic into the dish, and repeats this action for three garlic heads.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 374, "tasks": ["place food"], "length": 313, "global_instruction": "Place whole white garlic bulbs from the glass dish onto the adjacent kitchen counter.", "scene_description": "A speckled granite kitchen counter holds a clear water bottle with a silver cap, small clear plastic lid, clear glass beaker, black coffee machine, silver countertop appliance, glass bowl of yellow and orange fruits, and glass dish of whole white garlic bulbs, with a right robotic arm positioned at the top right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the glass dish of garlic on the kitchen counter, sequentially grasps each whole white garlic bulb from the dish, lifts each bulb out of the dish, and places each bulb on the granite counter next to the dish until all bulbs are removed from the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 375, "tasks": ["place food"], "length": 674, "global_instruction": "Remove whole garlic heads from the square glass dish and place them on the adjacent kitchen countertop.", "scene_description": "A granite kitchen counter holds a black coffee maker, silver small kitchen appliance, clear glass water bottle, clear plastic beaker, a glass bowl of yellow and orange citrus fruits, and a square glass dish with three whole garlic heads. A white and gray robotic arm is positioned at the top right above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the square glass dish of garlic, grasps each garlic head individually, lifts each, moves each to the open counter space next to the dish, and releases them, until all garlic from the dish is placed on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 376, "tasks": ["place food"], "length": 397, "global_instruction": "Pick an orange garment from the sofa clothes pile and place it on the white drying rack.", "scene_description": "A light beige sofa piled with assorted orange, black and white clothes is in the center, a white metal drying rack with a gray blanket draped over it sits on the right, and a white humanoid robot with a right robotic arm is positioned on the left.", "global_instruction_dense": "The right robotic arm of the white humanoid robot lowers toward the clothing pile on the sofa, grasps an orange garment, lifts it, moves it right over the white metal drying rack, releases the garment onto the rack, and then retracts upward away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 377, "tasks": ["place food"], "length": 233, "global_instruction": "Place the Fritos snack bag into the trash bin.", "scene_description": "A dark marbled countertop holds a yellow and orange Fritos snack bag, a white trash bin with a grey plastic liner sits behind the bag, and first aid cabinets are mounted on the wall above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the Fritos snack bag on the counter, grasps the bag with its gripper, lifts the bag, moves it over the open trash bin, and releases the bag to drop it into the trash bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 378, "tasks": ["place food"], "length": 253, "global_instruction": "Pick up the Fritos snack bag and place it into the adjacent trash bin.", "scene_description": "A yellow and red Fritos snack bag rests on a dark marble countertop next to a white open trash bin, with white wall cabinets above and a robotic arm on the right, and an office area in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the Fritos snack bag on the dark countertop, grasps the bag, lifts it, moves it over the nearby white trash bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 379, "tasks": ["place food"], "length": 414, "global_instruction": "Pick up the yellow snack bag from the cardboard box and place it into the adjacent gray trash bin.", "scene_description": "On a dark marble countertop, a brown cardboard box sits with a yellow snack bag resting on its surface, and a gray trash bin is positioned next to the box. A robotic arm is at the upper right, with an office space visible in the background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow snack bag on the cardboard box, grasps the bag with its gripper, lifts it, moves it over the gray trash bin, releases the bag into the bin, then moves back to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 380, "tasks": ["place food"], "length": 217, "global_instruction": "Pick the Fritos snack bag from the cardboard box and place it into the trash bin.", "scene_description": "A yellow and red Fritos snack bag rests on a closed brown cardboard box on a dark marble countertop, with a white trash bin behind the box and an office area in the background.", "global_instruction_dense": "The right robotic arm moves toward the Fritos snack bag on the brown cardboard box, grasps it with its gripper, lifts it off the box, moves it over the trash bin behind the box, and releases the bag to drop it into the trash.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 381, "tasks": ["place food"], "length": 220, "global_instruction": "Pick the yellow snack bag from the top of the brown cardboard box and place it into the box.", "scene_description": "A tall brown cardboard box rests on a dark marble countertop, a yellow snack bag sits on the top of the box, a robotic arm is positioned at the upper right, a white sign with green 'AID' text is on the left wall, and the background is an open office area with workstations.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow snack bag on top of the brown cardboard box, grasps the bag with its gripper, lifts the bag, positions it over the opening of the box, releases the bag into the box, then lifts upward away from the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 382, "tasks": ["place food"], "length": 215, "global_instruction": "Pick up the orange-red packaged snack from the cardboard box and place it into the adjacent trash bin.", "scene_description": "A dark marble countertop holds a tall brown cardboard box, with an orange-red packaged snack on top of the box, a white first aid cabinet mounted on the wall above the counter, a white trash bin next to the box, and an office area visible through a glass partition in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange-red packaged snack on top of the brown cardboard box, grasps the snack, lifts it, moves it over the white trash bin beside the box, and releases the snack to drop it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 383, "tasks": ["place food"], "length": 1283, "global_instruction": "Transfer all popcorn pieces from the light blue cloth into the adjacent white bowl", "scene_description": "A black round table holds a light blue cloth with yellow popcorn pieces on it, a white bowl adjacent to the cloth, a grey mug, a lidded metal pot, a white plastic basket, a silver water bottle, and a lidded pan. A robotic arm base is positioned at the left edge of the view.", "global_instruction_dense": "The left robotic arm repeatedly moves to the light blue cloth on the black table, grasps individual yellow popcorn pieces, lifts each piece, moves it over the white bowl, and releases it into the bowl to transfer all popcorn to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 384, "tasks": ["place food"], "length": 1058, "global_instruction": "Transfer the popcorn from the transparent square plastic container into the empty white bowl.", "scene_description": "A black round table holds a transparent square plastic container filled with yellow and white popcorn, an empty white bowl next to the container, a folded light blue towel, a dark grey mug, a white plastic colander, a lidded dark grey pan, and a silver water bottle; a black chair sits beside the table, with a white robotic arm base positioned to the left of the table.", "global_instruction_dense": "The right robotic arm repeatedly moves to the transparent square plastic container of popcorn on the black round table, grasps individual popcorn pieces, lifts them, moves over the adjacent empty white bowl, releases the popcorn into the bowl, and repeats until almost all popcorn has been transferred from the container to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 385, "tasks": ["place food"], "length": 1159, "global_instruction": "Transfer all yellow food pieces from the white bowl to the clear square plastic container.", "scene_description": "A black round table holds a white bowl with yellow food pieces, an empty clear square plastic container, a gray mug, a white plastic drying rack, a stainless steel pot with a glass lid, a gray frying pan with a glass lid, a black insulated water bottle, and a folded light blue towel on its right side. A robotic arm base with clamps sits to the left of the table.", "global_instruction_dense": "The left robotic arm moves into position above the white bowl, repeatedly grasps yellow food pieces from the bowl, transfers them over the clear square plastic container, releases the pieces into the container until all are moved, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 386, "tasks": ["place food"], "length": 1220, "global_instruction": "Place the small orange fruits from the blue mat into the white bowl.", "scene_description": "A black round table holds a blue mat with multiple small orange fruits, an empty white bowl adjacent to the fruits, a metal container of kitchen utensils, a water bottle, and other small kitchen items near a window with vertical blinds, with a white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves to each small orange fruit on the blue mat, grasps the fruit, lifts it, moves it over the white bowl, releases the fruit into the bowl, and repeats this process until most of the orange fruits are inside the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 387, "tasks": ["place food"], "length": 150, "global_instruction": "Pick up the pale garlic piece on the kitchen counter and place it into the clear water filter pitcher.", "scene_description": "A light brown ginger piece and a smaller pale garlic piece rest on a dark brown kitchen counter, with white upper cabinets, a stainless steel dishwasher under the counter, a clear water filter pitcher near the sink, and a white robotic arm unit positioned on the right side of the scene.", "global_instruction_dense": "The left robotic gripper moves from its initial elevated position toward the pale garlic piece on the kitchen counter, grasps the garlic, lifts it, moves it over to the clear water filter pitcher, drops the garlic inside the pitcher, then moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 388, "tasks": ["place food"], "length": 159, "global_instruction": "Pick up a small food chunk from the kitchen counter and place it into the open trash bin.", "scene_description": "A kitchen with dark brown countertop, two small light beige food chunks on the left of the counter near a black electric stove, an open white trash bin below the counter, and a white robotic arm positioned above the upper cabinets at the right side.", "global_instruction_dense": "The right robotic arm descends from above the upper kitchen cabinets to the counter, grasps a small light beige food chunk, lifts it, moves it over the open white trash bin, and releases it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 389, "tasks": ["place food"], "length": 220, "global_instruction": "Place the small food scraps from the kitchen counter into the open white trash bin below the counter.", "scene_description": "A kitchen scene with a dark brown countertop holding two small light-colored food scraps, an open white trash bin below the counter front edge, a black and silver stove to the left of the counter, white upper cabinets, and a white robotic arm on the right side of the frame.", "global_instruction_dense": "The left robotic gripper moves down from its initial position near the upper cabinets to the food scraps on the counter, grasps the scraps, moves over the open trash bin, and releases the scraps into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 390, "tasks": ["place food"], "length": 131, "global_instruction": "Pick up a food piece from the kitchen counter, dispose it into the trash bin, then close the trash bin lid.", "scene_description": "A kitchen with dark countertops, several small light-colored food pieces on the left section of the countertop, a white open trash bin below the counter edge, a stove on the far left, and a white robotic arm on the right side.", "global_instruction_dense": "The right robotic arm moves toward the light-colored food pieces on the kitchen counter, grasps one piece, moves it over the open white trash bin, drops the piece into the bin, then pushes the trash bin lid closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 391, "tasks": ["place food"], "length": 135, "global_instruction": "Place the garlic pieces on the kitchen countertop into the white plastic container below the counter.", "scene_description": "Several small pieces of light-colored garlic are placed on the brown kitchen countertop, a white plastic container sits below the left side of the counter, a stainless steel dishwasher is under the middle of the counter, and the robotic arm base is at the right of the scene.", "global_instruction_dense": "The left robotic gripper moves toward the garlic pieces on the kitchen countertop, grasps a piece of garlic, moves downward to the white plastic container below the counter, releases the garlic into the container, then moves back up toward the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 392, "tasks": ["place food"], "length": 146, "global_instruction": "Pick up a garlic clove from the kitchen counter and place it into the open white trash bin below the counter.", "scene_description": "Two light brown garlic cloves rest on the left area of a dark brown kitchen counter, with white upper and lower cabinets, a stainless steel dishwasher under the counter, two clear water pitchers near the back sink, a white robotic system on the right, and an open white trash bin below the left counter edge.", "global_instruction_dense": "The right robotic arm moves down toward a light brown garlic clove on the kitchen counter, grasps it with its gripper, lifts the clove, moves it over the open white trash bin below the counter, and releases the clove into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 393, "tasks": ["place food"], "length": 744, "global_instruction": "Pick up garlic pieces from the kitchen counter and place them into the open trash bin.", "scene_description": "Light-tan garlic pieces (one whole garlic head and four small separated cloves) rest on a dark brown kitchen counter, with an open white trash bin positioned below the counter in front of the left robotic arm.", "global_instruction_dense": "The left robotic arm grasps individual garlic pieces from the kitchen counter one by one, lifts each piece, moves over the open white trash bin below the counter, releases the piece into the bin, and repeats until all garlic pieces are placed in the trash.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 394, "tasks": ["place food"], "length": 179, "global_instruction": "Place a blue snack packet into the upright blue Annie's value pack box.", "scene_description": "On a dark kitchen counter, a blue Annie's value pack box stands upright, several blue snack packets lie in front of the box, a black mesh basket is at the front edge of the counter, a white paper towel roll sits to the left of the box, a silver kettle is behind the box, with white upper cabinets above the counter, and a left robotic arm is positioned at the upper right of the counter.", "global_instruction_dense": "The left robotic arm first moves toward the upright blue Annie's box, adjusts the box's position slightly, then moves downward to grasp a blue snack packet from the counter, lifts the packet, moves it above the open top of the blue box, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 395, "tasks": ["place food"], "length": 97, "global_instruction": "Place a blue snack packet from the kitchen counter into the black mesh basket.", "scene_description": "A dark kitchen counter has scattered small blue snack packets, a larger blue snack box on the left, a black mesh basket at the bottom left, a stationary white right robotic arm at the right edge, with a paper towel roll, toaster and kettle under white upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward a blue snack packet on the kitchen counter, grasps it, lifts it, moves it over the black mesh basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 396, "tasks": ["place food"], "length": 243, "global_instruction": "Pick up a small blue snack packet and place it into the black mesh basket", "scene_description": "A dark grey kitchen counter holds a large blue snack bag on the left, multiple scattered small blue snack packets, and a black mesh basket at the lower left. A robotic platform is positioned on the right side of the counter, with white upper cabinets, a white paper towel roll, and a stainless steel kettle in the background.", "global_instruction_dense": "The right robotic arm lowers toward the scattered small blue snack packets on the kitchen counter, grasps one packet, lifts it, moves left over the black mesh basket, and releases the packet into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 397, "tasks": ["place food"], "length": 150, "global_instruction": "Place a blue snack package next to the other blue snack packages on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds two small blue snack packages, a large blue box on the left, a paper towel roll, a silver toaster oven, and a silver kettle below white upper cabinets. A black mesh basket sits at the front edge of the counter, and the left robotic arm is positioned at the back of the counter near the toaster oven.", "global_instruction_dense": "The left robotic arm moves forward and down from its initial position at the back of the counter, grasps a blue snack package, moves rightward over the counter, and releases the package next to the other blue snack packages on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 398, "tasks": ["place food"], "length": 195, "global_instruction": "Pick a blue wrapped snack from the black mesh basket and place it on the kitchen counter.", "scene_description": "A dark kitchen counter with white upper cabinets holds a black mesh basket, a large blue snack package, scattered small blue wrapped snacks, a silver toaster oven, a white paper towel roll, and a stainless steel kettle at the rear, with a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the black mesh basket, grasps a small blue wrapped snack inside the basket, lifts it, moves it over the scattered snacks on the counter, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 399, "tasks": ["place food"], "length": 169, "global_instruction": "Pick up a blue snack packet from the counter and place it into the open blue Annie's snack box.", "scene_description": "A dark kitchen counter holds an open blue Annie's snack box on the left, scattered blue snack packets, a dark wire basket, a silver toaster oven, a silver electric kettle behind them, and white upper cabinets above, with a white robotic arm on the right edge of the frame.", "global_instruction_dense": "The right robotic gripper moves downward toward the scattered blue snack packets on the counter, grasps a blue snack packet, lifts it, moves it leftward over the open blue Annie's snack box, and releases the packet into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 400, "tasks": ["place food"], "length": 238, "global_instruction": "Place a blue snack packet from the kitchen counter into the open Annie's value pack box.", "scene_description": "A blue Annie's value pack box sits on the left of a dark kitchen counter, with multiple blue snack packets scattered next to it, a wire mesh basket, silver toaster oven, and silver electric kettle against the back wall under white upper cabinets; a left robotic arm is positioned above the counter, and a right robotic arm is on the right edge of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward scattered blue snack packets on the kitchen counter, grasps one blue snack packet, lifts it, moves it over the open blue Annie's value pack box, and releases the packet into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 401, "tasks": ["place food"], "length": 105, "global_instruction": "Place the purple packaged snack on the kitchen counter into the black mesh basket.", "scene_description": "On a dark kitchen counter, a black mesh basket sits near a blue Annie's value pack box on the left, two small packaged snacks (one purple, one light blue) lie next to the basket, a toaster oven, paper towel roll, and metal kettle are at the back, with a white robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the purple packaged snack on the kitchen counter, grasps it with its gripper, lifts it, moves it over the black mesh basket, then releases the snack into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 402, "tasks": ["place food"], "length": 137, "global_instruction": "Place the loose blue wrapped snack into the black wire basket on the counter.", "scene_description": "A dark kitchen countertop has a blue Annie's value pack box on the left, a black wire basket holding blue wrapped snacks, one loose blue wrapped snack on the counter right of the basket, a silver toaster oven, white paper towel roll and silver electric kettle against the back wall, with a robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the loose blue wrapped snack on the counter, grasps it, lifts it, moves it over the black wire basket, then releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 403, "tasks": ["place food"], "length": 326, "global_instruction": "Place the purple snack from the black mesh basket into the open blue Annie's Value Pack box", "scene_description": "A kitchen counter holds a blue Annie's Value Pack box on the left, a black mesh basket with a purple snack inside behind the box, a white paper towel roll, a silver toaster oven, and a silver kettle further back. A white robotic arm is positioned on the right of the counter under white upper cabinets.", "global_instruction_dense": "The right robotic arm moves left toward the black mesh basket on the kitchen counter, grasps the purple snack inside the basket, lifts the snack, moves it over the open blue Annie's Value Pack box, and releases the snack into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 404, "tasks": ["place food"], "length": 318, "global_instruction": "Place the flat bread near the stove onto the white plate on the kitchen counter.", "scene_description": "A kitchen counter has a white plate on its right, a flat bread near the stovetop edge, assorted bottles, a white cloth, and a green box. A white robotic arm is on the left, and a gray pot sits on the stovetop.", "global_instruction_dense": "The robotic arm lifts the glass lid off the stovetop pot, grasps the flat bread on the counter, lifts it, moves it over the white plate, and releases it onto the plate before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 405, "tasks": ["place food"], "length": 579, "global_instruction": "Place a slice of bread into the toaster, then fill the blue pitcher in the sink with water.", "scene_description": "A kitchen with light wood upper cabinets and a gray speckled backsplash, a light gray counter holds a light brown bread slice next to a black toaster on the right, a blue plastic pitcher in the sink, and assorted kitchen items left of the sink, with a white robotic arm extended over the sink area.", "global_instruction_dense": "The left robotic arm moves toward the bread slice on the counter, grasps it, lifts and moves it to the toaster to insert it, then moves to the blue pitcher in the sink, grasps the pitcher, holds it under the faucet to fill with water, and places the filled pitcher back into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 406, "tasks": ["place food"], "length": 457, "global_instruction": "Place the small white garlic on the clear glass lid and cover it with the orange circular lid.", "scene_description": "A light wooden table holds a white bowl on its left, a clear glass lid, a small white garlic, an orange circular lid, and a white rice cooker on its right, with a robotic arm to the left of the table and a California state flag on the back wall.", "global_instruction_dense": "The left robotic arm moves toward the small white garlic on the table, grasps it, places it on the clear glass lid, moves to the orange circular lid, grasps it, and places it on top of the clear glass lid covering the garlic.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 407, "tasks": ["place food"], "length": 298, "global_instruction": "Pick up the small white egg on the table and place it into the larger white bowl on the table.", "scene_description": "A light wooden table holds a white rice cooker, a clear glass with a red base, two white bowls, a small white egg, and a metal stand. A white robotic arm is positioned to the left of the table, a California Republic flag hangs on the wall behind the table, and a magnet-covered refrigerator is at the far left.", "global_instruction_dense": "The left robotic arm moves toward the small white egg on the wooden table, grasps the egg, lifts it, moves it over the larger white bowl, releases the egg into the bowl, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 408, "tasks": ["place food"], "length": 284, "global_instruction": "Place the yellow snack wrappers on the bathroom counter into the clear plastic trash bag in the sink.", "scene_description": "A bathroom sink counter holds yellow snack wrappers next to a white cloth, a clear plastic trash bag in the sink, a blue mouthwash bottle, a green toothbrush cup, an electric toothbrush and other toiletries, with a right robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the yellow snack wrappers on the bathroom counter, grasps them, lifts and moves them over the clear plastic trash bag in the sink, then releases the wrappers into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 409, "tasks": ["place food"], "length": 550, "global_instruction": "Remove plastic food packages from the cardboard box and place them on the kitchen counter next to the stove.", "scene_description": "A kitchen counter holds an open cardboard box filled with plastic food packages, including a light blue organic labeled bag. To the left of the box is a black stove with a white rice cooker and black pot, with a robotic arm positioned above the box.", "global_instruction_dense": "The right robotic arm reaches into the open cardboard box on the kitchen counter, grasps a clear plastic food bag, lifts it and places it on the edge of the box, then reaches back into the box, grasps a plastic food package with a brown label, lifts it, moves it left over the stove area, and places it upright on the counter next to the stove.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 410, "tasks": ["place food"], "length": 589, "global_instruction": "Remove food packages from the cardboard box and place them on the adjacent black stove surface.", "scene_description": "A brown cardboard box filled with assorted food packages rests on a kitchen counter next to a black stove holding a white rice cooker and dark pots, with wooden cabinets mounted above, a left robotic arm is positioned above the box.", "global_instruction_dense": "The left robotic arm reaches into the cardboard box on the kitchen counter, grasps a black food package, lifts it, moves it left onto the black stove, releases it, then returns to the box, grasps a blue food package, lifts it, moves it left onto the stove, releases it, and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 411, "tasks": ["place food"], "length": 982, "global_instruction": "Place various food items from the kitchen counter into the brown cardboard box.", "scene_description": "A gray kitchen counter holds a white rice cooker on a black stove, various food items including a clear water bottle, blue packaged goods, a black snack bag, a clear food bag, and a small blue package, with a brown cardboard box labeled 'Earthbound Farm Organic Power Greens on the counter's right side, and a white robotic arm on the left.", "global_instruction_dense": "The right robotic gripper sequentially grasps a clear water bottle, a blue packaged item, a black packaged snack, a clear food bag, and a small blue packaged item from the kitchen counter, lifts each item, moves it over the brown cardboard box, and places each item into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 412, "tasks": ["place food"], "length": 177, "global_instruction": "Place the orange carrot on the white table into the light gray bowl.", "scene_description": "A white round table holds an orange carrot at its upper section and a light gray bowl at its lower right section, with office desks, chairs and equipment in the surrounding background.", "global_instruction_dense": "The left robotic gripper moves toward the orange carrot on the white round table, grasps the carrot, lifts it, moves it over the light gray bowl, and releases it to drop the carrot into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 413, "tasks": ["place food"], "length": 111, "global_instruction": "Place the orange stick on the table into the light gray bowl.", "scene_description": "A white round table holds an orange stick and a light gray bowl, with the bowl positioned to the right of the orange stick.", "global_instruction_dense": "The left robotic gripper moves toward the orange stick on the table, grasps it, lifts it, moves it over the light gray bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 414, "tasks": ["place food"], "length": 170, "global_instruction": "Remove the orange cylindrical object from the silver bowl and place it on the white table.", "scene_description": "A silver bowl containing an orange cylindrical object sits on a white round table, with office desks, chairs, and cabinets in the background.", "global_instruction_dense": "The left robotic gripper moves toward the silver bowl on the white table, grasps the orange cylindrical object inside the bowl, lifts it, moves it to an empty spot on the white table, and releases the object onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 415, "tasks": ["place food"], "length": 128, "global_instruction": "Place the orange stick on the white table into the light gray bowl", "scene_description": "A white round table holds an orange rectangular stick and a light gray bowl, with the orange stick to the left of the bowl, and office desks, chairs, cabinets in the background.", "global_instruction_dense": "The left robotic gripper moves toward the orange stick on the white table, grasps the stick, lifts it, moves it over the light gray bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 416, "tasks": ["place food"], "length": 135, "global_instruction": "Take the orange carrot out of the silver bowl and place it on the white table.", "scene_description": "A white round table holds a silver bowl with an orange carrot inside it, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the silver bowl on the white round table, grasps the orange carrot inside the bowl, lifts the carrot out of the bowl, moves it to the adjacent table surface, and releases the carrot onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 417, "tasks": ["place food"], "length": 138, "global_instruction": "Pick up the orange bar on the white table and place it on the left side of the table", "scene_description": "A small orange bar and a light gray bowl are placed on a white round table, with the orange bar above the bowl. The background is an office with desks, office chairs and office equipment.", "global_instruction_dense": "The left robotic arm moves toward the orange bar on the white table, grasps the bar, lifts it, moves it left to a new position on the table, releases it and then retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 418, "tasks": ["place food"], "length": 177, "global_instruction": "Move the orange bar from the upper part of the table to the left part of the table", "scene_description": "A small orange bar and a light grey bowl are placed on a white round table. The orange bar is at the upper side of the table, and the bowl is at the lower right side of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange bar on the upper side of the white round table, grasps the bar, moves it leftward to the left side of the table, releases the bar, and then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 419, "tasks": ["place food"], "length": 181, "global_instruction": "Remove the small orange object from the white mug and place it on the wooden table.", "scene_description": "A light wooden round table holds a white printed mug in the foreground, a white flower-shaped decor behind the mug, a dark blue blanket and coral pink blanket at the back of the table. A white robotic base with blue indicator lights sits on a black platform to the left of the table, with black office chairs around the room.", "global_instruction_dense": "The right robotic gripper enters the scene, lowers into the white mug on the round wooden table to grasp the small orange object inside, lifts the object out of the mug, moves left over the table, lowers the object, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 420, "tasks": ["place food"], "length": 144, "global_instruction": "Place the held bread slice into the silver toaster on the kitchen counter.", "scene_description": "A dark marble kitchen counter holds a silver toaster; a white robotic arm is positioned below the counter, with white cabinets (attached with printed notices) to the upper left, a knife block on the lower right, and a glass door in the far background.", "global_instruction_dense": "The left robotic arm moves upward from its initial lower position toward the silver toaster on the dark marble kitchen counter, adjusts its gripper position to align over the toaster opening, then lowers to place the held bread slice into the toaster.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 421, "tasks": ["place food"], "length": 167, "global_instruction": "Place a small orange object from the partially open drawer onto the white countertop.", "scene_description": "A right robotic arm is positioned above a white countertop. On the countertop, there are a black cup, a small black fastener, a white spherical object, a brown cardboard box, and a light yellow rectangular object. A wooden drawer under the counter is partially open, and a white cabinet door to the drawer's right is open revealing a gray appliance inside.", "global_instruction_dense": "The right robotic arm moves downward into the partially open wooden drawer, grasps a small orange object, lifts it upward, moves it over the white countertop, places the object on the countertop, then lifts its gripper away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 422, "tasks": ["place food"], "length": 181, "global_instruction": "Place the small orange object from the open drawer onto the white tabletop", "scene_description": "A white table holds a white bottle with a red logo, a black labeled container, and small items, with an open drawer below the table containing a small orange object, and a white robotic arm is positioned adjacent to the table.", "global_instruction_dense": "The right robotic arm moves toward the open drawer under the table, grasps the small orange object inside the drawer, lifts it out of the drawer, moves it over the white tabletop, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 423, "tasks": ["place food"], "length": 144, "global_instruction": "Place the bread slice held by the right robotic arm into the toaster on the kitchen countertop.", "scene_description": "A dark gray marble kitchen countertop holds a cream and silver toaster, a black rectangular container, and white power cables. The right upper robotic arm holds a white bread slice at the left side of the counter, and a person in an orange shirt is partially visible behind the lower left robotic arm.", "global_instruction_dense": "The right robotic arm, holding a white bread slice at its initial left position, moves forward and downward toward the cream and silver toaster on the dark countertop, approaching the toaster's slots to place the bread inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 424, "tasks": ["place food"], "length": 600, "global_instruction": "Place a brown food item from the cutting board into the open white pot on the kitchen stove.", "scene_description": "A white left robotic arm is positioned to the left of a kitchen stove on a white countertop. The stove has two white pots: a lidded pot on the left burner, and an open pot on the right burner. A cutting board holding green and brown food items, a silver electric kettle, and a wooden basket are arranged on the counter, with white upper cabinets and a stainless steel range hood above the stove.", "global_instruction_dense": "The left robotic arm first places and secures a lid on the right white stove pot, removes the lid and sets it aside, moves to the adjacent cutting board to grasp a brown food item, then moves the food over the pot and drops it inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 425, "tasks": ["place food"], "length": 565, "global_instruction": "Take food from the lidded white pot and place it into the white bowl on the table.", "scene_description": "A white round table holds a lidded white pot, a white bowl, a red silicone spatula, two silver utensils, and a brown round trivet. A white robotic arm is positioned to the left of the table, with a grey vase of white flowers, chairs, and a green plant in the background.", "global_instruction_dense": "The left robotic arm moves toward the white pot, grasps its lid, lifts the lid and places it on the brown trivet, then reaches into the pot to retrieve a portion of food, moves the food over the white bowl, and releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 426, "tasks": ["place food"], "length": 328, "global_instruction": "Take a green vegetable from the white pot and place it into the light blue bowl", "scene_description": "A white round table holds a white pot with a spatula and vegetables inside, a light blue bowl with two metal spoons, a blue patterned paper cup, a white oval plate with a silver knife, and a grey vase with white flowers at the back of the table. A robotic arm is positioned on the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the white pot, grasps a green vegetable from inside the pot, lifts the vegetable, moves it over the light blue bowl, and releases the vegetable into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 427, "tasks": ["place food"], "length": 158, "global_instruction": "Pick the green vegetable from the small white bowl and place it into the white saucepan", "scene_description": "A white round table holds a small white bowl with green vegetables, a white saucepan, a blue cup, a gray vase with white flowers, metal cutlery, and a small plate with a knife. A white robotic arm is positioned to the left of the table, with chairs and plants in the background.", "global_instruction_dense": "The left robotic arm moves toward the small white bowl on the table, grasps the green vegetable inside it, lifts the vegetable, moves it over the white saucepan, releases it into the saucepan, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 428, "tasks": ["place food"], "length": 192, "global_instruction": "Place a piece of food from the white pot into the white bowl", "scene_description": "A white round table holds a white pot with dark interior, a white bowl, a grey striped cup, a purple patterned tissue box, a grey vase with white flowers, a white oval plate with a silver utensil, a small clear glass, and a folded white napkin. A left robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the white pot on the table, lowers its gripper into the pot to grasp a piece of food, lifts the food out of the pot, moves it over the white bowl, and releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 429, "tasks": ["place food"], "length": 132, "global_instruction": "Remove the orange tube from the red mug and place it on the kitchen counter next to the mug.", "scene_description": "A dark kitchen counter holds a red patterned mug with a white handle containing an orange tube, and a black toaster to the right of the mug. A white robotic arm with blue lights is positioned to the left of the counter, and an open office area is visible through a background doorway.", "global_instruction_dense": "The right robotic gripper moves down toward the red mug, grasps the orange tube inside the mug, lifts the tube out of the mug, moves it to the counter area beside the mug, lowers the tube, releases it onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 430, "tasks": ["place food"], "length": 146, "global_instruction": "Remove the orange tube from the red mug and place it on the dark kitchen counter", "scene_description": "A red mug with white decorative patterns sits on a dark kitchen counter, an orange tube is inside the mug, a black toaster is behind the mug, a white robotic arm with blue indicator lights is on the left of the frame, and an open office area is visible in the background.", "global_instruction_dense": "The right robotic arm moves down toward the orange tube inside the red mug, grasps the tube, lifts it out of the mug, moves it over the adjacent counter surface, and releases it to place the tube on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 431, "tasks": ["place food"], "length": 129, "global_instruction": "Pick up the orange tube from the red mug and place it on the countertop", "scene_description": "A dark countertop holds a red patterned mug with an orange tube inside it and a dark toaster next to the mug, a white robotic arm with blue lights is at the left of the frame, and a lounge area with tables and chairs is visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange tube inside the red patterned mug, grasps the tube, lifts it out of the mug, moves it over the countertop, then releases the tube onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 432, "tasks": ["place food"], "length": 103, "global_instruction": "Place the small snack tube on the white side table into the turquoise bowl.", "scene_description": "A white side table with orange legs holds a turquoise bowl and a small red-yellow-white snack tube. Gray and orange sofas are behind the table, a robotic workbench is on the left.", "global_instruction_dense": "The left robotic arm extends toward the small snack tube on the white side table, grasps it, lifts it, moves it over the turquoise bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 433, "tasks": ["place food"], "length": 118, "global_instruction": "Pick a piece of food from the white bowl and place it on the embedded black cooktop.", "scene_description": "A white kitchen counter holds stacked metal trays, an embedded black cooktop, and a white bowl with food inside, with upper white cabinets and a mounted camera along the back wall.", "global_instruction_dense": "The right robotic arm lowers toward the white bowl on the kitchen counter, grasps a piece of food from inside the bowl, lifts the food, moves it over the embedded black cooktop, and releases the food onto the cooktop surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 434, "tasks": ["place food"], "length": 120, "global_instruction": "Remove the orange object from the mug and place it on the table", "scene_description": "A round light brown table holds a white mug with green patterns. A whiteboard with handwritten formulas is mounted on the wall behind the table, a black screen is on the wall left of the whiteboard, and a robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm descends toward the white mug on the table, grasps the orange object inside the mug, lifts the object out of the mug, moves it to the empty table surface left of the mug, and releases the object onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 435, "tasks": ["place food"], "length": 162, "global_instruction": "Pick up the orange carrot and place it into the white cup", "scene_description": "A light brown round table holds a white cup, an orange carrot, and a green bag. A robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm moves down toward the orange carrot on the table, grasps it, lifts it, moves it over the white cup, lowers it into the cup, then releases the carrot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 436, "tasks": ["place food"], "length": 157, "global_instruction": "Place the small orange object next to the white mug into the white mug.", "scene_description": "A light brown round table holds a white mug with a tan base on its left side, a small orange object adjacent to the mug, and a green fabric bag on the table's right side. A robotic arm is positioned to the left of the table, with a black screen and writing-covered whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves down toward the small orange object next to the white mug, grasps the orange object, lifts it, moves it over the opening of the white mug, lowers it, and releases the object into the mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 437, "tasks": ["place food"], "length": 119, "global_instruction": "Take the orange object out of the white mug and place it into the green bag", "scene_description": "A light brown round table holds a white mug with a brown base left of a crumpled green bag. A robotic arm is above the table, with a whiteboard, wall-mounted black TV, and robotic base in the background.", "global_instruction_dense": "The right robotic arm moves down toward the white mug on the round table, grasps the orange object inside the mug, lifts the object, moves it right over the green bag, and releases it into the green bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 438, "tasks": ["place food"], "length": 91, "global_instruction": "Pick up the small orange tube from the table and place it into the white bowl", "scene_description": "A light brown wooden table holds a small orange tube, a white bowl with clear liquid, and a black rectangular speaker on the right of the table. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small orange tube on the wooden table, grasps it with its gripper, lifts the tube, and moves it over the white bowl filled with clear liquid.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 439, "tasks": ["place food"], "length": 102, "global_instruction": "Remove the orange carrot from the white bowl and place it on the wooden table.", "scene_description": "A small white bowl with a spoon inside sits on a light wooden table, a printed fabric bag is to the right of the bowl, a white robotic arm base is on the left, and black office chairs are in the background.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the wooden table, lowers its gripper into the bowl to grasp the orange carrot, lifts the carrot out of the bowl, moves it over the table surface next to the bowl, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 440, "tasks": ["place food"], "length": 286, "global_instruction": "Pick up the orange object on the kitchen counter and place it into the trash bin below the counter.", "scene_description": "A left-positioned white robotic arm stands next to a white kitchen counter, which holds a round orange object near the sink, a silver kettle, a red rectangular box on its right, a small green-and-red container, and other kitchen items, with a beige trash bin below the counter's right edge.", "global_instruction_dense": "The left robotic arm lowers its gripper to grasp the orange object on the counter, lifts the object, moves it rightward above the trash bin under the counter, opens the gripper to drop the object into the bin, then lifts the empty gripper back up.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 441, "tasks": ["place food"], "length": 168, "global_instruction": "Pick up the green and red watermelon slice toy from the checkered basket and place it on the table next to the black pot.", "scene_description": "A light blue countertop appliance with a black power cord sits on the left of a white table, a red-and-white checkered basket filled with toy food is next to it, a small black pot, a fake burger toy, and a black grill plate are placed to the right of the basket, with a standing depth sensor and grey curtains in the background.", "global_instruction_dense": "The right robotic arm moves down from the top right of the frame toward the checkered basket, grasps the green and red watermelon slice toy inside the basket, lifts it, moves it to the area next to the small black pot, and releases it onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 442, "tasks": ["place food"], "length": 181, "global_instruction": "Place the fake orange into the red checkered basket.", "scene_description": "A light blue countertop appliance with a black power cord, a red-and-white checkered basket of fake food, a fake orange, a black cup, a green toy cucumber, a toy hamburger, and a black grill pan are placed on a white table, with a robotic arm at the upper right of the table.", "global_instruction_dense": "The right robotic arm moves toward the fake orange beside the red checkered basket, grasps the orange with its gripper, lifts it, moves it over the basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 443, "tasks": ["place food"], "length": 177, "global_instruction": "Place the yellow pear into the red gingham basket on the table.", "scene_description": "A light blue countertop appliance, a red gingham basket with a yellow base, assorted toy food items (including a yellow pear, purple ball, orange ball, green cucumber, hamburger, blue small pot), and a black grill pan are arranged on a white table, with a black stand lamp behind the table.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves toward the yellow pear next to the red gingham basket, grasps it, lifts it, moves it over the basket, then releases it to drop the pear inside the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 444, "tasks": ["place food"], "length": 252, "global_instruction": "Pick a red peach toy from the red checkered basket and place it on the black tray holding the yellow banana toy.", "scene_description": "A white table holds a light blue electric appliance with a power cord left of center, a red checkered basket containing toy fruit, assorted toy fruits (purple spherical toy, orange toy, pink watermelon slice toy, yellow banana toy on a black tray, hamburger toy) arranged around the basket, and small toy pots behind the basket.", "global_instruction_dense": "The right robotic arm enters the frame from the upper right, moves toward the red checkered basket, grasps a red peach toy inside the basket, lifts the peach, moves rightward over the black tray with the yellow banana toy, lowers the peach, and releases it onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 445, "tasks": ["place food"], "length": 226, "global_instruction": "Pick the yellow toy banana from the checkered basket and place it on the black grill plate.", "scene_description": "A white table holds a light blue electric appliance with a black power cord on the left, an orange-and-yellow checkered basket of toy produce, a red watermelon slice toy, green and orange toy balls, a black grill plate, and a toy hamburger on the far right.", "global_instruction_dense": "The right robotic arm moves toward the orange checkered basket on the white table, grasps the yellow toy banana inside the basket, lifts the banana, moves rightward over the black grill plate, lowers the banana, and releases it onto the grill plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 446, "tasks": ["place food"], "length": 157, "global_instruction": "Place the green-red watermelon slice on the light blue machine into the red checkered basket.", "scene_description": "A light blue electric machine, a red checkered toy basket, a green toy fruit, an orange toy slice, a black tray with a yellow toy banana, a toy hamburger, and a green-red toy watermelon slice are on a white table. The watermelon slice rests on the edge of the light blue machine, the basket is to the right of the machine, the banana tray is to the right of the basket, and the hamburger is at the far right of the table.", "global_instruction_dense": "The right robotic arm moves toward the green-red watermelon slice on the edge of the light blue machine, grasps the slice with its gripper, lifts it, moves it over the red checkered basket, and releases the slice into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 447, "tasks": ["place food"], "length": 257, "global_instruction": "Pick an orange toy fruit from the red checkered basket and place it on the white table beside the black toy food tray.", "scene_description": "A light blue countertop appliance, a red checkered basket filled with toy produce, a black tray with toy food, a toy hamburger, and miniature cooking pots are arranged on a white table, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the red checkered basket on the table, grasps an orange toy fruit inside the basket, lifts it, moves it rightward to the area beside the black toy food tray, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 448, "tasks": ["place food"], "length": 237, "global_instruction": "Place the yellow plush banana into the red checkered basket on the table.", "scene_description": "A white table holds a light blue countertop appliance with a black power cord on the left, a red checkered basket filled with toy food next to the appliance, a green foam object, black grill pan, small black pot, other miniature kitchen toys, and a tiny toy hamburger on the right side.", "global_instruction_dense": "The right robotic gripper moves into the frame, approaches the yellow plush banana resting on the edge of the light blue appliance, grasps the banana, lifts it, moves it over the red checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 449, "tasks": ["place food"], "length": 279, "global_instruction": "Take the yellow toy banana from the red basket and place it on the table next to the black pot.", "scene_description": "A white table holds a light blue countertop appliance on the left, a red basket of toy food, a small green toy, a black grill pan, a small black pot, and a toy hamburger on the right, with a black tripod behind the table.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers into the red basket to grasp the yellow toy banana, lifts the banana, moves it right to the area next to the black pot, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 450, "tasks": ["place food"], "length": 218, "global_instruction": "Place the orange toy fruit from the black cup into the red checkered basket", "scene_description": "A white table holds a light blue appliance on its left, a red checkered basket of toy food, a black grill pan with a red toy fruit, a small green toy fruit, a toy hamburger, a small jar, blue cups, and an orange toy fruit in a black cup, with a black tripod behind the table.", "global_instruction_dense": "The right robotic arm moves toward the orange toy fruit in the black cup, grasps it, lifts it, moves it over the red checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 451, "tasks": ["place food"], "length": 309, "global_instruction": "Pick the yellow toy banana from the pink checkered basket and place it on the right side of the table.", "scene_description": "A white table holds a light blue small appliance on the left, a pink checkered basket filled with toy food at the center, assorted toy kitchen items (blue cups, black pot, small can, toy burger, plush fruits, black grill pan with a red apple) around the basket, with a grey curtain and storage cabinets in the background.", "global_instruction_dense": "The right robotic arm moves toward the pink checkered basket on the table, lowers into the basket to grasp the yellow toy banana, lifts the banana, moves it rightward across the table, lowers it, and releases it onto the table surface near the black grill pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 452, "tasks": ["place food"], "length": 225, "global_instruction": "Place the yellow banana from the red checkered basket onto the brown cutting board", "scene_description": "A light blue countertop appliance, brown cutting board, red checkered basket of toy fruits, blue cup, small blue pan, black grill plate, and assorted small toy food items are arranged on a white table. The right robotic gripper is positioned above the basket in the initial frame.", "global_instruction_dense": "The right robotic gripper moves toward the red checkered basket, grasps the yellow banana inside the basket, lifts it, moves it over the adjacent brown cutting board, and releases it to place the banana on the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 453, "tasks": ["place food"], "length": 113, "global_instruction": "Place the watermelon slice from the red checkered basket into the black frying pan", "scene_description": "A white table holds a light blue electric oven on the left, a brown cutting board, a yellow banana toy, a red checkered basket filled with toy food, blue toy cups, a black grill plate on the right, and a right robotic arm in the upper right.", "global_instruction_dense": "The right robotic arm moves toward the red checkered basket, grasps the toy watermelon slice inside it, lifts the slice, moves it to the black frying pan behind the basket, and releases the slice into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 454, "tasks": ["place food"], "length": 221, "global_instruction": "Place the yellow banana from the checkered fruit basket into the black bowl on the table.", "scene_description": "A white table holds a light blue appliance with a transparent window (power cord on its left side), a brown cutting board, a blue cup, a small blue dish, a black bowl, a small yellow duck toy, a yellow and red checkered basket filled with fake fruits, and a black grill plate. A black standing light is behind the table, a robotic arm is at the far right of the initial view.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana in the yellow and red checkered fruit basket, grasps the banana, lifts it out of the basket, moves it leftward over the black bowl next to the blue cup, lowers the banana, and releases it into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 455, "tasks": ["place food"], "length": 142, "global_instruction": "Take an orange toy fruit from the red checkered basket and place it on the white table next to the brown cutting board.", "scene_description": "A light blue electric appliance with a black power cord, a brown cutting board, a black grill plate, two blue cups, and a red checkered basket full of toy fruits are arranged on a white table, with a black floor lamp in the background.", "global_instruction_dense": "The right robotic arm moves toward the red checkered basket on the right side of the table, grasps the orange toy fruit inside the basket, lifts it and moves it left to the position beside the brown cutting board, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 456, "tasks": ["place food"], "length": 128, "global_instruction": "Take the toy watermelon from the red checkered basket and place it onto the black grill pan.", "scene_description": "A white table holds a light blue electric machine leftmost, a brown cutting board, an orange toy, a blue cup, a red checkered basket of toy food, a black grill pan, and a toy hamburger right of the basket, with a tripod stand in the background.", "global_instruction_dense": "The right robotic arm moves toward the red checkered basket, grasps the toy watermelon inside the basket, lifts it, moves it over the black grill pan, and releases it to place the watermelon on the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 457, "tasks": ["place food"], "length": 154, "global_instruction": "Place the red watermelon slice toy from the black grill plate into the red checkered basket.", "scene_description": "A light blue electric appliance, brown cutting board, blue cups, orange toy fruit, red checkered storage basket, toy hamburger, and black grill plate holding a red watermelon slice toy are arranged on a white table, with a tripod standing behind the table.", "global_instruction_dense": "The right robotic arm approaches the red watermelon slice on the black grill plate, grasps it, lifts it, transfers it over the red checkered basket, and releases it into the basket to finish the placement action.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 458, "tasks": ["place food"], "length": 184, "global_instruction": "Place the red toy apple next to the checkered basket onto the left side of the table near the light blue appliance.", "scene_description": "A light blue countertop appliance sits on the left of a white table. To its right, colorful toy fruits, a brown cutting board, a red-and-white checkered handled basket filled with red toy fruits, and a black ridged tray are arranged across the table. A right robotic arm is positioned above the far end of the table.", "global_instruction_dense": "The right robotic arm descends toward the red toy apple positioned beside the checkered basket, grasps it with its gripper, lifts and moves it leftward across the table, then releases it onto the table near the light blue appliance.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 459, "tasks": ["place food"], "length": 127, "global_instruction": "Place the green fake fruit from the red-gingham trimmed basket onto the black plate.", "scene_description": "A white table holds a light blue countertop oven on the left, a clear plastic water bottle, a yellow basket with red gingham trim holding assorted fake fruits, a black flat plate to the right of the basket, a small toy burger behind the basket, and a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the yellow basket with red gingham trim on the table, grasps the green fake fruit inside the basket, lifts it, moves it right over the adjacent black plate, and releases the fruit onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 460, "tasks": ["place food"], "length": 200, "global_instruction": "Pick the orange fake fruit from the red checkered basket and place it into the black cup behind the basket.", "scene_description": "A white table holds a light blue small kitchen appliance at the left, a clear plastic water bottle next to the appliance, a red checkered basket of fake fruits at the center, a black plate with green and purple balls to the basket's right, a miniature burger toy and small cups/lids behind the basket, and a white robotic arm at the right side of the table.", "global_instruction_dense": "The right robotic arm moves toward the red checkered basket on the table, grasps the orange fake fruit inside the basket, lifts the fruit, moves it to the black cup behind the basket, and releases the fruit into the black cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 461, "tasks": ["place food"], "length": 154, "global_instruction": "Place the green pear from the checkered basket onto the black plate.", "scene_description": "A light blue small oven, a clear water bottle, a red-yellow checkered basket filled with colorful fake fruits, a small black plate, and a toy burger are placed on a white table, with a robotic arm positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the checkered basket on the table, grasps the green pear inside the basket, lifts it, moves it rightward over the black plate, then lowers and releases the pear onto the black plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 462, "tasks": ["place food"], "length": 164, "global_instruction": "Pick a red toy apple from the checkered basket and place it on the black mat at the table's right edge.", "scene_description": "A white table holds a light blue rectangular appliance on its left, a clear plastic water bottle, a red checkered basket of toy fruits, a black plate with purple and green balls, a small toy hamburger, and a robotic arm base on its right edge.", "global_instruction_dense": "The left robotic arm moves downward toward the red checkered basket on the white table, grasps a red toy apple inside the basket, lifts the apple, moves it rightward over the black mat at the table's right edge, and releases the apple onto the mat.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 463, "tasks": ["place food"], "length": 145, "global_instruction": "Place the orange toy carrot from the orange basket onto the black plate.", "scene_description": "A white table holds a light blue countertop appliance with a black power cord on the left, an orange open basket with toy produce, a black plate with purple and green toy balls, a toy hamburger, and a clear water bottle, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves left toward the orange basket on the table, grasps the orange toy carrot inside the basket, lifts the carrot, moves it right over the black plate holding purple and green balls, and releases the carrot onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 464, "tasks": ["place food"], "length": 179, "global_instruction": "Place a green fruit from the red checkered basket onto the table next to the plastic bottle.", "scene_description": "A white table has a light blue pasta maker on its left, a clear plastic bottle, a red checkered basket of toy fruits at the center, a purple ball and orange pineapple toy to the basket's right, with a left robotic arm in the upper background and a stationary robotic base on the table's right.", "global_instruction_dense": "Left robotic arm moves from the upper background toward the red checkered basket on the table, grasps a green fruit inside the basket, lifts it, moves it left to the area beside the plastic bottle, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 465, "tasks": ["place food"], "length": 103, "global_instruction": "Place the red apple from the checkered basket onto the right side of the table.", "scene_description": "A white table holds a light blue pasta machine on the left, a clear water bottle, a red-and-white checkered basket filled with toy fruits at the center, a purple ball, an orange pineapple toy, and a right robotic arm in the upper right background.", "global_instruction_dense": "The right robotic arm moves toward the checkered basket on the table, grasps the red apple inside the basket, lifts it, moves it to the right side of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 466, "tasks": ["place food"], "length": 218, "global_instruction": "Pick a red toy strawberry from the red checkered basket and place it on the black plate.", "scene_description": "A light blue mini oven sits on the left of a white tabletop; a clear water bottle, red checkered basket of toy fruits, black plate, orange toy pineapple, and small toy hamburger are arranged on the table, with the base of a right robotic arm at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red checkered basket on the table, grasps a red toy strawberry inside the basket, lifts it, moves it rightward over the black plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 467, "tasks": ["place food"], "length": 159, "global_instruction": "Place the yellow-green toy corn from the red checkered basket onto the white table.", "scene_description": "A white table holds a light blue noodle maker at its left, a clear plastic water bottle, a red checkered basket filled with toy fruits, a black plate with a pink toy peach, and a yellow toy pineapple at its front right, with two robotic arms positioned around the table.", "global_instruction_dense": "The left robotic arm moves downward toward the red checkered toy fruit basket, grasps the yellow-green toy corn inside the basket, lifts the corn, moves it rightward above the table, and releases the corn to drop onto the white table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 468, "tasks": ["place food"], "length": 150, "global_instruction": "Pick the red apple from the checkered basket and place it onto the black tray.", "scene_description": "A white table holds a red-and-white checkered basket with toy fruits (including a red apple) inside, a black tray with a pink peach to the basket's right, a clear plastic water bottle to the basket's left, toy watermelon, hamburger, and pineapple on its surface, with a robotic arm at the table's right.", "global_instruction_dense": "The right robotic arm moves toward the red-and-white checkered basket on the table, grasps the red apple inside the basket, lifts it, moves it right over the black tray, and releases the apple onto the tray next to the pink peach.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 469, "tasks": ["place food"], "length": 170, "global_instruction": "Place the red apple from the black plate into the checkered fruit basket.", "scene_description": "A white table holds a checkered fruit basket filled with fake fruits, a black plate with a red apple and pink peach, a clear water bottle, assorted small fake food toys, and a light blue foreground device, with a right robotic arm positioned off the table to the right.", "global_instruction_dense": "The right robotic arm moves from its off-table position toward the red apple on the black plate, grasps the apple, lifts it, moves it left over the checkered fruit basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 470, "tasks": ["place food"], "length": 117, "global_instruction": "Take a red fruit slice from the basket and place it on the table next to the water bottle.", "scene_description": "A white table holds a red checkered basket with assorted toy fruits, a clear labeled water bottle left of the basket, purple and green plush balls beside the bottle, a toy hamburger and a black plate with a red heart toy right of the basket, a light blue machine at the table front, and a robotic arm at the table's right side.", "global_instruction_dense": "The left robotic arm moves toward the red checkered basket, grasps a red fruit slice inside the basket, lifts the slice, moves left toward the water bottle, then releases the slice onto the table next to the bottle.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 471, "tasks": ["place food"], "length": 207, "global_instruction": "Place the orange toy peach from the black plate into the red checkered basket", "scene_description": "A red checkered basket filled with toy food, a black plate holding an orange toy peach, a small toy hamburger, a purple plush toy, a brown cardboard piece, and a teal bowl are arranged on a white table, with a robotic arm positioned to the right of the table and a light blue device at the front left of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange toy peach on the black plate, grasps the peach with its gripper, lifts it, moves left to position it over the red checkered basket, then releases the peach into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 472, "tasks": ["place food"], "length": 249, "global_instruction": "Take the orange toy fruit from the checkered basket and place it on the white table to the right of the basket.", "scene_description": "A white table holds a red-and-yellow checkered basket filled with toy fruits, a blue kettle, a teal cup, a gray plate, a small toy hamburger, a black griddle pan, and a light blue appliance with a yellow warning label on the left side, with robotic equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the checkered basket on the white table, grasps the orange toy fruit inside the basket, lifts it out, moves it rightward, and releases it onto the table surface to the right of the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 473, "tasks": ["place food"], "length": 219, "global_instruction": "Place the red apple from the checkered fruit basket onto the black plate.", "scene_description": "A white table holds a red-and-white checkered fruit basket at the center left, a black plate with a green apple at the center right, a blue kettle, a blue cup, a grey plate at the back left, a small burger model at the back right, and a light blue appliance at the front left. A robotic arm is positioned on the right side of the table.", "global_instruction_dense": "The right robotic arm moves from the right side of the table to the checkered fruit basket, grasps the red apple inside the basket, lifts it, moves it over the black plate on the right, and releases it onto the plate next to the green apple.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 474, "tasks": ["place food"], "length": 282, "global_instruction": "Place the fake orange into the small black container, then place the fake banana into the red checkered box.", "scene_description": "A white table holds a red checkered box filled with fake fruit, a blue kettle to the left of the box, a blue pot behind the kettle, a fake orange with a green top to the right of the box, a small black square container behind the box, a pale yellow fake banana and small toy burger to the right of the orange, a black plate with a red and green ball to the right of the box, and a grey round plate at the far end of the table.", "global_instruction_dense": "The right robotic arm moves into view from above the table, grasps the fake orange next to the red checkered box, lifts it and places it into the small black container behind the box, then moves to grasp the fake banana next to the toy burger, lifts it and places it into the red checkered box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 475, "tasks": ["place food"], "length": 168, "global_instruction": "Place the red toy apple from the black plate into the checkered fruit basket.", "scene_description": "A white table holds a light blue toy kitchen appliance on its far left, a blue toy kettle, a blue cup, a red-and-white checkered fruit basket filled with toy fruits at the center, a black plate to the basket's right holding a red toy apple and green toy fruit, a small toy hamburger behind the plate, and a grey round plate at the table's far back, with a black light stand to the table's left.", "global_instruction_dense": "The right robotic arm moves toward the red toy apple in the black plate on the right side of the table, grasps the apple, lifts it, moves left to position it over the checkered fruit basket, and releases the apple into the basket before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 476, "tasks": ["place food"], "length": 156, "global_instruction": "Place the toy watermelon slice next to the black pan on the white table", "scene_description": "A white table holds a red checkered basket of toy fruits, a blue swan-shaped teapot, a small toy hamburger, a black pan, a toy watermelon slice, a small black cup, a grey plate, and a light blue appliance on the left. No robotic arm is visible in the initial frame.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves down to grasp the toy watermelon slice beside the fruit basket, lifts and moves it rightward past the black pan, then releases it onto the table next to the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 477, "tasks": ["place food"], "length": 178, "global_instruction": "Place the yellow toy banana from the red checkered basket onto the table near the black small pot.", "scene_description": "A white table holds a light blue toy appliance on the left, a red checkered basket of toy fruits next to it, followed by a gray plate, a black small pot, a blue pan, a red lid, a toy hamburger, a yellow-green toy corn, a black tray with a purple ball, and a watermelon slice toy at the right edge, with tripods and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the red checkered fruit basket on the table, grasps the yellow toy banana inside the basket, lifts it, moves it right toward the area near the black small pot, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 478, "tasks": ["place food"], "length": 210, "global_instruction": "Place the yellow toy bananas on the table onto the black tray holding the purple toy egg.", "scene_description": "A white table holds a light blue toy appliance at the left, a blue swan-shaped kettle next to it, a red checkered box filled with toy fruits, several small toy pans, a black pot, an orange toy fruit, yellow toy bananas, a small green-yellow toy corn, a toy hamburger, an empty gray plate, a black tray with a purple toy egg, and a toy watermelon slice at the right edge, with a tripod and office chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow toy bananas on the table, grasps them with its gripper, lifts and moves the bananas over the black tray with the purple egg, then releases the bananas onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 479, "tasks": ["place food"], "length": 448, "global_instruction": "Place the purple toy ball, yellow toy banana, and orange toy pineapple in their respective target locations.", "scene_description": "A white table holds a red-and-white checkered basket of toy fruits, a black tray with a purple toy ball and yellow toy banana, blue and black toy cookware, a blue toy kettle, a small toy burger, and a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm first grasps the purple toy ball from the black tray, moves it to the table next to the blue toy pot and releases it, then grasps the yellow toy banana from the black tray, moves it to the table next to the purple ball and releases it, finally grasps the orange toy pineapple from the table, moves it into the red checkered basket and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 480, "tasks": ["place food"], "length": 224, "global_instruction": "Place the orange and green pineapple from the checkered basket onto the black plate.", "scene_description": "A red checkered basket filled with toy fruits sits at the center of a white table, with a black plate to the basket's right, toy kitchen items (blue teapot, blue pots, grey pan, mini hamburger, blue toy kitchen appliance) arranged across the table, and a robotic arm at the table's right edge.", "global_instruction_dense": "The right robotic arm moves left toward the checkered fruit basket, grasps the large orange and adjacent green pineapple, lifts the two objects, moves right over the black plate, and releases them onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 481, "tasks": ["place food"], "length": 226, "global_instruction": "Pick a red strawberry from the checkered box and place it onto the black tray.", "scene_description": "A white table holds a red-and-white gingham checkered box (containing multiple red toy strawberries) to the left of a black tray with an orange toy, alongside other items including a toy hamburger, blue lidded pot, and toy banana, with a robotic arm above the upper right of the table.", "global_instruction_dense": "The right robotic arm moves down toward the red-and-white checkered box on the table, grasps a red strawberry inside the box, lifts it, and moves it rightward over the adjacent black tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 482, "tasks": ["place food"], "length": 197, "global_instruction": "Pick the yellow banana from the grey plate and place it into the pink dotted basket", "scene_description": "A white table holds a grey plate with a yellow banana, an orange, a green vegetable and a purple ball; a black tray with fruit to the plate's right; a pink dotted open basket behind the plate; blue toy kitchenware to the plate's left; a small burger model beside the basket; a light blue appliance at the table's left edge; a cardboard box at the lower left; and a robotic arm to the table's right.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow banana on the grey plate, grasps the banana, lifts it, moves toward the pink dotted basket, and releases the banana into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 483, "tasks": ["place food"], "length": 203, "global_instruction": "Place the red toy apple from the black tray onto the table next to the small peach toy.", "scene_description": "A white table holds a black tray with a red toy apple, a grey plate of assorted colorful toy fruits, blue toy cookware, and a red checkered basket, with filming equipment in the background.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the red toy apple on the black tray, grasps it, moves it left to the spot next to the small peach toy, releases it onto the table, then retracts out of view.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 484, "tasks": ["place food"], "length": 246, "global_instruction": "Place the red apple into the checkered basket then move the basket to the right side of the table.", "scene_description": "A white table holds a red-and-white checkered open basket, a plate with assorted colorful fake fruits, a standalone red apple, a pink peach, blue toy kitchenware, and a black tray near the basket.", "global_instruction_dense": "The right robotic arm moves toward the red apple on the white table, grasps it, lifts and places it into the checkered basket, then grasps the basket, lifts it, and moves it to the right side of the table near the black tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 485, "tasks": ["place food"], "length": 153, "global_instruction": "Place the yellow banana from the checkered basket onto the adjacent dark grey plate.", "scene_description": "A white table has a light blue toaster oven at the left, two blue kettles, a black pot, a black tray, a toy burger on a blue base, a dark grey plate with a purple ball, and a red-white checkered yellow basket with toy food including a yellow banana at the right.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow banana inside the red checkered basket, grasps the banana, lifts it out of the basket, moves it left over the adjacent dark grey plate, lowers the banana onto the plate, releases it, then moves upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 486, "tasks": ["place food"], "length": 227, "global_instruction": "Remove the red apple from the checkered basket and place it on the table behind the basket", "scene_description": "A white table has a yellow-bottomed red gingham basket holding a red apple, orange slice and green fruit. Left of the basket are a toy hamburger, black tray, light blue toaster oven and small blue kettles, with a black pot behind the basket.", "global_instruction_dense": "The right robotic gripper moves down to grasp the red apple inside the checkered basket, lifts the apple out of the basket, moves it to the area behind the basket, then releases the apple to set it on the table there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 487, "tasks": ["place food"], "length": 255, "global_instruction": "Place the green play food from the teal cup and the red play food from the checkered basket onto the gray plate behind the basket.", "scene_description": "A white table holds a yellow-based red-and-white checkered basket in the foreground (containing red, yellow, and striped watermelon toy food), a toy burger to the left of the basket, a black grill tray further left, a light blue oven at the far left, and assorted toy cookware including a teal cup with green play food inside and a gray plate behind the basket.", "global_instruction_dense": "The right robotic arm first descends to the teal cup, grasps the green play food inside, lifts and moves it to release onto the gray plate behind the basket, then moves to the checkered basket, grasps the red round play food inside, lifts and moves it to release onto the same gray plate next to the green play food.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 488, "tasks": ["place food"], "length": 263, "global_instruction": "Place the red plush peaches from the grey frying pan into the red checkered storage box", "scene_description": "A red checkered lined storage box filled with plush toy food sits on a white table. A grey frying pan behind the box holds two red plush peaches. A light blue toaster oven, small blue kettle, black grill tray, small toy burger, and teal cup are also on the table.", "global_instruction_dense": "The right robotic arm descends to the grey frying pan, grasps a red plush peach, lifts and places it into the red checkered storage box, then moves back to grasp a red plush peach from the pan, lifts and places it into the box, before retracting upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 489, "tasks": ["place food"], "length": 251, "global_instruction": "Place the red peach into the black tray on the white table", "scene_description": "A white table holds a blue cup, small blue lid, black pot, green-topped purple stacked cup, toy hamburger, and empty black tray; a robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the empty black tray on the right of the white table, lowers the red peach it carries into the tray, releases the peach, then moves upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 490, "tasks": ["place food"], "length": 254, "global_instruction": "Pick the pink peach from the black tray and place it on the white table left of the tray.", "scene_description": "A white table holds a black tray at its right edge with a pink peach inside, a toy hamburger left of the tray, a black pot, a tall stacked cup with green top and purple body, a small blue lid, a blue pot, and a small stacked cup behind the black pot. A robotic arm is positioned above the upper right of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the pink peach in the black tray, grasps the peach, lifts it out of the tray, moves it left to the open table area, releases it onto the table, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 491, "tasks": ["place food"], "length": 267, "global_instruction": "Place the fake watermelon slice from the white tray into the checkered fruit basket.", "scene_description": "A red-and-yellow checkered basket filled with artificial fruits, a fake red watermelon slice in a white wooden-edged tray, and a red fire extinguisher below a wooden wall cabinet are positioned near a white table, with the basket left of the tray.", "global_instruction_dense": "The right robotic arm moves toward the fake watermelon slice in the white tray on the table, grasps the slice with its gripper, lifts it, moves it left above the checkered fruit basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 492, "tasks": ["place food"], "length": 169, "global_instruction": "Pick the pink watermelon slice from the checkered basket and place it into the adjacent empty white tray.", "scene_description": "A red-and-white checkered basket holding fake fruits including a pink watermelon slice sits on a white kitchen counter next to an empty white tray; wooden cabinets are above the counter, and a red fire extinguisher is mounted on the wall.", "global_instruction_dense": "The right robotic arm moves down toward the checkered fruit basket, grasps the pink watermelon slice inside it, lifts the slice, moves it rightward over the empty white tray, releases the slice into the tray, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 493, "tasks": ["place food"], "length": 209, "global_instruction": "Place the toy watermelon slice from the white tray into the checkered fruit basket", "scene_description": "A red-and-white checkered fruit basket filled with assorted toy fruits sits on a white table, an empty white tray is to the right of the basket, a fire extinguisher and wooden cabinet are on the left wall, and a robotic arm is in the upper right.", "global_instruction_dense": "The right robotic arm moves downward toward the white tray on the right of the table, grasps the red and green toy watermelon slice with its gripper, lifts the slice, moves it leftward over the checkered fruit basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 494, "tasks": ["place food"], "length": 410, "global_instruction": "Place the fake fruits from the right table tray into the red and white checkered basket.", "scene_description": "A red and white checkered open basket sits on the left of a white table with colorful fake fruit inside; a yellow fake pear, red fake fruit, and green-white fake watermelon slice are on the right tray area of the table, with a robotic arm above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the yellow fake pear from the right table tray, lifts and moves it left to release it into the checkered basket, then moves back right to grasp the red fake fruit, lifts and moves it left to release it into the checkered basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 495, "tasks": ["place food"], "length": 612, "global_instruction": "Place the green-white-red striped watermelon slice into the red checkered basket.", "scene_description": "A red checkered basket filled with fake fruits rests on a white table, and a green-white-red striped watermelon slice is placed on the table to the right of the basket.", "global_instruction_dense": "The right robotic arm moves toward the striped watermelon slice on the right of the table, grasps it with its gripper, lifts and moves it left over the red checkered basket, releases the slice into the basket, then moves away and adjusts its position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 496, "tasks": ["place food"], "length": 580, "global_instruction": "Take the red toy fruit from the drawer, place it into the red checkered basket, then close the drawer.", "scene_description": "A red checkered basket of fake fruits sits on a white counter, with a red fire extinguisher mounted on the wall to its left, a light wooden cabinet above the extinguisher, and a closed drawer adjacent to the basket.", "global_instruction_dense": "The right robotic gripper pulls the drawer open, grasps the red toy fruit inside the drawer, lifts the fruit, moves it over the red checkered basket, releases it into the basket, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 497, "tasks": ["place food"], "length": 307, "global_instruction": "Pick up a peach from the table and place it into the red checkered basket.", "scene_description": "A white table holds a red checkered basket with assorted colorful items, small containers on the table's left, and a white robotic arm is positioned on the right.", "global_instruction_dense": "The right robotic arm moves toward the peach on the table, grasps it with its gripper, lifts the peach, moves left to position over the red checkered basket, lowers the peach, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 498, "tasks": ["place food"], "length": 202, "global_instruction": "Place the red apple from the checkered basket onto the black tray next to the toy pineapple.", "scene_description": "A white table holds a red checkered toy fruit basket at its center, a black tray with a purple toy fruit and orange toy pineapple to the basket's right, and assorted toy kitchen items around the table, with a robotic arm in the upper right background.", "global_instruction_dense": "The right robotic arm moves from the upper right background down to the checkered basket, grasps the red apple inside the basket, lifts the apple, moves right to position it over the black tray, releases the apple onto the tray, then moves upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 499, "tasks": ["place food"], "length": 658, "global_instruction": "Place all yellow stick snacks from the gray plate into the green plastic cup.", "scene_description": "A white table holds a gray plate with five yellow stick-shaped snacks, a green plastic cup, an orange plastic cup, a blue plastic cup, assorted cookware (teal pot, black pot, teal kettle, lids), a fruit basket at the far end of the table, and a black tray to the right of the plate.", "global_instruction_dense": "The right robotic gripper repeatedly moves to the gray plate, grasps a yellow stick snack, moves to the green plastic cup, releases the snack into the cup until all yellow stick snacks from the plate are placed into the green cup, then moves to a neutral position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 500, "tasks": ["place food"], "length": 230, "global_instruction": "Place the green toy apple into the mini oven then close the oven door.", "scene_description": "A white table holds a light blue mini oven with an orange plush on its top, a green toy apple resting on the oven's open door, toy food items, a black tray, and a red checkered basket in the background, with filming equipment to the table's right.", "global_instruction_dense": "The right robotic arm moves toward the green toy apple on the open mini oven door, grasps the apple, pushes it fully into the oven interior, then moves to the oven door handle, lifts and closes the door completely before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 501, "tasks": ["place food"], "length": 265, "global_instruction": "Take the green pear out of the toy oven and place it on the table to the right of the oven.", "scene_description": "A light blue toy oven with a partially open door holding an orange and a green pear sits on a white table. A small red bottle is to the left of the oven, and a toy hamburger, pink round toy, black tray, red checkered fruit basket are arranged to the oven's right.", "global_instruction_dense": "The right robotic arm moves toward the toy oven, pulls the oven door fully open, reaches inside to grasp the green pear, lifts the pear out of the oven, moves it rightward to the table next to the toy hamburger, then releases the pear onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 502, "tasks": ["place food"], "length": 510, "global_instruction": "Place the pink peach into the black plate on the white table", "scene_description": "A light blue toy oven with an orange plush carrot on top sits on a white table, alongside toy food items (brown hamburger, green pear, pink peach), a black square plate, and a red checkered basket at the far end of the table.", "global_instruction_dense": "The right robotic arm moves into the scene, first shifts the hamburger to the side of the toy oven, then adjusts the position of the green pear, then grasps the pink peach and places it into the black plate before moving out of the scene.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 503, "tasks": ["place food"], "length": 217, "global_instruction": "Place the red plush strawberry from the black table tray onto the oven's silver tray.", "scene_description": "A light blue oven with a silver tray rests on a white table, with a red plush strawberry on the tray. A black tray on the table holds another red plush strawberry, plus a green pear, mini burger, and red checkered basket in the background.", "global_instruction_dense": "The right robotic arm moves toward the red strawberry in the black table tray, grasps it, lifts it, moves it over the light blue oven's silver tray, lowers it, releases it next to the existing strawberry on the tray, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 504, "tasks": ["place food"], "length": 243, "global_instruction": "Place the green toy pear into the top storage slot of the light blue toy oven", "scene_description": "A light blue toy oven with two red plush strawberries on its silver lid sits on a white table. To the right of the oven, a green toy pear, a small burger toy, a black tray, colorful small cups, a black mug, and a red checkered picnic basket with toy food inside are arranged on the table.", "global_instruction_dense": "The right robotic arm moves toward the green toy pear on the white table, grasps it with its gripper, lifts it, moves it leftward over the light blue toy oven's top storage slot, lowers and releases it into the slot, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 505, "tasks": ["place food"], "length": 423, "global_instruction": "Pick all yellow food pieces from the white plate and place them into the orange cup", "scene_description": "A white table holds a light blue toaster oven on its left, a red bottle at the far left, a white plate with three yellow food pieces to the right of the oven, an orange cup, a green cup, and a black square tray further right, with a fruit basket of colorful fake fruits in the background.", "global_instruction_dense": "The right robotic gripper moves toward the white plate, sequentially grasps each yellow food piece from the plate, moves each piece to the orange cup, releases the pieces into the cup, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 506, "tasks": ["place food"], "length": 187, "global_instruction": "Place a yellow food piece from the white plate into the green plastic cup.", "scene_description": "A light blue toaster oven, a red bottle with a white label, a white plate with yellow food pieces, a hamburger toy, a green plastic cup, an orange plastic cup, a black square dish, and a red-checkered fruit basket filled with fake fruits are placed on a white table. The toaster oven is on the left of the table, the red bottle is at the far left edge, the hamburger toy is between the oven and the plate, the green cup is to the right of the plate, the orange cup and fruit basket are at the back of the table, and the black dish is to the right of the green cup.", "global_instruction_dense": "The right robotic gripper moves toward the white plate with yellow food pieces, grasps one yellow food piece, lifts it, moves it over the green plastic cup, releases the piece into the cup, then moves upward away from the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 507, "tasks": ["place food"], "length": 476, "global_instruction": "Place the yellow food pieces from the white plate into the orange and green cups on the table.", "scene_description": "A light blue toaster oven, a red sauce bottle, a white plate with yellow food pieces, an orange cup, a green cup, a black square plate, a hamburger, and a fruit basket are placed on a white table. The toaster oven is on the left side of the table, the plate and cups are to the right of the toaster oven, and the fruit basket is in the background.", "global_instruction_dense": "The right robotic gripper moves to the white plate, grasps a yellow food piece, moves it to the orange cup and releases it into the cup, then returns to the plate to grasp another yellow food piece, moves it to the green cup and releases it into the cup before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 508, "tasks": ["place food"], "length": 232, "global_instruction": "Pick a small fruit from the white plate and place it into the back fruit basket", "scene_description": "A light blue mini oven, a red spray bottle, a small burger, a white plate, a black tray, green, orange, purple cups, and a fruit basket with colorful fake fruits are on a white table. The oven is on the left of the table, the fruit basket is at the back right of the table.", "global_instruction_dense": "The right robotic gripper moves down from the background to the white plate, grasps a small fruit, lifts and moves it to the back fruit basket, releases the fruit into the basket, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 509, "tasks": ["place food"], "length": 317, "global_instruction": "Pick yellow food pieces from the white plate and place them into the orange cup.", "scene_description": "A light blue toaster oven sits on the left of a white table. To the oven's right, there is a white plate holding yellow food pieces, a black square dish, and colorful purple, black, orange, green, blue cups arranged behind the plate. A red bottle is on the far left of the table, and a fruit basket sits in the background behind the cups.", "global_instruction_dense": "The right robotic arm enters from above the table, moves down to grasp a yellow food piece from the white plate, moves to the orange cup to place the piece inside, returns to the plate to grasp a yellow food piece, moves to the orange cup again to place the piece inside, then moves upward out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 510, "tasks": ["place food"], "length": 310, "global_instruction": "Pick up the yellow food from the white plate and place it beside the orange cup on the table.", "scene_description": "A light blue toaster oven sits on a white table, with a red spray bottle to its left, and a hamburger, white plate with yellow food, green cup, orange cup, blue cup, black square plate, and colorful fruit basket arranged to its right.", "global_instruction_dense": "The right robotic gripper moves toward the yellow food on the white plate to the right of the light blue oven, grasps and lifts the yellow food, moves it to the area beside the orange cup behind the green cup, releases the yellow food there, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 511, "tasks": ["place food"], "length": 239, "global_instruction": "Place a yellow food piece from the white plate into the green cup on the table.", "scene_description": "A white table holds a light blue small oven on the left, a red spray bottle to the oven's left, a white plate with yellow food pieces to the oven's right, orange, green, and blue cups further right, a black square tray next to the green cup, a fruit basket at the far back, and a toy burger beside the plate.", "global_instruction_dense": "The right robotic arm moves down toward the white plate, grasps a yellow food piece, lifts the piece, moves it over the green cup, releases the piece into the cup, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 512, "tasks": ["place food"], "length": 222, "global_instruction": "Pick up the yellow food piece from the white plate and place it beside the fruit basket on the table.", "scene_description": "A light blue toaster oven with a silver front, red spray bottle, hamburger, white plate with a yellow food piece, green cup, orange cup, blue cup, black container, and a basket of colorful fruits are placed on a white table. The toaster oven is on the left side of the table, the fruit basket is at the rear right.", "global_instruction_dense": "The right robotic arm moves toward the yellow food piece on the white plate, grasps it, lifts it, moves it toward the rear right of the table next to the fruit basket, and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 513, "tasks": ["place food"], "length": 752, "global_instruction": "Place all yellow food pieces from the plate into the nearby colored cups.", "scene_description": "A light blue toy oven, a small toy hamburger, a light-colored plate holding five yellow food pieces, four colored cups (teal, black, orange, green), a red-and-white checkered basket of fake fruit, and a black rectangular tray are arranged on a white table. The oven sits on the far left, the hamburger is to the right of the oven, the plate is centered on the right half of the table, the cups are positioned behind the plate, the fruit basket is behind the cups, and the black tray is to the right of the plate.", "global_instruction_dense": "The right robotic arm repeatedly descends to the plate of yellow food pieces, grasps one piece at a time, lifts it, moves it to either the green or orange cup, and releases the piece into the cup, until nearly all yellow pieces are removed from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 514, "tasks": ["place food"], "length": 205, "global_instruction": "Place the orange plush carrot toy into the checkered plush food basket.", "scene_description": "A white table holds a light blue toy kitchen appliance on the left, assorted toy cookware including a blue kettle, blue pot, small dark pan, and black pot, an orange plush carrot toy resting on the black pot, a red-and-yellow checkered basket filled with other plush food toys to the right of the black pot, a toy hamburger to the right of the basket, a black grill pan at the bottom right, and a sensor mounted on a tall black stand in the background.", "global_instruction_dense": "The right robotic arm moves into the frame from the top right, approaches the orange plush carrot toy resting on the black pot, grasps the carrot, lifts it, moves it over to the red-and-yellow checkered basket, lowers it into the basket, releases the carrot, and moves upward away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 515, "tasks": ["place food"], "length": 161, "global_instruction": "Place the red toy strawberry onto the table near the other toy fruits.", "scene_description": "A white table holds a light blue toy oven on the left, a red-and-white checkered basket at center, assorted toy fruits (orange slices, red apple, orange strawberry, purple fruit, and a black tray with watermelon slice, banana, green avocado) on the right, a small blue kettle left of the basket, a toy burger on the far right, and small kitchen toys on a plate in the background, with a tripod-mounted sensor behind the table.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves to the background plate area, grasps a red toy strawberry, lifts it, moves it to the front table fruit area, and releases it onto the table next to the existing strawberry and apple.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 516, "tasks": ["place food"], "length": 112, "global_instruction": "Place the yellow banana from the black tray into the checkered basket", "scene_description": "A light blue toy oven is on the left of a white table. Fake fruits including orange citrus slices, a red apple, two orange strawberries, a purple vegetable are placed on the table, with a black tray on the right holding a yellow banana, green avocado, and red watermelon slice. A red-white checkered basket with yellow base is near the center right, and a toy hamburger plus small dishes are in the far background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow banana in the right black tray, grasps the banana, lifts it, moves left above the checkered basket, releases the banana into the basket, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 517, "tasks": ["place food"], "length": 128, "global_instruction": "Place the watermelon slice from the right black tray into the checkered basket.", "scene_description": "A white table has a light blue toy appliance on the left, a red-and-white checkered basket in the center, assorted plush fruits on the table surface, a black tray on the right holding a green pear and a red watermelon slice, plus small toy kitchenware and a toy burger in the background.", "global_instruction_dense": "The right robotic arm moves toward the red watermelon slice on the right black tray, grasps the slice, lifts it, moves it over the central checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 518, "tasks": ["place food"], "length": 171, "global_instruction": "Place a pink peach from the table into the red checkered basket.", "scene_description": "A light blue toy oven is on the left of a white table, with scattered fake fruits (orange, red apple, two pink peaches, a purple object) on the table, a red-and-yellow checkered basket with fake food at the center, a black grill tray and fake hamburger on the right, and small toy kitchenware scattered around.", "global_instruction_dense": "The right robotic gripper moves down toward the pink peaches on the table, grasps one pink peach, lifts it, moves it over the red checkered basket, releases the peach into the basket, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 519, "tasks": ["place food"], "length": 178, "global_instruction": "Place the red-green toy strawberry into the basket of toy produce.", "scene_description": "A white table holds a light blue toy oven on the left, a small battery, a red-green toy strawberry, a black grill tray on the right, a basket of colorful toy produce, and a toy hamburger next to the basket.", "global_instruction_dense": "The right robotic gripper moves toward the red-green toy strawberry on the table, grasps it, lifts it, moves it over the adjacent produce basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 520, "tasks": ["place food"], "length": 515, "global_instruction": "Move the yellow corn segments from the teal frying pan into the light green bowl using the yellow spatula.", "scene_description": "A white kitchen countertop holds a light green bowl with a yellow wooden spatula resting on its edge, a small teal frying pan with gray handle containing yellow corn segments, with a wall with electrical outlets and a fire extinguisher in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow spatula on the light green bowl, grasps it, uses it to transfer yellow corn segments from the adjacent teal frying pan into the light green bowl, then places the spatula back on the bowl and retracts from the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 521, "tasks": ["place food"], "length": 461, "global_instruction": "Place yellow food pieces from the light green bowl onto the adjacent white counter.", "scene_description": "A light green bowl containing yellow food pieces sits on a white kitchen counter. A robotic arm is positioned to the right of the bowl, and wall outlets are visible on the adjacent gray wall.", "global_instruction_dense": "The right robotic arm moves toward the light green bowl on the white counter, repeatedly grasps yellow food pieces from inside the bowl, lifts each piece, moves it leftward, places it on the counter surface next to the bowl, then moves back toward its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 522, "tasks": ["place food"], "length": 176, "global_instruction": "Place the green toy pear from the black tray into the checkered fruit basket.", "scene_description": "On a white table, a light blue small appliance sits on the left, a red-and-white checkered basket filled with colorful toy fruits is to its right, a black tray holding a green toy pear is to the right of the basket, and assorted small toy kitchen items are scattered across the table, with the robotic arm initially off-screen.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, lowers to grasp the green toy pear in the black tray, lifts it, moves it left over the checkered fruit basket, and releases the pear into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 523, "tasks": ["place food"], "length": 329, "global_instruction": "Place fake fruits from the checkered basket onto the black grill plate.", "scene_description": "A white table holds a light blue appliance on its left, a checkered basket filled with colorful fake fruits at its center, a black grill plate to the basket's right, assorted small toy kitchen items scattered across the table, and a robotic arm positioned at the table's upper right.", "global_instruction_dense": "The right robotic arm moves to the checkered basket, grasps an orange fake pineapple, moves it to the black grill plate and releases it, then returns to the basket, grasps a red fake apple, moves it to the grill plate and releases it next to the pineapple, then moves away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 524, "tasks": ["place food"], "length": 381, "global_instruction": "Hang the orange ring on the horizontal crossbar of the wooden cup rack.", "scene_description": "A white table holds a wooden cup rack with a round base, a beige tape roll, an orange ring, scattered small toys, black cables, and a robotic arm on its right side, with electrical switch boxes mounted on the adjacent white wall.", "global_instruction_dense": "The right robotic gripper moves toward the orange ring on the table, grasps it, lifts it, transports it to the wooden cup rack, hangs the ring on the rack's horizontal crossbar, then releases the ring and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 525, "tasks": ["place food"], "length": 146, "global_instruction": "Grasp the orange toy fruit and reposition it on the white table", "scene_description": "A white table holds a light blue machine on the left, followed by an orange toy fruit, teal pot, small dark pan, black pot, small colorful toy stack, purple toy, toy hamburger, and black grill pan from left to right, with a tripod stand behind the table.", "global_instruction_dense": "The right robotic arm moves from the top right of the frame toward the orange toy fruit on the table, grasps it with its gripper, lifts and moves it a short distance, then releases it back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 526, "tasks": ["place food"], "length": 140, "global_instruction": "Place the purple egg-shaped object into the black grill pan on the table.", "scene_description": "A light blue rectangular device with a clear window and attached black power cord sits on the left of a white table. To its right are an orange ball, a teal cup, a small dark pan, a black pot, a purple egg-shaped object, a black grill pan, and a toy burger. A black stand with a mounted device is behind the table against a grey wall.", "global_instruction_dense": "The right robotic arm moves toward the purple egg-shaped object on the white table, grasps it with its gripper, lifts and moves it over the nearby black grill pan, then releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 527, "tasks": ["place food"], "length": 127, "global_instruction": "Place the orange toy fruit into the black pot on the table.", "scene_description": "A light blue machine, an orange toy fruit with green leaves, a blue small cup, a dark small pan, a black pot, a fake hamburger, and a black grill pan are placed on a white table. The light blue machine is at the left of the table.", "global_instruction_dense": "The right robotic arm enters the scene, moves toward the orange toy fruit, grasps it, lifts it, moves it over the black pot, and releases the fruit into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 528, "tasks": ["place food"], "length": 118, "global_instruction": "Pick up the orange plush toy and reposition it on the white table.", "scene_description": "A white table holds a light blue electric appliance on the left, an orange plush toy with green top, a blue cup, a small dark pan, a black pot, a black grill plate, and a toy hamburger arranged rightward.", "global_instruction_dense": "The right robotic arm moves toward the orange plush toy on the table, grasps it with its gripper, lifts it, moves it a short distance rightward, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 529, "tasks": ["place food"], "length": 215, "global_instruction": "Pick a yellow fruit from the red gingham basket and place it on the counter next to the sink.", "scene_description": "A white kitchen counter has a stainless steel sink, a green plastic cup left of the sink, a clear water bottle next to the cup, orange and blue cups behind the sink faucet, a red-and-white gingham fruit basket to the sink's right, and a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the red gingham basket right of the sink, grasps a yellow fruit inside the basket, lifts it, moves it left to the empty counter space between the sink and basket, then releases the fruit onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 530, "tasks": ["place food"], "length": 99, "global_instruction": "Place the yellow toy banana on the counter into the red checkered basket.", "scene_description": "A white kitchen counter with an embedded stainless steel sink holds a clear water bottle and green cup left of the sink, a yellow toy banana and red checkered basket right of the sink, plus orange and blue cups near the faucet, with a right robotic gripper positioned above the basket.", "global_instruction_dense": "The right robotic gripper moves from above the basket toward the yellow toy banana next to the sink, grasps the banana, lifts it, moves it over the red checkered basket, and releases the banana into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 531, "tasks": ["place food"], "length": 102, "global_instruction": "Take the yellow pear from the checkered basket and place it on the countertop next to the sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a clear water bottle with a blue label left of the sink, a green plastic cup in front of the sink, orange and blue plastic cups behind the sink near the faucet, and a red-and-white checkered fruit basket to the right of the sink. A right robotic gripper is positioned above the basket.", "global_instruction_dense": "The right robotic gripper lowers into the red-and-white checkered fruit basket to the right of the sink, grasps the yellow pear inside, lifts it out of the basket, moves it left over the counter adjacent to the sink, then releases it to place it on the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 532, "tasks": ["place food"], "length": 173, "global_instruction": "Pick the watermelon slice from the basket and place it on the counter next to the green cup.", "scene_description": "A white kitchen counter has a stainless steel sink, a transparent water bottle with blue label left of the sink, a green cup in front of the sink, an orange cup, yellow banana, blue cup behind the sink, and a pink basket with a watermelon slice to the right of the sink, with a robotic arm above the basket.", "global_instruction_dense": "The right robotic gripper lowers into the basket, grasps the watermelon slice, lifts it, moves it over the sink toward the green cup, and releases it onto the counter next to the green cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 533, "tasks": ["place food"], "length": 209, "global_instruction": "Pick up the red toy apple and place it into the red polka-dot basket.", "scene_description": "A white kitchen countertop has a stainless steel sink, a clear water bottle left of the sink, a red polka-dot basket with toy food items in front of the sink, a red toy apple right of the sink, small colorful cups near the sink, and a keyboard at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the red toy apple on the counter right of the sink, grasps it with its gripper, lifts the apple, moves it left over the red polka-dot basket, and releases the apple into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 534, "tasks": ["place food"], "length": 134, "global_instruction": "Place the light orange peach on the kitchen counter into the red-and-white striped fruit basket.", "scene_description": "A white kitchen counter has a stainless steel sink, a clear water bottle with a blue label, a green plastic cup left of the bottle, an orange cup, a blue cup, a light orange peach, a red ball, and a red-and-white striped fruit basket to the right of the sink, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic gripper moves toward the light orange peach beside the sink, grasps the peach, lifts it, moves it over the red-and-white striped fruit basket, then releases the peach into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 535, "tasks": ["place food"], "length": 195, "global_instruction": "Place the red apple next to the checkered fruit basket into the basket.", "scene_description": "A white kitchen counter with an embedded stainless steel sink holds a green plastic cup, clear water bottle, orange plastic cup, blue plastic cup, red apple, and red checkered basket of fake fruits arranged left to right.", "global_instruction_dense": "The right robotic arm moves down from above the counter, grasps the red apple beside the checkered fruit basket, lifts it, moves it over the basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 536, "tasks": ["place food"], "length": 220, "global_instruction": "Place the yellow banana from the fruit basket onto the adjacent kitchen countertop.", "scene_description": "A white kitchen countertop has an embedded stainless steel sink, a green plastic cup left of the sink, a transparent water bottle with a blue label left of the cup, orange and blue small cups right of the sink, a red-and-yellow fruit basket full of artificial produce right of the cups, and a keyboard in the far right background.", "global_instruction_dense": "The right robotic arm moves downward toward the fruit basket on the counter, grasps the yellow banana inside the basket, lifts it out of the basket, moves it to the empty counter space next to the basket, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 537, "tasks": ["place food"], "length": 141, "global_instruction": "Place the yellow banana toy on the counter into the pink fruit basket", "scene_description": "A white kitchen counter with a stainless steel sink has a clear water bottle and green cup left of the sink, orange and blue cups behind the sink, a pink fruit basket with fake produce right of the sink, and a yellow banana toy next to the basket, with a right robotic gripper above the counter.", "global_instruction_dense": "The right robotic gripper moves toward the yellow banana toy next to the fruit basket, grasps it, lifts it, moves it over the pink basket, and releases it inside the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 538, "tasks": ["place food"], "length": 146, "global_instruction": "Take the red apple from the orange fruit basket and place it on the adjacent countertop.", "scene_description": "A white kitchen counter holds a central stainless steel sink. Left of the sink are a transparent SmartWater bottle and a green plastic cup. Near the sink faucet are an orange cup and a blue cup. Right of the sink are an orange fruit basket with a red apple inside, a fake orange carrot beside the basket, and a keyboard further right, with a robotic arm positioned above the far end of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the orange fruit basket, grasps the red apple inside the basket, lifts the apple out of the basket, moves it slightly left, and lowers it to place it on the countertop next to the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 539, "tasks": ["place food"], "length": 117, "global_instruction": "Place the orange fake carrot on the counter into the red checkered basket.", "scene_description": "A white kitchen counter holds a central stainless steel sink, a green plastic cup left of the sink, a clear water bottle behind the green cup, an orange fake carrot with green top on the counter right of the sink, a red checkered basket behind the carrot, and a keyboard on the far right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the orange fake carrot on the counter right of the sink, grasps the carrot, lifts it, moves it over the red checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 540, "tasks": ["place food"], "length": 176, "global_instruction": "Place the orange fake fruit next to the yellow banana near the light blue tabletop appliance.", "scene_description": "A white table holds a light blue appliance on the left, a red checkered basket at the center, an orange fake fruit next to the basket, plus a yellow banana, red watermelon slice, black ridged plate, black cup, toy burger, and dark blue hoodie at the back, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves into the frame, approaches the orange fake fruit beside the red checkered basket, grasps it, lifts and moves it left to the area between the light blue appliance and yellow banana, then lowers and releases the orange onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 541, "tasks": ["place food"], "length": 106, "global_instruction": "Place the yellow plush banana into the red polka dot basket on the table.", "scene_description": "A white table holds a light blue small appliance on its left, a yellow plush banana, an orange plush orange, a red polka dot basket with toy fruit inside, a toy watermelon slice, a black ridged tray, a toy burger, and a dark blue hoodie at the far end, with an office space in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow plush banana on the table, grasps it with its gripper, lifts it, moves it over the red polka dot basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 542, "tasks": ["place food"], "length": 138, "global_instruction": "Place the orange fake fruit on the table into the red checkered basket", "scene_description": "A light blue cleaning device, an orange fake fruit, a red checkered basket holding multiple fake fruits, a fake watermelon slice, black ridged tray, small burger figurine, blue teapot, and dark clothing are placed on a white office table. The cleaning device is on the far left, the orange sits left of the center basket.", "global_instruction_dense": "The right robotic arm moves toward the orange fake fruit on the table, grasps it, lifts it, moves it over the red checkered basket, and releases the orange into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 543, "tasks": ["place food"], "length": 124, "global_instruction": "Place the artificial watermelon slice into the red-and-white checkered fruit basket.", "scene_description": "A light blue countertop appliance is on the left of a white table, a red-and-white checkered fruit basket sits at the table center, a small artificial watermelon slice is to the right of the basket, a black ridged tray is below the watermelon slice, and an artificial burger, gray plate, dark blue hoodie are on the right/background of the table.", "global_instruction_dense": "The right robotic arm moves from off-screen toward the artificial watermelon slice on the table, grasps it with its gripper, lifts it, moves it over the checkered fruit basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 544, "tasks": ["place food"], "length": 196, "global_instruction": "Place the green apple into the checkered fruit basket", "scene_description": "A light blue countertop appliance, a red-and-yellow checkered fruit basket with assorted toy fruits, a black tray, a tiny burger model, and a right robotic arm are placed on a white table. The blue appliance is on the left, the basket is centered, and the robotic arm is on the right.", "global_instruction_dense": "The right robotic arm moves toward the green apple behind the checkered fruit basket, grasps the apple with its gripper, lifts it, moves it over the basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 545, "tasks": ["place food"], "length": 227, "global_instruction": "Place the red toy watermelon slice into the red checkered fruit basket", "scene_description": "A white table holds a light blue toy kitchen set on the left, a blue teapot, blue tableware, a red toy watermelon slice, a red checkered basket filled with toy fruits, a toy hamburger, a black tray with purple and green toy items, and a robotic arm above the table's right side, with grey curtains in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the red toy watermelon slice on the table, grasps it, lifts it, moves to above the red checkered fruit basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 546, "tasks": ["place food"], "length": 164, "global_instruction": "Pick the green pear from the red fruit basket and place it into the black tray with the yellow bear toy.", "scene_description": "A white table holds a light blue toy appliance on the left, a red grid-patterned basket filled with fake fruits to the right of the appliance, a black tray with a yellow bear-shaped toy to the right of the basket, small blue cookware behind the basket, a toy hamburger at the far right, a red fake fruit in a small white dish at the far left, and a black power cord next to the blue appliance.", "global_instruction_dense": "The right robotic gripper moves toward the red fruit basket, grasps the green pear inside the basket, lifts the pear, moves it right over the black tray, and releases the pear onto the tray next to the yellow bear toy.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 547, "tasks": ["place food"], "length": 137, "global_instruction": "Place the yellow toy banana from the red checkered basket into the black grill tray", "scene_description": "A white table has a light blue toy appliance on the left, a red checkered basket of toy fruit in the middle, two blue cups behind the basket, a black grill tray to the basket's right, a toy burger on the far right, and a small dish with a red toy on the far left.", "global_instruction_dense": "The right robotic arm moves toward the red checkered basket, grasps the yellow toy banana inside it, lifts the banana, moves it right over the black grill tray, lowers it, and releases it onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 548, "tasks": ["place food"], "length": 162, "global_instruction": "Place the toy watermelon slice from the checkered basket into the black tray with other toy fruits.", "scene_description": "A white table holds a light blue small appliance at center, a white plate with a red toy fruit to the appliance's left, two blue cups and a black cup behind a red-and-white checkered open basket on an orange mat to the appliance's right, a black tray with yellow banana, green apple and orange toy fruit at the table right, and a small burger toy on a blue saucer at the far right, with a grey curtain in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red-and-white checkered basket, grasps the pink toy watermelon slice inside the basket, lifts the slice, moves it rightward over the black tray holding other toy fruits, and releases it to place the watermelon slice in the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 549, "tasks": ["place food"], "length": 122, "global_instruction": "Place the red watermelon slice from the black tray into the red checkered basket.", "scene_description": "A white table holds a light blue device at center, a small plate with a red toy apple left of the device, a black tray with toy fruits (yellow banana, green apple, orange, red watermelon slice) right of the device, a red checkered basket behind the tray, several small cups behind the basket, and a toy hamburger at the far right of the table.", "global_instruction_dense": "The right robotic arm moves toward the red watermelon slice in the black tray on the right of the white table, grasps the slice, lifts it, moves it over the red checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 550, "tasks": ["place food"], "length": 278, "global_instruction": "Take the yellow banana from the red checkered basket and place it on the black tray.", "scene_description": "A white table holds a light blue toy appliance, a small white dish with a red apple toy, two blue toy cups, a red-and-white checkered basket of fake fruits on an orange mat, a black plastic tray, and a toy hamburger on a small blue plate, with a robotic gripper above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the red checkered basket, grasps the yellow banana inside the basket, lifts it, moves it over the black tray, releases it onto the tray, then moves upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 551, "tasks": ["place food"], "length": 133, "global_instruction": "Place the yellow banana from the black tray into the red checkered fruit basket", "scene_description": "A white table holds a small plate with a red toy apple on the left, a black power cord next to it, a light blue toy appliance at the center left, two small blue cups to the appliance's right, a red checkered fruit basket on a red mat, a black tray with a yellow toy banana on it, and a toy hamburger on a small blue plate at the far right.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the black tray, grasps it, lifts it, moves it over the red checkered fruit basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 552, "tasks": ["place food"], "length": 184, "global_instruction": "Pick up the pink watermelon slice from the black pot and place it next to the fruit basket.", "scene_description": "A white table holds a light blue toy appliance at center left, a small plate with a red toy apple left of the appliance, two blue cups, a checkered fruit basket, a black pot with a pink watermelon slice inside, a black grill tray, and a toy hamburger on a small plate at far right.", "global_instruction_dense": "The right robotic arm moves toward the pink watermelon slice in the black pot to the right of the fruit basket, grasps the slice, lifts it, moves it left to the area next to the blue cup beside the basket, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 553, "tasks": ["place food"], "length": 216, "global_instruction": "Place the yellow toy banana from the black toy pot into the black ridged tray", "scene_description": "A white table holds a light blue toy appliance on the center-left, a small dish with a red toy apple left of the appliance, a black power cord next to the dish, an orange cloth right of the appliance, several teal and black toy pots behind the cloth, a black ridged tray lower right of the cloth, a pink and an orange toy fruit between the cloth and tray, a toy hamburger right of the tray, and a red checkered basket with an orange inside on the far right.", "global_instruction_dense": "The right robotic arm moves toward the black toy pot on the upper right of the table, grasps the yellow toy banana inside the pot, lifts the banana, moves it over the black ridged tray, lowers the banana, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 554, "tasks": ["place food"], "length": 256, "global_instruction": "Place the yellow banana into the black pot and the pink peach into the black tray.", "scene_description": "A white tabletop has a light blue toy oven at center left, a white dish with a red toy apple to its left, a peach-colored cloth in the middle, a black tray with a yellow toy banana to its right, a pink toy peach and orange toy ball next to the tray, a black toy pot further right, two teal cups and a blue kettle behind the oven, a red-checkered basket with an orange and a toy hamburger at the far right, with a right robotic arm above the table.", "global_instruction_dense": "The right robotic arm grasps the yellow banana from the black tray, moves it to the black pot and releases it inside, then grasps the pink peach from the table, moves it to the empty black tray and releases it inside before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 555, "tasks": ["place food"], "length": 172, "global_instruction": "Place the green and pink toy watermelon slice into the black pot.", "scene_description": "A white table holds toy kitchen items: a light blue toy appliance is center-left, a plate with a red toy apple is left of it, a black power cord sits next to the plate, while a blue toy kettle, blue pot, small dark pan, green round toy, green and pink watermelon slice, orange ball, orange cloth, black baking tray, red checkered toy food basket, black pot, and toy hamburger are arranged on the right, with a right robotic gripper inside the basket.", "global_instruction_dense": "Right robotic gripper retracts out of the red checkered basket, moves toward the green and pink watermelon slice on the table, grasps and lifts it, moves it over the black pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 556, "tasks": ["place food"], "length": 142, "global_instruction": "Place the yellow plush banana from the red checkered basket onto the black grill tray.", "scene_description": "A white table holds a light blue mini appliance at center left, a small dish with a red plush apple at far left, an orange cloth right of the appliance, a red checkered basket at far right, a black grill tray left of the basket, and assorted small toy kitchen items scattered across the table.", "global_instruction_dense": "The right robotic gripper moves toward the red checkered basket, grasps the yellow plush banana inside the basket, lifts the banana, moves it over the black grill tray, then releases the banana to place it on the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 557, "tasks": ["place food"], "length": 191, "global_instruction": "Place the orange plush carrot onto the black grill plate on the table.", "scene_description": "A white table holds a light blue toy appliance at its center, a plate with a red toy apple to the appliance's left, a black grill plate to the appliance's lower right, with a blue teapot, blue cup, orange cloth, plush orange carrot in a black pot, red checkered basket, small orange ball, and toy hamburger arranged across the rear of the table.", "global_instruction_dense": "The right robotic arm extends toward the plush orange carrot in the black pot at the rear of the table, grasps it, lifts and moves it over the black grill plate, then releases the carrot onto the plate before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 558, "tasks": ["place food"], "length": 164, "global_instruction": "Pick the yellow banana from the dark grey plate and place it into the red checkered basket", "scene_description": "On a white table, a light blue small appliance is in the left-middle, with a white plate holding a red toy tomato to its left, small blue cookware behind it, a dark grey plate holding a yellow banana, white egg and pink watermelon slice to its right, a peach cloth under the plate, a black grill tray below the plate, a red checkered basket at the right, and a toy hamburger at the far right edge.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the dark grey plate, grasps and lifts the banana, moves it rightward over the red checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 559, "tasks": ["place food"], "length": 105, "global_instruction": "Place the yellow toy banana from the black tray into the pink checkered basket", "scene_description": "A white table holds various toy kitchen items: a light blue mini appliance is centered left, a white plate with a red toy apple is on the left, a black grill tray with a yellow toy banana is on the right, plus a gray plate with a watermelon slice, teal cookware, a black pot, an orange toy, a pink checkered basket with toys inside, and a toy hamburger at the far right.", "global_instruction_dense": "The right robotic gripper moves toward the yellow toy banana in the black tray, grasps it, lifts it, moves it right over the pink checkered basket, lowers it, releases it into the basket, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 560, "tasks": ["place food"], "length": 125, "global_instruction": "Place the purple egg into the beige shallow dish on the table.", "scene_description": "A white table holds a light blue toy oven on its left, plus a purple egg-shaped object, beige shallow dish, blue cup, small blue dish, black cup, light green bowl, mini hamburger model, and black ridged tray arranged across its surface, with a robotic arm positioned above the upper right of the table in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple egg on the white table, grasps it, lifts it, moves it over the beige shallow dish, lowers it, releases it into the dish, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 561, "tasks": ["place food"], "length": 145, "global_instruction": "Place the purple egg on the table into the beige shallow dish", "scene_description": "A light blue toy oven sits on the left of a white table. On the table are a large blue cup, small blue cup, black cup, beige shallow dish, purple egg, black grill tray, green bowl, and small burger model, with a robotic arm above the black grill tray on the right.", "global_instruction_dense": "The right robotic arm moves left from above the black grill tray, grasps the purple egg on the table, lifts it, moves it over the beige shallow dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 562, "tasks": ["place food"], "length": 126, "global_instruction": "Place the purple egg-shaped object into the beige shallow dish", "scene_description": "A light blue countertop appliance, small cookware (blue pot, small blue pan, black pot, light green bowl, beige shallow dish, black rectangular tray), and a purple egg-shaped object are placed on a white table, with a robotic arm at the table's right and a grey curtain in the background.", "global_instruction_dense": "The right robotic arm moves toward the purple egg-shaped object on the table, grasps it, lifts it, moves it over the beige shallow dish, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 563, "tasks": ["place food"], "length": 111, "global_instruction": "Place the purple egg-shaped object into the small beige shallow bowl.", "scene_description": "A light blue small toaster oven sits on the left of a white table. On the table are a teal cup, small blue lid, red tiny object, black cup, purple egg-shaped object, beige shallow bowl, light green bowl, miniature burger, and black ridged tray. A robotic gripper is positioned above the table near the purple object.", "global_instruction_dense": "The right robotic gripper moves down to grasp the purple egg-shaped object on the table, lifts it, moves it left over the small beige shallow bowl, then lowers and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 564, "tasks": ["place food"], "length": 116, "global_instruction": "Place the purple egg-shaped object into the beige shallow bowl on the table.", "scene_description": "A light blue toy oven, a dark teal cup, a small blue lid, a black small pot, a purple egg-shaped object, a beige shallow bowl, a black ridged tray, a light green bowl, and a miniature burger toy are arranged on a white table, with the light blue oven at the left side of the table.", "global_instruction_dense": "The right robotic arm moves toward the purple egg-shaped object on the table, grasps it with its gripper, lifts it, moves it over the beige shallow bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 565, "tasks": ["place food"], "length": 136, "global_instruction": "Place the purple egg-shaped object into the beige shallow bowl.", "scene_description": "A white table holds a light blue countertop oven on the left, alongside a blue pot, small blue dish, beige shallow bowl, black cup, light green bowl, mini burger model, black ridged tray, purple egg-shaped object, and a robotic arm positioned at the upper right of the table.", "global_instruction_dense": "The right robotic gripper moves toward the purple egg-shaped object on the table, grasps and lifts it, moves it over the beige shallow bowl, lowers it into the bowl, releases the object, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 566, "tasks": ["place food"], "length": 129, "global_instruction": "Place the green pear from the red checkered basket into the open white drawer", "scene_description": "A white kitchen counter holds a red checkered fruit basket containing a green pear and other fruits, a red soda can, a white tumbler, two white plates, a blue cup with a green lid, a small white tube, and an open blue box. An empty open white drawer is extended below the counter, with robotic equipment positioned nearby.", "global_instruction_dense": "The right robotic gripper moves toward the green pear inside the red checkered basket on the counter, grasps the pear, lifts it out of the basket, moves it over the open white drawer, and releases it to drop the pear into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 567, "tasks": ["place food"], "length": 218, "global_instruction": "Place the green pear-shaped toy into the orange bowl on the countertop.", "scene_description": "A white kitchen countertop holds an orange translucent bowl with yellow contents, a green pear-shaped toy, a pale yellow plush toy, a dark grey round tray, and stacked boxes plus a black bag further back, with a robotic arm in the upper right background.", "global_instruction_dense": "The right robotic arm moves from the right background toward the green pear on the countertop, grasps the pear, lifts it, moves it above the orange bowl, and releases it onto the bowl's opening.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 568, "tasks": ["place food"], "length": 157, "global_instruction": "Place the orange round fruit on the counter into the checkered basket.", "scene_description": "A white kitchen countertop holds a red-and-beige checkered basket, an orange round fruit to the right of the basket, a white plate with green and purple soft objects to the left of the basket, a blue cup with a green rim, a pink cloth, and a blue packaged box behind the basket, with a right robotic arm positioned above the far end of the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange round fruit on the counter, grasps it with its gripper, lifts the fruit, moves it left over the checkered basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 569, "tasks": ["place food"], "length": 621, "global_instruction": "Place the orange plush carrot into the checkered basket on the countertop.", "scene_description": "A white countertop holds a red-and-yellow checkered basket with fake produce inside, a blue printed box to the left of the basket, and toy food (yellow banana plush, purple round toy) on white plates in the foreground, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic gripper grasps the orange plush carrot, moves it above the checkered basket, lowers the carrot into the basket, releases it, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 570, "tasks": ["place food"], "length": 241, "global_instruction": "Place a pink peach from the red checkered basket onto the front white plate.", "scene_description": "A white table holds a red checkered basket of toy fruits, a blue printed box left of the basket, and a white plate with assorted toy fruits in front of the basket.", "global_instruction_dense": "The right robotic arm lowers toward the red checkered fruit basket, grasps a pink peach inside the basket, lifts the peach out, moves it over the front white plate, and releases the peach onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 571, "tasks": ["place food"], "length": 246, "global_instruction": "Place fake fruits from the plate into the red checkered basket", "scene_description": "A white table holds a blue printed box, a red checkered storage basket to the right of the box, a plate of fake fruits to the right of the basket, and a robotic arm near the right edge of the table.", "global_instruction_dense": "The right robotic gripper moves toward the plate of fake fruits, grasps an orange fake fruit, lifts it, moves it over the red checkered basket and releases it inside, then moves back to the plate, grasps a purple fake fruit, lifts it, moves it over the basket and releases it inside, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 572, "tasks": ["place food"], "length": 145, "global_instruction": "Place the purple fake fruit from the white plate into the red checkered basket.", "scene_description": "A white table holds a red checkered basket with fake fruits, a white plate with a purple round fake fruit and a pink peach, assorted fake fruits (yellow banana, watermelon slice, cut orange) beside the plate, a blue cardboard box to the left of the basket, and a black robotic arm above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the purple fake fruit on the white plate, grasps it, lifts it, moves it over the red checkered basket, releases it into the basket, then moves upward away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 573, "tasks": ["place food"], "length": 480, "global_instruction": "Place a fake fruit from the red checkered basket onto the adjacent white tabletop.", "scene_description": "A red-and-white checkered basket filled with fake fruit toys rests on a white tabletop. To the basket's left is a blue printed box, while to its right are additional fake fruits (including a yellow banana, orange slice, watermelon slice, red apple, and orange) arranged on plates, alongside a pink cloth and black stapler on the table's left edge. The background shows a grey floor and lab equipment on tripods to the right.", "global_instruction_dense": "The right robotic arm enters the frame above the table, moves down to the red checkered fruit basket, rearranges the fruits inside the basket, grasps a green fake fruit, lifts it out of the basket, moves it to the table area with other fake fruits, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 574, "tasks": ["place food"], "length": 455, "global_instruction": "Take the yellow banana from the drawer and place it into the checkered basket on the table.", "scene_description": "A white table holds a blue toy box, a red-and-white checkered basket, and assorted toy food items on its left side, with a closed drawer on its right edge and a robotic arm in the background.", "global_instruction_dense": "The right robotic arm pulls open the closed table drawer, grasps the yellow toy banana inside the drawer, lifts it, moves it to the red-and-white checkered basket on the table, releases the banana into the basket, then pushes the drawer closed and moves back.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 575, "tasks": ["place food"], "length": 762, "global_instruction": "Transfer play food items from the countertop basket into the under-counter drawer.", "scene_description": "A white countertop holds a blue toy food box on the left, assorted small play food pieces near the box, a woven basket with red checkered trim (filled with multiple play food items) in the center, and an orange cup behind the basket. A closed drawer sits under the counter to the right of the basket.", "global_instruction_dense": "The right robotic arm first pulls open the closed under-counter drawer, grasps an orange play food and a red watermelon play food from the countertop basket one by one, places each into the open drawer, then pushes the drawer closed and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 576, "tasks": ["place food"], "length": 361, "global_instruction": "Open the counter drawer, place the orange toy fruit from the basket into the drawer, then close the drawer.", "scene_description": "A white kitchen countertop holds a blue play food box on the left, assorted small toy food pieces, an orange cup, and a red-checkered woven basket holding an orange toy fruit with green foliage; a robotic arm is positioned to the right of the counter, with storage drawers under the counter.", "global_instruction_dense": "The right robotic arm moves to the storage drawer under the counter, pulls the drawer open, moves to the red-checkered basket on the counter, grasps the orange toy fruit inside the basket, lifts it, moves it over the open drawer, releases it into the drawer, then pushes the drawer closed and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 577, "tasks": ["place food"], "length": 285, "global_instruction": "Take the orange from the counter drawer and place it into the red checkered basket on the counter.", "scene_description": "A white countertop holds a blue toy food box, a red checkered basket of toy fruits, scattered toy food pieces, with a closed drawer under the counter and a robotic arm to the right of the counter.", "global_instruction_dense": "The right robotic arm pulls open the closed counter drawer, grasps the orange inside the drawer, lifts the orange, moves it over the red checkered basket, releases the orange into the basket, then moves away from the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 578, "tasks": ["place food"], "length": 307, "global_instruction": "Pick the small orange box from the countertop and place it into the open drawer below the counter.", "scene_description": "A white kitchen counter holds a printed kitchenware box, a small orange box, a small green container, and a thin dark item. A red fire extinguisher is mounted on the wall behind the counter. Below the counter, an open white drawer contains a green cup with a blue rim and a small clear plastic bottle.", "global_instruction_dense": "The right robotic arm moves toward the small orange box on the counter, grasps it, lifts it, moves it into the open drawer below the counter, releases it next to the green cup, then retracts away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 579, "tasks": ["place food"], "length": 253, "global_instruction": "Move the yellow banana from the top refrigerator door shelf to the lower refrigerator door shelf.", "scene_description": "An open white refrigerator has a top door shelf holding a yellow banana, an orange fruit, a small green object, and a purple object; a robotic arm is positioned to the right of the fridge, with a grey floor and wooden door in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow banana on the top refrigerator door shelf, grasps it, lifts it, lowers it to the lower empty refrigerator door shelf, releases the banana, then retracts from the fridge.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 580, "tasks": ["place food"], "length": 486, "global_instruction": "Place the red watermelon slice toy from the upper refrigerator door drawer into the lower refrigerator door drawer.", "scene_description": "A white open refrigerator has two door drawers: the upper drawer holds a red watermelon slice-shaped toy, the lower drawer contains assorted fake fruits (yellow, orange, purple, green). A robotic arm is positioned to the right of the refrigerator.", "global_instruction_dense": "The right robotic arm moves toward the red watermelon slice toy in the upper refrigerator door drawer, grasps the toy with its gripper, lifts it out of the upper drawer, moves it downward to the lower refrigerator door drawer, releases the toy into the lower drawer, then moves away from the refrigerator.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 581, "tasks": ["place food"], "length": 138, "global_instruction": "Place the yellow banana on the table into the black container on the table.", "scene_description": "A white table holds an open brown cardboard box, a blue handled pot, a blue kettle, a blue circular lid, a light green bowl, a dark blue fabric roll, a yellow banana, and a black container. A robotic arm is positioned at the right side of the table initially, with gray curtains, an office chair, and storage cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow banana on the right edge of the white table, grasps it, lifts it, moves it over the black container on the table, and releases the banana into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 582, "tasks": ["place food"], "length": 175, "global_instruction": "Place the striped watermelon slice toy into the black mug on the table.", "scene_description": "A white table holds various items: a teal pot on the left, small frying pans, a black mug, a green small cup, a dark blue cloth, a light green bowl, a blue printed food box, and a blue circular lid, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the table, grasps the green and red striped watermelon slice toy, moves the toy over the black mug, places it into the mug, then releases the toy and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 583, "tasks": ["place food"], "length": 254, "global_instruction": "Pick the watermelon slice from the black pot and place it into the light green bowl", "scene_description": "A white table holds a black pot with a red watermelon slice inside, a teal cooking pot, two small frying pans, a green cup, an orange L-shaped toy, a small red bottle, a blue circular disc, a light green bowl, and a folded dark blue cloth. A robotic arm is positioned above the right side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the black pot, grasps the watermelon slice inside the pot, lifts it, moves it over the light green bowl, then releases the slice into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 584, "tasks": ["place food"], "length": 168, "global_instruction": "Place the orange plush carrot from the black pot into the light green bowl", "scene_description": "A white table holds a small black pot with an orange plush carrot inside, a light green bowl on a white saucer to the right of the pot, a blue circular lid, teal and black pan lids, a teal cup, a red sauce bottle, a small watermelon-shaped toy, and folded blue cloths behind the pot, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the black pot on the table, grasps the orange plush carrot inside the pot, lifts it, moves it over the light green bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 585, "tasks": ["place food"], "length": 831, "global_instruction": "Transfer the fake fruits from the light green bowl to the black cooking pot and adjacent white plate.", "scene_description": "A white table holds a light green bowl filled with colorful fake fruits, a black cooking pot, green plastic cup, multiple pot lids, a cardboard box on the left edge, and an empty white plate to the right of the bowl, with a robotic arm at the upper right of the table.", "global_instruction_dense": "The right robotic arm first grasps a watermelon slice from the light green bowl, moves and adjusts it inside the black cooking pot, then moves a purple round fruit from the bowl to the white plate and places it, next moves a small orange citrus slice from the bowl to the plate and places it, finally moves an orange pineapple from the bowl to the plate and places it, emptying the light green bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 586, "tasks": ["place food"], "length": 579, "global_instruction": "Transfer all fake fruits from the blue plate to the white plate, then move the empty blue plate aside on the table.", "scene_description": "A white table holds a blue plate with assorted fake fruits, an empty white plate behind the blue plate, a green plastic cup, black cooking pots with lids, a teal cup, a cardboard box on the left, and a robotic arm in the upper right background, with grey curtains and office furniture behind the table.", "global_instruction_dense": "The right robotic arm descends to the blue plate on the white table, sequentially grasps each fake fruit from the blue plate, places each fruit onto the adjacent white plate, then grasps the now-empty blue plate and moves it to a different position on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 587, "tasks": ["place food"], "length": 326, "global_instruction": "Place the yellow banana next to the glasses on the white round table.", "scene_description": "A yellow banana and a pair of glasses are placed on a white round table, the banana is to the left of the glasses, and the scene is an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the left side of the white round table, grasps it with the gripper, lifts and moves it rightward to the area near the glasses, then lowers and releases the banana on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 588, "tasks": ["place food"], "length": 210, "global_instruction": "Move the yellow banana to a position closer to the glasses on the table.", "scene_description": "A white round table holds a pair of metal framed glasses on its left half and a yellow banana on its right half, with a robotic arm at the right side of the table in an office workspace.", "global_instruction_dense": "The right robotic arm moves down toward the yellow banana on the right side of the white table, grasps the banana, lifts it, moves it left to a position near the glasses, lowers it, releases it onto the table, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 589, "tasks": ["place food"], "length": 243, "global_instruction": "Place the yellow-red apple on the white table onto the empty white plate.", "scene_description": "A white round table holds a silver fork, silver knife, empty white plate, and a yellow-red apple. The fork and knife are left of the plate, the apple is right of the plate, and a robotic arm is at the table's right side in an office with work desks and a purple chair holding a white cup and stationery.", "global_instruction_dense": "The right robotic arm moves toward the yellow-red apple to the right of the white plate on the round table, grasps the apple with its gripper, lifts the apple, moves it over the empty white plate, lowers it onto the plate, and releases the apple before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 590, "tasks": ["place food"], "length": 193, "global_instruction": "Take the red-green apple from the white plate and place it on the adjacent white table surface.", "scene_description": "A round white table holds a white plate with a red-green apple, a metal fork below the plate, and a metal knife above the plate, with a right robotic arm positioned above the plate in an office workspace.", "global_instruction_dense": "The right robotic arm moves downward toward the red-green apple on the white plate, grasps the apple with its gripper, lifts it, moves it left to the empty table area next to the plate, lowers the apple, releases it onto the table, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 591, "tasks": ["place food"], "length": 267, "global_instruction": "Place the red-green apple from the table surface onto the empty white plate.", "scene_description": "A round white table holds a red-green apple, an empty white plate, a metal fork, and a metal knife. The apple sits to the left of the plate, with the fork and knife placed to the left of the apple. The background is an office with work desks, computer monitors, office chairs, and a purple chair holding a white cup and stationery to the left of the table, with a robotic arm positioned at the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the red-green apple on the table, grasps it with its gripper, lifts the apple, moves it over the empty white plate, lowers it onto the plate, releases the apple, then moves its gripper away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 592, "tasks": ["place food"], "length": 229, "global_instruction": "Move the apple from the plate onto the white table surface.", "scene_description": "A white round table holds a white plate with a red-green apple, a metal fork left of the plate, and a metal knife right of the plate. A robotic arm is positioned above the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-green apple on the white plate, grasps it with its gripper, lifts the apple, moves it left to the empty table area next to the fork, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 593, "tasks": ["place food"], "length": 253, "global_instruction": "Place the red-green apple on the table onto the white plate.", "scene_description": "A white round table holds a red-green apple, a metal fork, and a white plate; the plate and fork are to the right of the apple, and an office with desks, monitors, and a purple chair holding a white cup is in the background.", "global_instruction_dense": "The right robotic arm moves down toward the red-green apple on the white table, grasps the apple with its gripper, lifts the apple, moves it over the white plate, lowers and releases the apple onto the plate, then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 594, "tasks": ["place food"], "length": 573, "global_instruction": "Place the red-green apple on the white round table onto the white plate.", "scene_description": "A red-green apple, green straw, metal fork, white oval plate, and white cup are arranged on a white round table, with a robotic arm positioned to the right of the table, and an office workspace with desks, chairs and computers in the background.", "global_instruction_dense": "The right robotic arm moves toward the red-green apple on the white round table, grasps the apple, moves it over the white plate, places the apple onto the plate, adjusts the apple's position on the plate, then moves toward the green straw on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 595, "tasks": ["place food"], "length": 184, "global_instruction": "Pick the apple from the white plate and place it on the empty white table surface.", "scene_description": "A white round table holds a white plate with a red and green apple, a metal fork left of the plate, and a white cup with a green straw right of the plate. A purple office chair is to the left of the table, and an office workspace with desks and computers is in the background, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the red and green apple on the white plate, grasps the apple with its gripper, lifts it, moves it to the empty area of the white table next to the plate, lowers and releases the apple onto the table, then retracts upward away from the apple.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 596, "tasks": ["place food"], "length": 402, "global_instruction": "Place the red-green apple next to the cup onto the empty area of the white table near the plate.", "scene_description": "A white round table in an office holds a white plate with silver cutlery, a white cup with a green straw, and a red-green apple beside the cup.", "global_instruction_dense": "The right robotic arm moves toward the red-green apple beside the white cup, grasps the apple with its gripper, lifts it, moves it to the empty table area near the plate, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 597, "tasks": ["place food"], "length": 199, "global_instruction": "Place the orange straw from the table into the white mug", "scene_description": "A white round table holds scattered colored straws (orange, green, blue, yellow) and a white mug filled with more colored straws. A purple chair with a blue bag sits left of the table, with office desks and equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange straw on the white table, grasps it, lifts it, moves it over the white mug, lowers it into the mug, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 598, "tasks": ["place food"], "length": 165, "global_instruction": "Place an orange straw from the white mug onto the white round table.", "scene_description": "A white round table holds loose colorful plastic straws and a white mug filled with more colorful straws. A purple office chair with a blue bag on its seat is to the left of the table, and an office workspace with desks and computers is in the background.", "global_instruction_dense": "The right robotic arm moves toward the white mug on the round table, grasps an orange straw from inside the mug, lifts the straw out, moves it over the loose straws on the table surface, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 599, "tasks": ["place food"], "length": 347, "global_instruction": "Place the orange straw from the white cup onto the table near the green cube", "scene_description": "A white round table in a robotics lab has two green straws, a yellow cube, a green cube, a white bowl, and a white cup with straws inside placed on its surface.", "global_instruction_dense": "The right robotic arm moves toward the white cup, grasps the orange straw inside the cup, lifts the straw out, moves it over the table near the green cube, and releases the straw onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 600, "tasks": ["place food"], "length": 680, "global_instruction": "Retrieve the food item from the open microwave and place it on the countertop next to the yellow mug.", "scene_description": "A white countertop has a chrome water faucet on the far left, an open microwave at the center, a yellow-and-white mug to the right of the microwave, and a white robotic arm on the far right. The wall behind features white upper cabinets, electrical outlets, a yellow warning sign, and a green 'Clean after use!' poster.", "global_instruction_dense": "The right robotic arm first adjusts the position of the yellow mug on the counter, moves into the open microwave to grasp the food item inside, lifts the item out of the microwave, places it onto a white plate, then moves the plate with the food next to the yellow mug and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 601, "tasks": ["place food"], "length": 469, "global_instruction": "Place an orange slice from the clear bowl into the white cup on the table.", "scene_description": "A white round table holds a dark gray mug, a clear bowl with orange slices, and a white cup. A white robotic arm is positioned to the right of the table, a red robotic arm and purple office chair are to the left, in an open office background with desks and monitors.", "global_instruction_dense": "The right robotic arm moves toward the clear bowl on the white round table, grasps the fork in the bowl, uses it to pick an orange slice from the bowl, moves the slice over the white cup, drops it into the cup, then moves back away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 602, "tasks": ["place food"], "length": 121, "global_instruction": "Place the white black-banded egg from the blue cloth onto the adjacent bare wooden table surface.", "scene_description": "A brown wooden worktable in a robotics lab holds a folded blue cloth with a white black-banded egg on top, a green-handled spoon, a round yellow plate, and a small stainless steel pot at its edge, with multiple robotic arms in the background.", "global_instruction_dense": "The right robotic arm moves toward the white egg resting on the blue folded cloth, grasps the egg, lifts it, moves it a short distance left to the bare brown table surface, lowers the egg, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 603, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the white egg and place it on the right side of the brown wooden table.", "scene_description": "A brown wooden table holds a stainless steel pot with a marker inside, a yellow round plate, a light blue cloth, a white egg with a dark tip, and a green-handled fork, with robotic arms positioned around the table in a robotics lab.", "global_instruction_dense": "The right robotic arm moves toward the white egg next to the blue cloth on the table, grasps the egg, lifts it, moves it rightward across the table, lowers it, and releases it onto the right section of the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 604, "tasks": ["place food"], "length": 144, "global_instruction": "Move the white egg from the right side of the wooden table to the left side of the table near the blue cloth.", "scene_description": "A brown wooden table holds a folded light blue cloth, a yellow round plate, a green-handled spoon, a white egg in a black holder, and a stainless steel pot with a marker inside. A robotic arm is positioned to the left of the table, with lab workspace and a seated person in the background.", "global_instruction_dense": "The right robotic arm moves into view, descends to the white egg on the right of the table, grasps the egg, lifts it, moves it left across the table, and places it on the table near the light blue cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 605, "tasks": ["place food"], "length": 171, "global_instruction": "Move the white egg from beside the blue cloth to the table area next to the yellow plate", "scene_description": "A brown wooden table holds a folded blue cloth, a round yellow plate, a green-handled metal spoon, a stainless steel pot with a black-and-white marker inside, and a white egg positioned to the right of the blue cloth, with lab robotic equipment and a seated person in the background.", "global_instruction_dense": "The right robotic arm moves toward the white egg next to the blue cloth, grasps it with its gripper, lifts the egg, moves rightward to the area beside the yellow plate, lowers the egg onto the table, releases it, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 606, "tasks": ["place food"], "length": 157, "global_instruction": "Place the yellow pepper on the wooden table into the orange plastic bowl.", "scene_description": "A brown wooden table holds an orange plastic bowl on its right side, a yellow folded cloth, a yellow pepper, a small orange carrot-shaped object, a yellow ring-shaped object, and a small silver item. A cardboard sheet stands behind the bowl, with a grey office chair and robotic equipment to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the yellow pepper on the brown wooden table, grasps it, lifts it, moves it rightward over the orange plastic bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 607, "tasks": ["place food"], "length": 184, "global_instruction": "Place the yellow corn toy onto the green cloth.", "scene_description": "A yellow corn toy with a green top, a folded green cloth, and a gray sink faucet are on a light brown wooden worktop; a chair with a white and dark blue jacket is to the left of the worktop.", "global_instruction_dense": "The left robotic arm moves down toward the yellow corn toy on the worktop, grasps it with its gripper, lifts it, moves it over the green cloth, lowers it, releases it onto the cloth, then lifts away from the worktop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 608, "tasks": ["place food"], "length": 166, "global_instruction": "Move the yellow banana on the counter to a position next to the green fabric bag", "scene_description": "A wooden countertop holds a green fabric bag on its left and a yellow banana on its right, with a white sink and gray faucet to the counter's right, and a gray office chair to the counter's left, with work tables and boxes in the background.", "global_instruction_dense": "The right robotic arm descends toward the yellow banana on the right side of the wooden counter, grasps it with its gripper, lifts it, moves it left toward the green bag, lowers it, and releases it onto the counter next to the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 609, "tasks": ["place food"], "length": 127, "global_instruction": "Move the yellow banana to a new position on the wooden table near the green cloth", "scene_description": "A yellow banana, a green cloth, and a gray faucet are placed on a light brown wooden table, with a gray office chair to the left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the yellow banana on the left side of the wooden table, grasps it with the gripper, lifts it, moves it rightward to a spot near the green cloth, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 610, "tasks": ["place food"], "length": 128, "global_instruction": "Reposition the yellow banana on the wooden tabletop.", "scene_description": "A yellow banana and a folded green cloth rest on a light wooden tabletop, with a grey office chair to the left of the table, and office workstations in the background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow banana on the wooden table, grasps it with its gripper, lifts and rotates the banana, then lowers and places it back on the table in a new orientation.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 611, "tasks": ["place food"], "length": 139, "global_instruction": "Move the yellow banana to a position left of the green cloth bag on the desktop.", "scene_description": "A green cloth bag and a yellow banana rest on a light wooden desktop, with a grey office chair to the left of the desktop.", "global_instruction_dense": "The right robotic arm descends toward the desktop, grasps the yellow banana, lifts and moves it left of the green cloth bag, then places it down on the desktop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 612, "tasks": ["place food"], "length": 124, "global_instruction": "Place the yellow banana on the wooden counter onto the green cloth", "scene_description": "A wooden countertop holds a green cloth on its left and a yellow banana on its right, a yellow pepper sits in the open drawer below the counter, with a grey-faucet sink to the counter's right.", "global_instruction_dense": "The right robotic arm moves down toward the yellow banana on the counter, grasps it, lifts it, moves it left over the green cloth, lowers it, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 613, "tasks": ["place food"], "length": 194, "global_instruction": "Pick a yellow banana from the wooden table and place it on another part of the table.", "scene_description": "A wooden tabletop holds two yellow bananas and a green cloth. To the table's right is a sink with a white faucet and a blue planter with a red radish toy. A monitor, jacket-draped chair, and lab workstations are in the background.", "global_instruction_dense": "The left robotic arm moves toward the left yellow banana on the table, grasps it with its gripper, lifts it, moves it right across the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 614, "tasks": ["place food"], "length": 179, "global_instruction": "Place the yellow toy carrot next to the yellow lemon on the left side of the toy kitchen counter.", "scene_description": "A toy kitchen setup is in the foreground: a yellow lemon rests at the back left of the wooden countertop, green fabric gloves lie on the center of the countertop, a yellow toy carrot is inside the white sink below the gray faucet, a toy gas stove sits to the right of the faucet, two blue planters with red toy radishes are positioned behind the faucet, and an office lab workspace is visible in the background.", "global_instruction_dense": "A human hand first moves the yellow toy carrot from the sink onto the wooden counter next to the green gloves, then the left robotic gripper lowers toward the carrot, grasps it, moves it left to the spot adjacent to the existing yellow lemon on the counter, and releases it at that position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 615, "tasks": ["place food"], "length": 116, "global_instruction": "Reposition the yellow toy pepper to a new spot on the wooden countertop.", "scene_description": "A wooden counter holds a yellow toy pepper and a green cloth. A grey faucet sits on a white sink base next to the counter, a gas stove is to the sink's right, and two teal planters with red toy radishes are behind the sink.", "global_instruction_dense": "Left robotic arm moves toward the yellow toy pepper on the wooden counter, grasps it with its gripper, lifts and shifts it a short distance across the counter, then lowers and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 616, "tasks": ["place food"], "length": 198, "global_instruction": "Place a yellow banana from the wooden counter into the adjacent silver metal bowl.", "scene_description": "Two yellow bananas and two small silver metal bowls are placed on a wooden countertop, with a sink and teal plant containers to the right of the counter.", "global_instruction_dense": "The left robotic arm moves down toward a yellow banana on the wooden counter, grasps the banana, lifts it, moves it over the right silver metal bowl, and releases the banana into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 617, "tasks": ["place food"], "length": 146, "global_instruction": "Take the yellow banana from the metal bowl and place it next to the other yellow banana on the wooden countertop.", "scene_description": "A wooden countertop holds two yellow bananas: one is on the counter left of a small metal bowl, the other is inside the metal bowl, with a sink to the counter's right.", "global_instruction_dense": "The right robotic arm moves down toward the metal bowl on the wooden countertop, grasps the yellow banana inside the bowl, lifts it, moves left to the spot next to the other yellow banana on the counter, releases the banana onto the counter, then lifts upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 618, "tasks": ["place food"], "length": 180, "global_instruction": "Move a yellow pepper on the countertop to a new position on the same countertop.", "scene_description": "Two yellow peppers and two small stainless steel bowls are placed on a light wooden countertop. A white sink with a grey faucet sits to the right of the countertop, and blue planters holding red toy radishes are positioned behind the sink.", "global_instruction_dense": "The left robotic arm moves into frame from above, descends toward the left yellow pepper on the countertop, grasps it, lifts it, moves it rightward to a new spot on the countertop, lowers and releases it, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 619, "tasks": ["place food"], "length": 146, "global_instruction": "Pick a yellow banana from the counter and place it into the small metal bowl on the counter.", "scene_description": "A light wooden counter holds two yellow bananas and two small stainless steel bowls. Adjacent to the counter is a white sink with a grey faucet, with blue planters holding decorative red radishes behind the sink.", "global_instruction_dense": "The left robotic arm moves toward the left yellow banana on the wooden counter, grasps it, lifts and moves it over the small metal bowl, then releases the banana into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 620, "tasks": ["place food"], "length": 130, "global_instruction": "Move the yellow carrot from the metal bowl onto the adjacent wooden work counter", "scene_description": "A yellow toy carrot rests in a small metal bowl on a light wooden work counter. A light blue cloth sits next to the bowl, a white sink with a grey faucet is to the counter's right, and teal planters with decorative radishes are positioned behind the sink.", "global_instruction_dense": "The left robotic arm descends toward the yellow carrot in the metal bowl on the work counter, grasps the carrot, lifts it, moves it left over the counter next to the light blue cloth, then releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 621, "tasks": ["place food"], "length": 148, "global_instruction": "Place the yellow pepper on the countertop into the small silver metal bowl.", "scene_description": "A light wooden countertop holds a yellow pepper, a small silver metal bowl, and a folded light blue cloth. A white sink and blue planters with red decorative radishes sit to the counter's right, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic arm moves into view, descends to grasp the yellow pepper on the countertop, lifts it and moves it over the small silver metal bowl, lowers the pepper into the bowl, then releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 622, "tasks": ["place food"], "length": 162, "global_instruction": "Move the yellow carrot on the countertop to a new position on the same countertop.", "scene_description": "A yellow carrot, light blue small cup, folded light blue cloth, and round metallic lid rest on a wooden countertop. Below the counter is an open drawer with a yellow banana and green cloth, and a sink with a gray faucet and blue radish planters sit behind the counter.", "global_instruction_dense": "The left robotic arm descends toward the yellow carrot on the wooden countertop, grasps it, lifts it, moves it horizontally across the counter, and releases it at a new position near the light blue cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 623, "tasks": ["place food"], "length": 399, "global_instruction": "Pick up the yellow pepper, place it into a metal bowl, adjust the blue cloth, then interact with the sink faucet.", "scene_description": "A wooden kitchen countertop holds a light blue cloth, a yellow pepper, a pale blue cup, and two silver metal bowls. An open white drawer below holds a green cloth and yellow banana, adjacent to a gray sink faucet.", "global_instruction_dense": "The left robotic arm descends to grasp the yellow pepper on the countertop, places it into the silver metal bowl, adjusts the position of the light blue cloth, then moves to interact with the gray sink faucet before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 624, "tasks": ["place food"], "length": 160, "global_instruction": "Place the yellow corn from the light blue cloth into the silver metal bowl", "scene_description": "A wooden tabletop holds a light blue cup, a yellow corn resting on a light blue cloth, and a silver metal bowl. An open drawer below holds a green cloth and yellow banana, and a sink area with decorative red radishes is to the right with lab equipment in the background.", "global_instruction_dense": "The left robotic arm lowers toward the yellow corn on the light blue cloth, grasps the corn, lifts it, moves it over the silver metal bowl, lowers the corn into the bowl, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 625, "tasks": ["place food"], "length": 145, "global_instruction": "Place the yellow toy carrot on the wooden counter onto the light blue cloth.", "scene_description": "A wooden countertop holds a light blue cloth, a yellow toy carrot, a pale blue cup, and a round metal lid. An open drawer below holds a yellow banana and green cloth, with a small sink with gray faucet and blue bins of toy radishes to the counter's right.", "global_instruction_dense": "The left robotic gripper moves down toward the yellow toy carrot on the wooden counter, grasps it, lifts it, moves it over the light blue cloth, lowers it, and releases it onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 626, "tasks": ["place food"], "length": 294, "global_instruction": "Remove the silver lid from the metal bowl and place the yellow carrot toy into the bowl.", "scene_description": "A wooden worktop holds a light blue cup, a blue cloth with a yellow carrot toy, and a silver lid covering a silver metal bowl. An open drawer below with a green cloth and yellow banana, a white sink with grey faucet, and two blue bins with red radish decorations are in the background.", "global_instruction_dense": "The left robotic arm descends to the worktop, grasps the silver lid covering the metal bowl, lifts and places it on the left side of the worktop, then grasps the yellow carrot toy on the blue cloth, moves it into the empty metal bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 627, "tasks": ["place food"], "length": 122, "global_instruction": "Place the yellow corn from the countertop onto the light blue cloth", "scene_description": "A wooden countertop holds a light blue cloth, a yellow corn, two small metal bowls, and a grey faucet. A drawer below contains a green cloth and yellow banana, with teal radish-decorated planters and workshop equipment in the background.", "global_instruction_dense": "The right robotic arm descends toward the yellow corn on the wooden countertop, grasps it, lifts it, moves it over the light blue cloth, then lowers and releases the corn onto the cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 628, "tasks": ["place food"], "length": 135, "global_instruction": "Pick up the yellow pepper on the wooden counter and place it at a new position on the same counter.", "scene_description": "A wooden countertop holds a yellow pepper, a yellow banana, a blue cloth with a metal lid, and a small metal bowl; a white sink with a gray faucet sits adjacent to the counter, with two blue planters holding red decorative radishes to the sink's right.", "global_instruction_dense": "The left robotic arm moves toward the yellow pepper on the wooden counter, grasps it with its gripper, lifts it, moves it horizontally to a new spot on the counter, then lowers and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 629, "tasks": ["place food"], "length": 343, "global_instruction": "Move the yellow lemon from the counter into the stainless steel bowl then move it back onto the counter.", "scene_description": "A wooden kitchen countertop holds a yellow lemon, a yellow banana, a green vegetable cutout, and two small stainless steel bowls; a sink with a grey faucet sits to the right of the counter.", "global_instruction_dense": "The left robotic arm moves down to grasp the yellow lemon on the wooden counter, lifts it, places it into the right stainless steel bowl, moves temporarily toward the adjacent sink, then returns to grasp the lemon from the bowl, lifts it, and places it on the counter left of the bowls.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 630, "tasks": ["place food"], "length": 145, "global_instruction": "Take the yellow corn out of the silver bowl and place it on the wooden countertop.", "scene_description": "A wooden countertop holds two silver bowls, a yellow corn inside one bowl, and a yellow banana on the counter next to the bowls; a white sink with a gray faucet sits to the right of the counter, with teal planters holding red radish decorations behind the sink.", "global_instruction_dense": "The right robotic arm descends from above the counter, grasps the yellow corn inside the silver bowl, lifts it out of the bowl, moves it over the wooden countertop, lowers it, and releases it onto the counter next to the yellow banana.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 631, "tasks": ["place food"], "length": 154, "global_instruction": "Move the yellow banana to a new position on the wooden cutting board", "scene_description": "A wooden cutting board on a kitchen counter holds a yellow banana, a green vegetable piece, two small silver bowls, and an orange object. A grey sink faucet sits next to the board, an open drawer with teal and green cloths is below, and blue planters with fake red radishes are behind the sink.", "global_instruction_dense": "The right robotic gripper lowers toward the yellow banana on the wooden cutting board, grasps it, lifts it, moves it to a new position on the board, lowers it, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 632, "tasks": ["place food"], "length": 158, "global_instruction": "Place the yellow lemon on the wooden countertop into the larger stainless steel bowl.", "scene_description": "A wooden countertop holds a yellow lemon, a green object, and two stainless steel bowls, with an open drawer below containing a banana, green cloth, and blue cloth, next to a grey sink faucet.", "global_instruction_dense": "The left robotic arm moves into view above the countertop, lowers to grasp the yellow lemon, lifts it, moves it over the larger stainless steel bowl, and releases the lemon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 633, "tasks": ["place food"], "length": 255, "global_instruction": "Remove the lid from the stainless steel pot, then place the yellow carrot and green vegetable slice into the pot.", "scene_description": "A wooden test countertop holds a lidded stainless steel pot, a yellow carrot, and a small green vegetable slice; below the counter is an open drawer with a yellow banana and cloths, to the counter's right is a sink with a grey faucet, and two teal planters with red radish decorations sit behind the sink.", "global_instruction_dense": "The left robotic arm moves into position above the lidded stainless steel pot, grasps and removes the pot lid, places the lid on the left side of the countertop, then grasps the yellow carrot and green vegetable slice and places them into the open pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 634, "tasks": ["place food"], "length": 174, "global_instruction": "Take the yellow toy corn from the metal bowl and place it on the wooden countertop.", "scene_description": "A wooden play kitchen countertop has a metal bowl holding a yellow toy corn and green toy vegetable. A white sink with a yellow toy banana and cloths sits next to the counter, a toy gas stove is to the sink's right, and two blue planters with red radish decorations are behind the sink.", "global_instruction_dense": "The left robotic arm moves downward toward the metal bowl on the counter, grasps the yellow toy corn inside the bowl, lifts the corn, moves it to an empty spot on the counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 635, "tasks": ["place food"], "length": 185, "global_instruction": "Place the yellow toy corn into the small stainless steel bowl on the countertop.", "scene_description": "A wooden toy kitchen countertop holds a yellow toy corn, small green toy, small stainless steel bowl, and round metal cover on its left section; the sink below contains a yellow toy banana, green cloth, and light blue cloth, with a toy gas stove to the right of the sink.", "global_instruction_dense": "The left robotic arm moves toward the yellow toy corn on the countertop, grasps it, lifts it, moves it over the small stainless steel bowl, lowers it into the bowl, releases it, then retracts away from the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 636, "tasks": ["place food"], "length": 240, "global_instruction": "Place the yellow plastic carrot into the silver metal bowl on the wooden countertop", "scene_description": "A wooden toy kitchen counter holds a yellow plastic carrot, a small green plastic piece, and a silver metal lid; below the counter is a sink containing a yellow plastic banana, a green cloth, and a light blue cloth; a toy gas stove sits to the right of the sink, with two blue bins decorated with red radish shapes behind the sink, and the robotic arm is initially out of view.", "global_instruction_dense": "The left robotic arm first moves toward the silver lid next to the yellow carrot, grasps the lid and moves it left on the countertop, then grasps the yellow carrot, lifts it, and places it into the adjacent silver metal bowl on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 637, "tasks": ["place food"], "length": 122, "global_instruction": "Move the yellow banana on the wooden countertop to a new position on the same countertop.", "scene_description": "A toy kitchen setup with a wooden countertop, toy sink, and toy stove. A yellow banana, two small silver bowls, and a green leaf sit on the countertop. An open drawer under the counter holds another yellow banana, light blue cloth, and small green cloth, with a gray office chair to the counter's left.", "global_instruction_dense": "The left robotic arm moves down toward the yellow banana on the wooden countertop, grasps it, lifts it, shifts it leftward to a new position on the countertop, releases it, and moves upward away from the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 638, "tasks": ["place food"], "length": 150, "global_instruction": "Take the yellow pepper out of the silver bowl and place it on the adjacent wooden counter.", "scene_description": "A light wooden kitchen counter holds a small silver bowl containing a yellow leafy pepper, and another yellow pepper next to the bowl. A white sink with a grey faucet, a gas stove, and blue bins with red decorative radishes are positioned around the counter.", "global_instruction_dense": "The left robotic arm moves toward the silver bowl on the wooden counter, grasps the yellow pepper inside the bowl, lifts it out of the bowl, moves it rightward, and places it on the wooden counter next to the other yellow pepper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 639, "tasks": ["place food"], "length": 250, "global_instruction": "Place the yellow carrot into the small silver pot on the wooden cutting board", "scene_description": "A small silver lidded pot, yellow carrot, and small yellow banana are placed on a wooden cutting board on a play kitchen counter, next to a white play sink with a gray faucet and a play gas stove. Two blue planters with red radish toys are positioned behind the sink, and a gray office chair is to the left of the counter.", "global_instruction_dense": "The left robotic arm moves above the lidded silver pot, grasps and removes the lid, places it on the cutting board, then grasps the yellow carrot and places it into the open silver pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 640, "tasks": ["place food"], "length": 155, "global_instruction": "Move the yellow banana to the left side of the wooden countertop near the yellow corn.", "scene_description": "A wooden toy kitchen countertop holds a yellow banana, a yellow corn in a small brown bowl, and a circular metal drain. A white sink with a grey faucet sits next to the counter, a gas stove is to the sink's right, and a grey office chair is visible to the counter's left.", "global_instruction_dense": "The left robotic arm moves into the scene above the countertop, lowers its gripper to grasp the yellow banana, lifts and moves the banana leftward to the area near the yellow corn, then releases the banana onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 641, "tasks": ["place food"], "length": 238, "global_instruction": "Place the yellow toy carrot into the stainless steel bowl and cover the bowl with its matching metal lid.", "scene_description": "A light brown wooden toy kitchen counter holds two yellow toy carrots and two small stainless steel bowls, adjacent to a white toy sink with a gray faucet. A toy gas stove is to the right of the sink, blue planters with red toy radishes are behind the sink, and a gray office chair is to the left of the counter.", "global_instruction_dense": "The left robotic arm enters the scene, grasps the yellow toy carrot on the counter, lifts it and releases it into the metal bowl, then grasps the circular metal lid and places it on top of the bowl holding the carrot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 642, "tasks": ["place food"], "length": 203, "global_instruction": "Move the yellow banana from the right side to the left side of the wooden countertop.", "scene_description": "A yellow toy banana, a small silver bowl, and a silver round lid are placed on a wooden countertop. A white sink with a gray faucet sits to the right of the counter adjacent to a gas stove, and office chairs are visible to the left of the counter.", "global_instruction_dense": "The left robotic arm moves into view above the counter, lowers to grasp the yellow banana on the right side of the counter, slides it left across the counter surface, and releases it at the left side of the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 643, "tasks": ["place food"], "length": 132, "global_instruction": "Place the small yellow pepper and small green pepper from the wooden counter into the adjacent metal bowl.", "scene_description": "A wooden kitchen counter holds a small yellow pepper, small green pepper, metal bowl, and long yellow toy banana, next to a white sink with folded cloths, a grey faucet, two blue planters with decorative red radishes behind the sink, a gas stove on the counter's right, and a grey office chair to the counter's left.", "global_instruction_dense": "The left robotic arm moves toward the small yellow and green peppers on the wooden counter, grasps both peppers, lifts them, moves over the nearby metal bowl, and releases the peppers into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 644, "tasks": ["place food"], "length": 123, "global_instruction": "Move the orange toy carrot and small green object on the counter to the area next to the metal bowl.", "scene_description": "A wooden countertop holds a small metal bowl, yellow toy banana, orange toy carrot, small green object, and metal lid. A white sink with a grey faucet sits to the right of the counter, with blue bins holding fake red radishes behind the sink, and a toy gas stove to the right of the sink. A grey office chair and work equipment are positioned to the left of the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange toy carrot and small green object on the wooden counter, grasps both items, lifts them, moves them toward the metal bowl on the counter, lowers the items, and places them next to the metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 645, "tasks": ["place food"], "length": 125, "global_instruction": "Place the left yellow toy banana on the wooden counter next to the other yellow toy banana.", "scene_description": "A wooden kitchen countertop holds a small metal bowl, two yellow toy bananas, and a small green toy fruit. A white sink with a gray faucet is adjacent to the counter, two blue containers with red radish toys sit behind the sink, a toy gas stove is to the sink's right, and a gray office chair is to the counter's left.", "global_instruction_dense": "The left robotic arm moves downward toward the left yellow toy banana on the wooden countertop, grasps it with its gripper, lifts it, moves it rightward, lowers it, and places it next to the other yellow toy banana on the countertop before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 646, "tasks": ["place food"], "length": 130, "global_instruction": "Move the yellow banana on the wooden countertop to a new position on the same countertop", "scene_description": "A yellow toy banana and a small silver metal dish sit on a light wooden kitchen counter. To the counter's right is a white sink with a grey faucet, containing a yellow toy carrot, green toy piece, and light blue cloth. A toy gas stove is next to the sink, and two teal bins with red toy radishes are behind the sink.", "global_instruction_dense": "The left robotic arm descends toward the yellow banana on the wooden kitchen counter, grasps the banana with its gripper, lifts it, moves it a short distance across the counter, and releases it to place it in a new spot on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 647, "tasks": ["place food"], "length": 176, "global_instruction": "Pick up the yellow toy banana on the counter and place it into the metal bowl.", "scene_description": "A toy kitchen setup has a wooden counter holding a yellow toy banana and a small metal bowl, alongside a toy sink, open drawer with toy produce and cloths, and a toy stove, with office furniture in the background.", "global_instruction_dense": "The right robotic arm moves into position above the counter, lowers to grasp the yellow toy banana, lifts it, moves it over the metal bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 648, "tasks": ["place food"], "length": 140, "global_instruction": "Place the yellow toy banana on the wooden counter into the small silver bowl.", "scene_description": "A wooden toy kitchen counter holds a yellow toy banana, small silver metal bowl, white toy sink with grey faucet, and toy gas stove on its right. An open drawer under the sink contains a yellow toy carrot, green cloth, and light blue cloth, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow toy banana on the wooden counter, grasps it, lifts it, moves it over the small silver bowl, releases it into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 649, "tasks": ["place food"], "length": 150, "global_instruction": "Pick up the yellow toy corn on the wooden counter and place it in an upright position on the counter.", "scene_description": "A wooden countertop holds an orange plate with a white toy food piece, two yellow toy corn cobs, and a small green leaf piece. A white toy sink with a grey faucet sits adjacent to the counter, with a toy gas stove to the sink's right. A grey office chair is positioned to the left of the counter, and background tables hold VR headsets and assorted items.", "global_instruction_dense": "The left robotic arm moves into the scene toward the yellow corn lying on the wooden counter next to the orange plate, grasps the corn, lifts it to adjust it to an upright orientation, then lowers it and places it standing on the wooden counter before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 650, "tasks": ["place food"], "length": 139, "global_instruction": "Move the yellow corn on the cutting board to the left side of the red plate.", "scene_description": "A wooden cutting board on a kitchen counter holds a red plate, a yellow corn, an orange carrot, and small white garlic toys. A white sink with a grey faucet sits beside the cutting board, with two blue planters holding red radish toys behind the sink, and a grey office chair to the left.", "global_instruction_dense": "The left robotic arm moves down toward the yellow corn on the cutting board, grasps it with its gripper, lifts it, moves it leftward to the area left of the red plate, lowers it, and releases it onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 651, "tasks": ["place food"], "length": 120, "global_instruction": "Pick the yellow corn from the red plate and place it next to the other yellow corn on the wooden counter", "scene_description": "A wooden kitchen counter holds a red plate with a yellow toy corn on it, a second yellow toy corn to the right of the plate, small white garlic-shaped objects to the left of the plate. A white sink with a gray faucet is adjacent to the counter on the right, blue storage bins with red radish toys are behind the sink, and a gray office chair is to the left of the counter.", "global_instruction_dense": "The left robotic arm moves into the frame above the yellow corn on the red plate, lowers to grasp the corn, lifts it, moves it rightward next to the other yellow corn on the counter, and releases it onto the wooden surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 652, "tasks": ["place food"], "length": 158, "global_instruction": "Place the yellow carrot on the cutting board into the orange plate.", "scene_description": "A wooden cutting board on a kitchen counter holds an orange plate, a yellow carrot, a yellow corn, and a small garlic cluster; a white sink with gray faucet sits to the right of the board, with office furniture and blue bins with decorative radishes in the background.", "global_instruction_dense": "The left robotic arm descends toward the yellow carrot on the wooden cutting board, grasps it with its gripper, lifts it, moves it over the orange plate, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 653, "tasks": ["place food"], "length": 132, "global_instruction": "Pick the yellow pepper from the red plate and place it on the adjacent wooden countertop", "scene_description": "A wooden kitchen counter holds a red plate with a yellow pepper, another yellow corn-shaped object, and a small garlic model. A white sink with a gray faucet, gas cooktop, and blue bins with fake radishes are adjacent to the counter, with a gray office chair behind the counter.", "global_instruction_dense": "The left robotic arm moves into the frame, grasps the yellow pepper resting on the red plate, lifts it, moves it slightly right, and places it on the empty wooden counter surface next to the red plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 654, "tasks": ["place food"], "length": 110, "global_instruction": "Place the yellow corn on the cutting board into the orange plate.", "scene_description": "A wooden cutting board holds an orange plate, a yellow corn, a yellow carrot, and a small white garlic-like object next to a white sink with a gray faucet. A gas stove is to the right of the sink, a gray office chair is behind the cutting board, and two blue bins with red radish decorations are behind the sink.", "global_instruction_dense": "The left robotic arm moves toward the yellow corn on the cutting board, grasps it, lifts it, moves it over the orange plate, then lowers and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 655, "tasks": ["place food"], "length": 161, "global_instruction": "Pick up the small white toy garlic and place it next to the red plate on the kitchen counter.", "scene_description": "A wooden toy kitchen counter holds a red plate with a yellow toy carrot, a yellow toy corn next to the plate, and a small white toy garlic to the left of the plate; a grey toy sink with faucet sits to the right of the counter, blue containers with toy radishes are behind the sink, and an office chair is visible in the left background.", "global_instruction_dense": "The left robotic arm moves down toward the small white toy garlic left of the red plate, grasps it, lifts it, moves it right to the area next to the right edge of the red plate, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 656, "tasks": ["place food"], "length": 193, "global_instruction": "Pick up the yellow pepper on the wooden counter and place it onto the red plate.", "scene_description": "A light wooden countertop holds a red plate with an orange toy carrot and small white toy, plus a yellow pepper to the left of the plate. A white sink with a grey faucet is adjacent to the counter, and a grey office chair sits behind the counter.", "global_instruction_dense": "The right robotic gripper moves into view, approaches the yellow pepper on the wooden counter left of the red plate, grasps the pepper, lifts it, moves it right over the red plate, lowers it, and releases it onto the red plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 657, "tasks": ["place food"], "length": 205, "global_instruction": "Place the yellow toy carrot from the orange plate onto the wooden countertop.", "scene_description": "A wooden counter holds an orange plate with a yellow toy carrot, a small toy mushroom, and a yellow toy corn on the plate, another yellow toy corn sits on the counter to the right of the plate, a white sink with a grey faucet is to the right of the counter, two blue planters with red radish toys are behind the sink, and a grey office chair is to the left of the counter.", "global_instruction_dense": "The right robotic arm lowers toward the orange plate on the wooden counter, grasps the yellow toy carrot, lifts it, moves it to the left of the plate, and releases it onto the wooden countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 658, "tasks": ["place food"], "length": 149, "global_instruction": "Place the white toy garlic from the orange plate onto the cutting board next to the yellow bananas.", "scene_description": "A simulated kitchen countertop holds a wooden cutting board with two yellow toy bananas, a white toy garlic sitting on an adjacent orange round plate, a white sink with a grey faucet next to the cutting board, and a gas stove to the sink's right; background includes an office chair and lab worktables.", "global_instruction_dense": "The left robotic arm moves down toward the white toy garlic on the orange plate, grasps it, lifts it, moves it left onto the wooden cutting board next to the yellow bananas, and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 659, "tasks": ["place food"], "length": 123, "global_instruction": "Place the white toy garlic from the cutting board onto the orange plate", "scene_description": "A wooden cutting board sits on a kitchen countertop, holding two yellow toy corns, a cluster of white toy garlic, and an orange round plate. A white sink with a grey faucet is to the right of the board, blue bins with red toy radishes are behind the sink, and a grey office chair is to the left of the board.", "global_instruction_dense": "The left robotic arm moves downward toward the white toy garlic on the cutting board, grasps it, lifts it up, moves it right above the orange plate, lowers it, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 660, "tasks": ["place food"], "length": 162, "global_instruction": "Move a yellow toy corn on the wooden cutting board to a new position on the cutting board.", "scene_description": "A wooden cutting board on a kitchen counter holds two yellow toy corns and a red plate with two white egg-shaped toys. A white sink with a grey faucet is to the right of the cutting board, two blue planters with red radish toys are behind the sink, and a grey office chair is to the left of the cutting board.", "global_instruction_dense": "The left robotic arm moves downward toward a yellow toy corn on the wooden cutting board, grasps it with its gripper, lifts and shifts it to a new position on the cutting board, then releases the corn.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 661, "tasks": ["place food"], "length": 159, "global_instruction": "Place the white garlic toy from the red plate onto the adjacent wooden cutting board.", "scene_description": "A wooden cutting board on a countertop holds two yellow toy corns and a red plate with a white garlic toy, a toy sink with a gray faucet sits to the right of the cutting board, two blue bins with red radish toys are behind the sink, and a gray office chair is to the left of the cutting board.", "global_instruction_dense": "The left robotic arm moves toward the white garlic toy on the red plate, grasps it, lifts it, moves it to the empty space on the cutting board next to the yellow corns, lowers it, and releases it onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 662, "tasks": ["place food"], "length": 160, "global_instruction": "Move the large yellow pepper from the red plate to the wooden cutting board next to the small yellow pepper.", "scene_description": "A wooden kitchen counter holds a red plate with a large yellow pepper, a small yellow pepper, and garlic next to the plate. A white sink with a grey faucet sits right of the counter, with two teal planters holding red radishes behind it, and a grey office chair is visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the red plate on the counter, grasps the large yellow pepper on the plate, lifts the pepper, moves it over to the empty area of the wooden cutting board adjacent to the small yellow pepper, lowers it, and releases it onto the cutting board surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 663, "tasks": ["place food"], "length": 124, "global_instruction": "Place the small yellow fruit from the cutting board into the orange plate.", "scene_description": "A wooden cutting board holds a small yellow fruit, a yellow banana toy, a small white toy, a green toy, and an orange plate. A white sink with a gray faucet sits next to the cutting board, a gas stove is to the sink's right, a gray office chair is to the cutting board's left, and two blue planters with red radish toys are behind the sink, with workspace tables in the background.", "global_instruction_dense": "The left robotic arm moves into the workspace, lowers toward the small yellow fruit on the wooden cutting board, grasps it, lifts it, moves it over the adjacent orange plate, and releases it to drop the fruit into the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 664, "tasks": ["place food"], "length": 170, "global_instruction": "Place the yellow banana next to the green pepper beside the other yellow banana on the cutting board.", "scene_description": "A wooden cutting board on a kitchen counter holds two yellow bananas, a green pepper, and a red plate with two white garlic cloves. A white sink with a grey faucet is to the board's right, two blue radish planters are behind the sink, and a grey office chair is in the left background.", "global_instruction_dense": "The right robotic arm descends toward the yellow banana next to the green pepper on the cutting board, grasps it, lifts and moves it left to the other yellow banana, lowers it into position, releases it, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 665, "tasks": ["place food"], "length": 177, "global_instruction": "Pick up the white food item from the red plate and place it on the wooden countertop next to the yellow toy fruit.", "scene_description": "A wooden kitchen countertop holds a red plate with a white food item, a yellow toy fruit next to the plate, a sink, and a gas stove. Blue storage bins with decorative red radishes, an office chair, and work tables are visible in the background.", "global_instruction_dense": "The left robotic arm descends toward the white food item on the red plate, grasps it with its gripper, lifts it, moves it leftward over the wooden countertop, lowers it, and releases it onto the countertop next to the yellow toy fruit.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 666, "tasks": ["place food"], "length": 592, "global_instruction": "Adjust the yellow toy corn, turn the sink faucet, and place a white garlic piece into the orange plate.", "scene_description": "A wooden kitchen counter holds two yellow toy corn, two white garlic pieces, and an orange plate; a gray sink faucet is adjacent to the counter, with blue storage bins holding fake red radishes positioned behind the faucet. No robotic arm is visible in the initial frame.", "global_instruction_dense": "The left robotic arm enters the frame, adjusts the position of a yellow toy corn on the wooden counter, moves to the gray sink faucet and twists it, then moves back to the counter, grasps a white garlic piece, and places it into the orange plate on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 667, "tasks": ["place food"], "length": 227, "global_instruction": "Move the yellow corn on the cutting board to a new position on the same cutting board.", "scene_description": "A wooden cutting board on a kitchen counter holds a yellow corn, a small yellow vegetable, and a red plate with white food items. A white toy sink with a grey faucet is next to the cutting board, blue planters with red toy radishes are behind the sink, and a grey office chair is to the left of the counter.", "global_instruction_dense": "The left robotic arm descends toward the yellow corn on the wooden cutting board, grasps it, moves it to a new position adjacent to the small yellow vegetable on the cutting board, releases it, moves over the toy sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 668, "tasks": ["place food"], "length": 129, "global_instruction": "Place the longer yellow carrot with green stem next to the smaller yellow vegetable on the cutting board.", "scene_description": "A wooden cutting board on a kitchen counter holds a red plate with white food, a small yellow vegetable, and a longer yellow carrot with a green stem. A gray faucet sits next to the board, with teal planters with red radish decorations behind it, a gas stove to the right, and a gray office chair to the left.", "global_instruction_dense": "The left robotic arm moves toward the longer yellow carrot with green stem on the cutting board, grasps it, lifts and moves it left, then places it next to the smaller yellow vegetable on the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 669, "tasks": ["place food"], "length": 105, "global_instruction": "Pick up the white food item from the red plate and place it on the wooden counter next to the yellow vegetables.", "scene_description": "A wooden kitchen counter holds a yellow toy carrot, a small yellow toy vegetable, and a red plate with a white food item, next to a white sink with a grey faucet and a gas stove; two teal planters with red radish decorations are behind the sink, with a grey office chair in the left background.", "global_instruction_dense": "The left robotic gripper moves toward the white food item on the red plate, grasps it, lifts it, moves it leftward over the counter, and places it next to the small yellow vegetable on the wooden counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 670, "tasks": ["place food"], "length": 213, "global_instruction": "Place the white toy garlic from the cutting board onto the orange plate, then adjust the sink faucet.", "scene_description": "A wooden kitchen countertop holds an orange round plate, yellow toy carrot, small yellow toy corn, and white toy garlic, adjacent to a white sink with a gray faucet, with blue planters holding toy radishes behind the sink, and a gray office chair to the left of the counter.", "global_instruction_dense": "The left robotic arm lowers toward the white garlic on the wooden cutting board, grasps it, moves it over the orange plate, places and releases it on the plate, then moves to the gray sink faucet to adjust the handle before moving back toward the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 671, "tasks": ["place food"], "length": 125, "global_instruction": "Place the yellow carrot from the cutting board onto the orange plate.", "scene_description": "A wooden cutting board on a kitchen countertop holds a yellow carrot, a white toy garlic, a yellow toy corn, and an orange plate. A white sink with a gray faucet is to the right of the cutting board, a gas stove is further right, blue planters with toy radishes are behind the sink, and a gray office chair is to the left of the cutting board.", "global_instruction_dense": "The left robotic arm moves toward the yellow carrot on the cutting board, grasps it with its gripper, lifts it, moves it over the orange plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 672, "tasks": ["place food"], "length": 127, "global_instruction": "Reposition the yellow toy carrot on the wooden cutting board.", "scene_description": "A wooden kitchen countertop holds a yellow toy carrot, a white toy garlic, and a bright orange plate. The counter is adjacent to a white toy sink with a grey faucet, a grey office chair is to the left of the counter, and work tables are visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the yellow toy carrot on the wooden cutting board, grasps the carrot, lifts it, adjusts its position, then lowers and releases it back onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 673, "tasks": ["place food"], "length": 104, "global_instruction": "Pick up the white garlic from the cutting board and place it into the orange plate", "scene_description": "A wooden cutting board on a kitchen counter holds a white garlic, yellow pepper, and orange round plate. A white sink with a gray faucet sits to the right of the cutting board, a gas stove is further right, and a gray office chair is behind the cutting board. Two blue planters with decorative pink radishes are in the background, no robotic arm is visible initially.", "global_instruction_dense": "The left robotic arm extends toward the white garlic on the wooden cutting board, grasps it with its gripper, lifts it, moves it over the orange plate, and releases the garlic into the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 674, "tasks": ["place food"], "length": 329, "global_instruction": "Move the yellow vegetable from the cutting board onto the orange plate then return it to the cutting board.", "scene_description": "A light brown wooden cutting board sits on a kitchen countertop. On the cutting board are an orange plate, a yellow elongated vegetable, and a white garlic-shaped object, with a white sink with a grey faucet to the right of the board, and a gas stove adjacent to the sink.", "global_instruction_dense": "The left robotic arm moves down toward the yellow vegetable on the cutting board, grasps it, lifts it, places it onto the orange plate, then re-grasps the vegetable from the plate, lifts it, and places it back onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 675, "tasks": ["place food"], "length": 122, "global_instruction": "Pick up the yellow carrot from the counter and place it onto the orange plate.", "scene_description": "A wooden kitchen counter holds a yellow carrot, a white garlic piece, a small blue spatula, and an orange plate, adjacent to a white toy sink with gray faucet, a gas stove section to the right, and a gray office chair to the left.", "global_instruction_dense": "The left robotic arm moves toward the yellow carrot on the wooden counter, grasps it, lifts it, moves it over the orange plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 676, "tasks": ["place food"], "length": 112, "global_instruction": "Pick up the yellow toy carrot from the red plate and place it on the wooden cutting board next to the garlic toy.", "scene_description": "A wooden cutting board sits on a play kitchen counter, with a red plate holding a yellow toy carrot on the board, a small white garlic-shaped toy next to the plate, a white play sink with a grey faucet to the right of the board, two blue planters with red radish toys behind the sink, and a grey office chair to the left of the counter.", "global_instruction_dense": "The left robotic arm moves down toward the yellow toy carrot on the red plate, grasps it with its gripper, lifts the carrot, moves it to the empty section of the cutting board next to the garlic-shaped toy, lowers it, and releases it onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 677, "tasks": ["place food"], "length": 209, "global_instruction": "Place the yellow carrot onto the orange plate on the cutting board.", "scene_description": "A wooden cutting board holds a yellow carrot and a small white vegetable, with an orange round plate next to them. A sink with a gray faucet and gas stove are to the right of the cutting board, and a workspace is in the background.", "global_instruction_dense": "The left robotic arm descends to grasp the yellow carrot on the cutting board, lifts it, moves it over the orange plate and places it on the plate, then grasps the small white vegetable, moves it toward the plate, and finally places it back on the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 678, "tasks": ["place food"], "length": 128, "global_instruction": "Place the small off-white garlic-shaped object from the countertop onto the red plate.", "scene_description": "A wooden countertop holds a small off-white garlic-shaped object on its left and a round red plate with a yellow toy carrot on its right, a white sink with a gray faucet is to the right of the countertop, a gas stove sits next to the sink, and the left robotic arm is initially out of view.", "global_instruction_dense": "The left robotic arm moves into view above the countertop, descends to grasp the small off-white garlic-shaped object, lifts it, moves it right over the red plate, then lowers and releases it onto the red plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 679, "tasks": ["place food"], "length": 109, "global_instruction": "Pick the orange carrot from the red plate and place it on the adjacent wooden cutting board surface.", "scene_description": "A wooden cutting board holds a red plate with an orange carrot, two white garlic pieces sit next to the plate, a white sink with grey faucet is to the right of the board, a grey office chair is behind the board, and blue planters with red radish models are behind the sink.", "global_instruction_dense": "The left robotic arm moves toward the orange carrot on the red plate on the cutting board, grasps the carrot, lifts it, shifts it leftward, and places it on the empty area of the wooden cutting board next to the red plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 680, "tasks": ["place food"], "length": 119, "global_instruction": "Pick the white bread from the red plate and place it on the adjacent wooden countertop.", "scene_description": "A yellow toy carrot and a red plate holding a small piece of white bread are on a wooden kitchen countertop, with a white sink with grey faucet to the plate's right, a gas stove to the sink's right, and a grey office chair to the counter's left.", "global_instruction_dense": "The left robotic arm moves toward the white bread on the red plate, grasps the bread with its gripper, lifts it, moves it left onto the wooden counter next to the yellow toy carrot, then releases the bread onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 681, "tasks": ["place food"], "length": 139, "global_instruction": "Adjust the position of the yellow toy carrot on the wooden cutting board", "scene_description": "A wooden kitchen countertop holds a yellow toy carrot, small yellow cube, bright red round plate, and two white toy garlic pieces on its left cutting board area. A white sink with a grey faucet sits right of the cutting board, with two teal planters holding red toy radishes behind the sink, and a gas cooktop at the right edge of the counter. A grey office chair and workbench equipment are visible to the left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow toy carrot on the wooden cutting board, grasps the carrot, lifts and moves it to a new position on the board, then releases the carrot and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 682, "tasks": ["place food"], "length": 122, "global_instruction": "Place a white egg from the wooden counter onto the red plate", "scene_description": "A light wooden counter holds a round red plate, two white eggs, and a small yellow cube. A gray office chair, sink, gas stove, and workspace tables are visible in the background, with no robotic arm in the work area.", "global_instruction_dense": "The left robotic arm enters the work area, moves to the white eggs on the wooden counter, grasps one white egg, lifts it, moves it over the red plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 683, "tasks": ["place food"], "length": 84, "global_instruction": "Pick up the white garlic from the red plate and place it on the counter next to the yellow block.", "scene_description": "A wooden kitchen countertop holds a red plate with a white garlic, a small yellow block to the left of the plate, a white sink with a gray faucet to the right of the plate, and two teal planters with red radish decorations behind the sink. A gray office chair and workshop workbench are visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the white garlic on the red plate, grasps it, lifts it, moves it left to the counter next to the yellow block, lowers it, and releases it onto the wooden countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 684, "tasks": ["place food"], "length": 197, "global_instruction": "Place the white garlic-shaped object onto the red round plate.", "scene_description": "A wooden kitchen countertop holds a red round plate, a small yellow cube, and a white garlic-shaped object next to a white sink with a gray faucet, with a blue planter holding a fake radish behind the sink.", "global_instruction_dense": "The left robotic arm moves into view, lowers toward the white garlic-shaped object on the wooden countertop, grasps it, lifts it, moves it over the red round plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 685, "tasks": ["place food"], "length": 108, "global_instruction": "Pick a white food piece from the orange plate and place it on the adjacent wooden counter.", "scene_description": "A wooden kitchen counter holds an orange plate with two white food pieces, a small yellow block, a white sink with a grey faucet, a gas stove on the right, and a grey office chair to the left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the orange plate on the wooden counter, grasps one white food piece from the plate, lifts it, moves it to the nearby empty wooden counter surface, and releases it to place it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 686, "tasks": ["place food"], "length": 97, "global_instruction": "Place the white garlic-shaped object on the wooden counter onto the red round plate.", "scene_description": "A wooden countertop holds a round red plate, a small yellow cube, and a small white garlic-shaped object. A gray office chair is to the left of the counter, and a white sink with a gray faucet is to the counter's right.", "global_instruction_dense": "The left robotic gripper moves toward the white garlic-shaped object on the wooden counter, grasps it, lifts it, moves it over the red round plate, and places it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 687, "tasks": ["place food"], "length": 114, "global_instruction": "Place the white garlic from the cutting board onto the red plate", "scene_description": "A wooden cutting board on a kitchen counter holds a red round plate, a small yellow cube, and a white garlic. A white sink with a grey faucet sits to the right of the cutting board, a gas stove is further right, a grey office chair is to the left of the counter, and work tables are in the background.", "global_instruction_dense": "The left robotic arm moves toward the white garlic on the wooden cutting board, grasps it, lifts it, moves it over the red plate on the cutting board, and releases it onto the red plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 688, "tasks": ["place food"], "length": 140, "global_instruction": "Pick up the garlic on the wooden counter and place it near the yellow block on the counter.", "scene_description": "A wooden kitchen counter holds an orange round plate, a small yellow cubic block, and a light beige garlic to the left of the plate. A white sink with a grey faucet is to the right of the counter, two blue planters with red radish decorations are behind the sink.", "global_instruction_dense": "The left robotic arm moves toward the light beige garlic on the left of the orange plate, grasps it, lifts it, moves it to a position below the left of the orange plate near the yellow block, releases it, then retracts slightly upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 689, "tasks": ["place food"], "length": 124, "global_instruction": "Pick up the white garlic-shaped object, place it onto the orange plate, then place it back onto the countertop.", "scene_description": "A wooden countertop holds an orange round plate, a small yellow cube, and a white garlic-shaped object. A white sink with a grey faucet and gas cooktop are to the counter's right, with a robotic arm mounted to the counter's left.", "global_instruction_dense": "The left robotic arm moves down toward the white garlic-shaped object on the counter, grasps it, places it onto the orange plate, then re-grasps it and places it back onto the counter next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 690, "tasks": ["place food"], "length": 185, "global_instruction": "Place the white garlic clove from the cutting board onto the orange plate", "scene_description": "A wooden cutting board on a countertop holds a bright orange round plate, a small yellow cube, and a white garlic clove next to a white sink with a gray faucet, a gas stove is to the right of the sink, blue planters with red decorative radishes and workshop furniture are in the background, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm descends toward the white garlic clove on the wooden cutting board, grasps the garlic, lifts it, moves it over the adjacent orange plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 691, "tasks": ["place food"], "length": 109, "global_instruction": "Pick the white garlic from the orange plate and place it on the adjacent wooden countertop.", "scene_description": "A wooden countertop holds an orange plate with a white garlic clove and a small yellow cube next to the plate. A grey sink faucet sits adjacent to the counter, an open white drawer is below the counter, and a grey office chair is positioned behind the counter, with blue planters with red decorative radishes behind the sink.", "global_instruction_dense": "The left robotic arm moves toward the white garlic on the orange plate, grasps it, lifts it, moves it to the wooden countertop next to the plate, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 692, "tasks": ["place food"], "length": 107, "global_instruction": "Place the small white garlic next to the yellow cubic block on the countertop", "scene_description": "A wooden kitchen countertop holds a yellow cubic block, a red round plate, and a small white garlic-shaped object to the right of the plate, next to a white sink with a grey faucet, with two blue planters with decorative red radishes behind the sink.", "global_instruction_dense": "The left robotic arm extends toward the small white garlic beside the red plate, grasps it, places it onto the red plate, then re-grasps it and places it next to the yellow cubic block.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 693, "tasks": ["place food"], "length": 122, "global_instruction": "Place the white egg from the counter onto the orange plate", "scene_description": "A wooden kitchen counter holds an orange plate with a yellow cube, two white eggs to the left of the plate, a white sink with a gray faucet sits adjacent to the counter, and a gas stove is to the sink's right.", "global_instruction_dense": "The left robotic arm moves toward the white egg on the wooden counter left of the orange plate, grasps it, lifts it, moves it over the orange plate, lowers it, and releases it onto the plate next to the yellow cube.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 694, "tasks": ["place food"], "length": 125, "global_instruction": "Place the white garlic next to the right side of the red plate on the cutting board", "scene_description": "A wooden cutting board holds a red plate with a yellow cube on it, a small white garlic-shaped object sits to the upper left of the plate. A white toy sink with a gray faucet is to the right of the cutting board, a toy gas stove is further right, and blue planters with fake red radishes are behind the sink.", "global_instruction_dense": "The left robotic arm moves down toward the small white garlic-shaped object left of the red plate, grasps it, lifts it, moves it to the right side of the red plate, and releases it onto the cutting board at that position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 695, "tasks": ["place food"], "length": 115, "global_instruction": "Pick the white food item from the red plate and place it on the adjacent wooden counter.", "scene_description": "A light wooden kitchen counter holds a red plate with a white food item, a small yellow cube, and a white sink with a gray faucet. A gas stove sits to the right of the sink, and office workspace is visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the red plate on the kitchen counter, grasps the white food item on the plate, lifts it, moves it to the wooden counter next to the plate, and places it down before releasing.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 696, "tasks": ["place food"], "length": 224, "global_instruction": "Pick the white food item from the red plate and place it on the wooden countertop next to the plate.", "scene_description": "A wooden kitchen countertop has a red round plate with a white food item on its left section, alongside a small yellow cube and a small blue cube; a grey sink faucet sits to the plate's right, an open white drawer is below the counter, a gas stove is to the sink's right, and a grey office chair is positioned to the left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the white food item on the red plate, grasps the item with its gripper, lifts it, moves it a short distance right onto the adjacent wooden countertop, releases the item, and lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 697, "tasks": ["place food"], "length": 122, "global_instruction": "Pick the orange from the metal bowl and place it on the brown table surface.", "scene_description": "A brown table holds a red open drawer box, a metal bowl with an orange inside, a folded green cloth, and a silver circular lid, with office furniture in the background.", "global_instruction_dense": "The right robotic arm moves into position above the metal bowl on the brown table, lowers its gripper to grasp the orange inside the bowl, lifts the orange, moves it rightward to an empty spot on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 698, "tasks": ["place food"], "length": 196, "global_instruction": "Place the small orange objects on the brown table into the silver metal bowl", "scene_description": "A brown wooden table holds a cream-topped red-fronted wooden box, a silver metal bowl, a cluster of small orange objects, a silver circular lid, and a green cloth. The box is on the left of the table, with the metal bowl, orange objects, and silver lid positioned right of the box sequentially, and the green cloth lies below the bowl and orange objects.", "global_instruction_dense": "The right robotic gripper moves into the frame above the table, descends to the small orange objects, grasps them, lifts and moves them over the silver metal bowl, then releases them into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 699, "tasks": ["place food"], "length": 164, "global_instruction": "Move the yellow bell pepper on the table to a position near the red storage box.", "scene_description": "A brown table holds a yellow bell pepper, a folded green cloth, and a red storage box with a beige lid. A grey backpack rests on a grey office chair to the left of the table, with an open office space in the background.", "global_instruction_dense": "The right robotic arm enters the frame above the green cloth, moves down to grasp the yellow bell pepper, lifts it, moves it left toward the red storage box, and places it on the table near the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 700, "tasks": ["place food"], "length": 138, "global_instruction": "Place the yellow pepper into the stainless steel bowl on the table.", "scene_description": "A brown table holds a yellow pepper, an orange carrot, a folded green cloth, two stainless steel bowls, and a small red box with a beige top in a lab workspace.", "global_instruction_dense": "The right robotic gripper moves toward the yellow pepper on the brown table, grasps it, lifts it, moves it over the adjacent stainless steel bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 701, "tasks": ["place food"], "length": 100, "global_instruction": "Reposition the orange toy carrot to a new position on the brown table.", "scene_description": "A brown table holds a red wooden box with a beige lid, a folded green cloth, a stainless steel bowl with a yellow block, and an orange toy carrot, in a robotics lab workspace.", "global_instruction_dense": "The right robotic arm descends toward the orange toy carrot on the brown table, grasps it, lifts it, moves it across the table, lowers it, and releases it at a new position on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 702, "tasks": ["place food"], "length": 119, "global_instruction": "Reposition the yellow toy carrot to a new spot on the brown table.", "scene_description": "A brown table holds a red wooden box with a beige lid, a yellow toy carrot, a green folded cloth, and two silver stainless steel bowls arranged from left to right, with an office workshop background.", "global_instruction_dense": "The left robotic arm moves into the scene, lowers to the yellow carrot on the table, grasps and lifts it, shifts it rightward above the table, then lowers and releases the carrot onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 703, "tasks": ["place food"], "length": 127, "global_instruction": "Place the yellow carrot next to the orange crescent toys on the left side of the brown table.", "scene_description": "A brown table in an office workshop holds a red-and-beige wooden box, a yellow bell pepper, a yellow carrot, two orange crescent toys, a folded green cloth, and a silver metal lid.", "global_instruction_dense": "The right robotic arm moves down to grasp the yellow carrot near the yellow bell pepper, lifts it, moves left across the table, and releases it next to the orange crescent toys.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 704, "tasks": ["place food"], "length": 129, "global_instruction": "Move the orange plush carrot on the brown table to a new position on the same table.", "scene_description": "A brown table holds a red wooden box with a beige lid, an orange plush carrot, a yellow plush toy, a small orange plush toy, a green cloth, and a silver metal lid in a lab office space.", "global_instruction_dense": "The left robotic gripper lowers toward the orange plush carrot on the brown table, grasps the carrot, lifts it, moves it rightward across the table, and places it near the green cloth on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 705, "tasks": ["place food"], "length": 152, "global_instruction": "Pick up the yellow bell pepper on the brown table and reposition it on the table.", "scene_description": "A brown table in a lab workspace holds a red box with a beige lid, a green cloth, a yellow bell pepper, and a silver metal lid, with lab equipment and a seated person in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the yellow bell pepper on the brown table, grasps it, lifts it, shifts it slightly to a new position on the table, then releases it and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 706, "tasks": ["place food"], "length": 235, "global_instruction": "Remove the lid from the stainless steel pot, then place the yellow bell pepper into the pot.", "scene_description": "A brown wooden table holds a red box with a beige lid, folded green cloth, orange toy with pink details, yellow bell pepper, and lidded stainless steel pot, with a lab workspace in the background.", "global_instruction_dense": "The right robotic arm moves to the lidded stainless steel pot, grasps and removes its lid to place on the table, then moves to the yellow bell pepper, grasps it, lifts it, moves it over the open pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 707, "tasks": ["place food"], "length": 132, "global_instruction": "Pick up the small orange fruit on the table and place it into the stainless steel pot.", "scene_description": "A brown table holds a red wooden box with a beige top, a small orange fruit, a folded green cloth, a yellow ball, a double-handle stainless steel pot, and a matching pot lid arranged across its surface.", "global_instruction_dense": "The left robotic arm moves down toward the small orange fruit, grasps it with its gripper, lifts it, and moves it over the stainless steel pot to prepare to place it inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 708, "tasks": ["place food"], "length": 114, "global_instruction": "Take the orange food piece from the stainless steel bowl and place it on the green cloth on the table", "scene_description": "A brown wooden table holds a red drawer with a light wooden top, a folded green cloth, a yellow round object, an open stainless steel bowl containing an orange food piece and pink food, and the bowl's metal lid next to it, with office equipment and a person in the background.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel bowl on the brown table, grasps the orange food piece inside the bowl, lifts the piece, moves it over the green cloth, places it on the cloth, and releases its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 709, "tasks": ["place food"], "length": 191, "global_instruction": "Pick up the yellow bell pepper and place it closer to the red drawer box on the table.", "scene_description": "A brown table holds a red drawer box with a beige top, a folded green cloth, a silver round pot lid, a small two-handled silver pot, and a yellow bell pepper to the right of the cloth.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow bell pepper on the table, grasps it with its gripper, lifts it, moves left toward the red drawer box, lowers the pepper, and releases it onto the table near the red box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 710, "tasks": ["place food"], "length": 113, "global_instruction": "Pick up the yellow bell pepper on the brown table and place it to the left of the red box", "scene_description": "A brown table in the foreground holds a red box with a beige lid (with fruit inside), a yellow bell pepper, a green folded cloth, a silver pot lid, and a small silver pot arranged left to right. No robotic arm is visible initially, with other work tables in the background.", "global_instruction_dense": "The left robotic gripper moves into view above the brown table, descends to grasp the yellow bell pepper, lifts it, moves left to the area left of the red box, lowers the pepper, and places it on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 711, "tasks": ["place food"], "length": 122, "global_instruction": "Take the orange from the red wooden box and place it on the brown table.", "scene_description": "A brown table holds a yellow pepper, an open red wooden box, a folded green cloth, a round metal lid, and a small dual-handle stainless steel pot, with a robotic arm positioned left of the table in a lab workspace.", "global_instruction_dense": "The left robotic arm moves toward the open red wooden box, reaches inside to grasp the orange, lifts it out of the box, moves it over the table, and places it on the brown table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 712, "tasks": ["place food"], "length": 131, "global_instruction": "Place the yellow toy pepper on the brown table into the open red drawer box.", "scene_description": "A brown table holds a yellow toy bell pepper, an open red-and-white drawer box with a light-colored lid behind it, a bright green cloth, and a small lidded stainless steel pot, with robotics equipment to the left of the table and an office lab in the background.", "global_instruction_dense": "The left robotic arm moves toward the yellow toy pepper on the brown table, grasps it with its gripper, lifts it, moves it over the open red-and-white drawer box, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 713, "tasks": ["place food"], "length": 119, "global_instruction": "Take the yellow pepper out of the red box and place it on the brown table.", "scene_description": "A brown office table holds a red and beige open box with a yellow pepper inside, a silver lidded small pot, and a green cloth. Robotic equipment is to the left of the table, with an office space in the background.", "global_instruction_dense": "The left robotic arm moves down toward the yellow pepper inside the red box, grasps it, lifts it, moves it over the empty table surface next to the box, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 714, "tasks": ["place food"], "length": 106, "global_instruction": "Pick up the yellow bell pepper and place it in a new position on the table.", "scene_description": "A brown wooden table in an office workspace holds a red box with a white top at its rear left, a yellow bell pepper, a halved orange with a small purple top, a double-handled stainless steel small pot, and a stainless steel pot lid to the right of the pot.", "global_instruction_dense": "The left robotic arm descends toward the yellow bell pepper on the brown table, grasps it with its gripper, lifts and shifts it leftward, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 715, "tasks": ["place food"], "length": 141, "global_instruction": "Place the yellow bell pepper next to the orange half-fruit on the table.", "scene_description": "A brown wooden table holds a beige-topped red drawer box, a yellow bell pepper, an orange half-fruit with a purple item on top, a stainless steel double-handle pot, and a stainless steel pot lid, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves toward the yellow bell pepper on the left side of the brown table, grasps it with the gripper, lifts it, moves it right to the space beside the orange half-fruit, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 716, "tasks": ["place food"], "length": 153, "global_instruction": "Move the yellow bell pepper to the position left of the red wooden box on the brown table.", "scene_description": "A brown table holds a red wooden box with a beige top, a yellow bell pepper, and a lidded stainless steel pot.", "global_instruction_dense": "The right robotic arm moves toward the yellow bell pepper on the brown table, grasps it, lifts it, moves it left to the area left of the red box, and places it down on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 717, "tasks": ["place food"], "length": 300, "global_instruction": "Remove the lid from the stainless steel pot, then place the yellow bell pepper into the open pot.", "scene_description": "A brown table in a lab workspace holds a lidded small stainless steel pot, a yellow bell pepper, and a red wooden box with a beige top and red round knob.", "global_instruction_dense": "The right robotic gripper first grasps and lifts the lid off the stainless steel pot, places the lid on the table, moves to the yellow bell pepper, grasps and lifts it, moves it over the open pot, then releases the pepper into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 718, "tasks": ["place food"], "length": 149, "global_instruction": "Take the yellow corn out of the silver pan and place it on the brown desk surface.", "scene_description": "A brown desk holds a red-and-beige small wooden box, a silver metal pan containing a yellow corn, and a green flat cloth on its lower surface, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm lowers into view above the brown desk, grasps the yellow corn inside the silver pan, lifts the corn out of the pan, moves it leftward over the desk, and releases it onto the desk surface next to the wooden box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 719, "tasks": ["place food"], "length": 128, "global_instruction": "Place the yellow corn on the left area of the brown table", "scene_description": "A brown table holds a green hexagonal cloth, a yellow corn-shaped object, a small red-and-beige box with a red knob, and a small metal pan. A robotic arm is positioned to the left of the table, and the background is a workshop with chairs and other work tables.", "global_instruction_dense": "The left robotic gripper descends toward the yellow corn on the brown table, grasps it, lifts and moves it left to the area near the red-and-beige box, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 720, "tasks": ["place food"], "length": 153, "global_instruction": "Place the yellow corn on the green cloth into the small silver pan on the table.", "scene_description": "A brown table holds a green cloth, a yellow corn, a small silver pan, and a red-beige box with a red knob. A robotic arm is positioned at the left of the workspace.", "global_instruction_dense": "The left robotic arm moves toward the yellow corn on the green cloth, grasps it, lifts it, moves it over the small silver pan, then lowers and releases the corn into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 721, "tasks": ["place food"], "length": 126, "global_instruction": "Pick up the yellow corn from the metal pan and place it on the left area of the brown table.", "scene_description": "A brown table holds a bright green cloth, a red-and-beige small box, and a metal pan with a yellow corn inside, with work equipment to the left of the table and other work tables in the background.", "global_instruction_dense": "The left robotic arm descends toward the yellow corn in the metal pan on the brown table, grasps the corn, lifts it, moves it leftward over the empty left area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 722, "tasks": ["place food"], "length": 111, "global_instruction": "Take the yellow corn from the metal bowl and place it on the brown table.", "scene_description": "A brown table holds a green cloth, a red-and-beige wooden box, and a metal bowl with a yellow corn on it. Robotic equipment sits to the left of the table, and work areas with people are in the background.", "global_instruction_dense": "The left robotic arm extends toward the metal bowl on the brown table, grasps the yellow corn inside the bowl, lifts the corn, moves it to an empty spot on the brown table, and releases the corn onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 723, "tasks": ["place food"], "length": 144, "global_instruction": "Place the yellow corn-shaped object from the metal bowl onto the brown worktable surface.", "scene_description": "A brown worktable in a workshop holds a red drawer box with a round knob, a metal bowl containing a yellow corn-shaped object, and a folded green cloth.", "global_instruction_dense": "The left robotic arm descends toward the metal bowl on the brown worktable, grasps the yellow corn-shaped object inside the bowl, lifts it, moves it to the empty area of the worktable next to the red box, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 724, "tasks": ["place food"], "length": 129, "global_instruction": "Place the yellow toy corn on the table into the adjacent silver metal pan.", "scene_description": "A brown table holds a red box with a beige lid, a small silver pan, a yellow toy corn, and a folded green cloth, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic gripper moves into the frame toward the yellow toy corn on the table, grasps the corn, lifts it, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 725, "tasks": ["place food"], "length": 424, "global_instruction": "Take the yellow corn out of the wooden box and place it on the brown table.", "scene_description": "A brown two-tier table has a small wooden box with a red front drawer and beige top on its left side, and a folded bright green cloth on its right lower surface.", "global_instruction_dense": "The left robotic arm moves to the closed wooden box, lifts its top lid to open the box, grasps the yellow corn inside, lifts it out, and places it on the empty area of the brown table next to the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 726, "tasks": ["place food"], "length": 114, "global_instruction": "Pick up the yellow toy corn from the center of the brown table and place it on the left area of the table.", "scene_description": "A brown table has a wooden box with a red front on its left area, a yellow toy corn in its center, and a folded green cloth on its right area.", "global_instruction_dense": "The left robotic arm moves down to the yellow toy corn at the center of the brown table, grasps it, lifts it above the red-fronted wooden box, then moves it left, lowers it, and releases it onto the left area of the brown table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 727, "tasks": ["place food"], "length": 196, "global_instruction": "Take the yellow banana out of the red drawer box and place it on the brown table.", "scene_description": "A red drawer box containing a yellow banana and a folded green cloth are placed on a brown table.", "global_instruction_dense": "The right robotic gripper first adjusts the position of the green cloth on the table, then moves to the red drawer box, grasps the yellow banana inside, lifts it out, and places it on the brown table next to the green cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 728, "tasks": ["place food"], "length": 101, "global_instruction": "Move the yellow corn to a new position on the brown table.", "scene_description": "A brown table holds a red open box with a beige lid behind it, a yellow corn, and a green cloth with black fasteners, in a workshop with other tables and equipment in the background.", "global_instruction_dense": "The right robotic arm descends toward the yellow corn on the brown table, grasps it, lifts it, moves it rightward a short distance, then lowers and places it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 729, "tasks": ["place food"], "length": 129, "global_instruction": "Pick up the yellow toy pepper on the brown table and place it next to the green cloth.", "scene_description": "A brown table holds a bright green cloth, a red wooden box with a beige top, a yellow toy pepper, a small bowl with plush toys, and a clear glass dish, in a robotics lab with other work desks and equipment in the background.", "global_instruction_dense": "The right robotic arm lowers toward the yellow toy pepper on the table, grasps it with its gripper, lifts and moves it rightward to the edge of the green cloth, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 730, "tasks": ["place food"], "length": 106, "global_instruction": "Pick up the yellow pepper and place it on the left area of the brown table.", "scene_description": "A brown table holds a small stainless steel bowl, a light blue plush toy, a red box with a beige lid and red round knob, a folded green cloth, and a yellow pepper from left to right. A grey office chair sits left of the table, with lab desks and supplies in the background.", "global_instruction_dense": "The right robotic arm moves into frame from above, descends to grasp the yellow pepper on the right side of the brown table, lifts the pepper, moves it left across the table, then lowers and releases it onto the left portion of the brown table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 731, "tasks": ["place food"], "length": 237, "global_instruction": "Place the yellow banana toy into the silver ashtray on the table.", "scene_description": "A dark brown table in a lab office holds a red-and-beige wooden box, a silver ashtray, a green cloth, a small plush toy, a yellow pepper toy, and a yellow banana toy, with no robot arm visible.", "global_instruction_dense": "The left robotic arm first grasps and removes the lid of the silver ashtray, places the lid on the table, then grasps the yellow banana toy, moves it over the ashtray, and releases it into the ashtray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 732, "tasks": ["place food"], "length": 106, "global_instruction": "Pick up the yellow pepper on the brown table and place it to the right of the green cloth.", "scene_description": "A brown tabletop in a lab office holds a red-and-beige wooden box, a metal bowl with a yellow squeeze bottle, a green cloth, a light blue plush toy, and a yellow bell pepper-shaped object.", "global_instruction_dense": "The right robotic arm moves into frame from off-screen, lowers toward the yellow pepper on the table, grasps it with its gripper, lifts it, moves it rightward to the area next to the green cloth, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 733, "tasks": ["place food"], "length": 103, "global_instruction": "Pick up the yellow toy banana and place it on a different spot on the brown table.", "scene_description": "A brown table holds a green cloth, a red and beige small box with a red knob, a clear glass, a small multi-colored plush toy, a stainless steel double-handle pot, a yellow toy banana, and a yellow toy bell pepper in a lab workspace.", "global_instruction_dense": "The left robotic arm moves down toward the yellow toy banana on the brown table, grasps it with its gripper, lifts it, moves it leftward to a position near the green cloth, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 734, "tasks": ["place food"], "length": 101, "global_instruction": "Move the yellow toy banana to a new spot on the wooden table.", "scene_description": "A brown wooden table holds a green cloth, a red box with a beige lid, a small silver lid, a yellow toy banana, a double-handled stainless steel pot, a yellow toy pepper, and two small stuffed toys in a robotics lab.", "global_instruction_dense": "The right robotic arm moves above the yellow toy banana on the wooden table, grasps it with its gripper, lifts and moves it horizontally to a new position, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 735, "tasks": ["place food"], "length": 140, "global_instruction": "Place the yellow fake banana on the lower part of the brown table onto the left area of the table near the silver lid.", "scene_description": "A brown table holds a green cloth, red wooden box with a beige top, small blue plush toy, silver circular lid, silver small pot, yellow bell pepper, and yellow fake banana, with lab desks and equipment in the background.", "global_instruction_dense": "Right robotic arm moves downward toward the yellow fake banana on the lower right of the brown table, grasps the banana, lifts it, moves it leftward to the area near the silver lid, then lowers and releases the banana onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 736, "tasks": ["place food"], "length": 134, "global_instruction": "Move the yellow bell pepper from the right side of the table to the left side near the small yellow plush toy.", "scene_description": "A brown table holds a red box with a beige top, a small yellow plush toy, a blue plush toy, a metal pot with a banana inside, a yellow bell pepper, and a folded green cloth with black clips. The red box is at the back of the table, the yellow bell pepper is on the right side of the table, and the green cloth is at the front of the table.", "global_instruction_dense": "The right robotic arm moves down to the yellow bell pepper on the right side of the brown table, grasps it, lifts it, moves it leftward to the area near the small yellow plush on the left side of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 737, "tasks": ["place food"], "length": 249, "global_instruction": "Place the orange dumbbell-shaped object into the drawer of the cream storage box.", "scene_description": "A brown wooden table holds a folded bright green cloth, an orange dumbbell-shaped object, a closed cream storage box with a red front drawer, and a yellow bread-shaped object, with office work areas in the background.", "global_instruction_dense": "The right robotic arm descends to the closed cream storage box, pulls its red front drawer open, moves to the orange dumbbell-shaped object on the table, grasps and lifts it, moves it over the open drawer, and places it inside the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 738, "tasks": ["place food"], "length": 151, "global_instruction": "Move the yellow oblong bread on the brown table to a new position on the same table.", "scene_description": "A brown tabletop holds a green folded cloth, a yellow oblong bread, a red-sided open wooden box with orange contents, and a cream slotted box. The green cloth is on the left of the table, the yellow bread is near the lower table center, the red-sided box is to the right of the cloth, and the cream slotted box is to the right of the red-sided box.", "global_instruction_dense": "The right robotic arm moves into frame above the brown table, approaches the yellow oblong bread, grasps it with its gripper, lifts and moves the bread briefly, then lowers it to place it at a new position on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 739, "tasks": ["place food"], "length": 144, "global_instruction": "Place the long yellow bread from the open wooden box onto the brown table.", "scene_description": "A brown table holds a green cloth, an open light wood box with red trim containing a long yellow bread and orange items, a cream closed box with a top slot next to the open box, and an orange decorative object in front of the boxes, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm lowers toward the open wooden box, grasps the long yellow bread inside it, lifts the bread and moves it left, then releases the bread onto the brown table surface left of the open box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 740, "tasks": ["place food"], "length": 107, "global_instruction": "Move the yellow elongated bread to a new position closer to the orange plush toy on the table.", "scene_description": "A brown wooden table holds a yellow elongated bread, an orange plush toy, a green cloth, and a white box with a red front panel and top slot, with a gray office chair to the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow bread on the brown table, grasps the bread, lifts it, shifts it closer to the orange plush toy, then lowers and releases the bread onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 741, "tasks": ["place food"], "length": 151, "global_instruction": "Pick up the yellow bread on the brown table and place it next to the folded green cloth.", "scene_description": "A brown wooden table in an office workspace holds a folded green cloth, a white box with a red drawer and top slot, and a yellow long bread, with office chairs and other work desks in the background.", "global_instruction_dense": "Right robotic gripper moves toward the yellow long bread on the right side of the brown table, grasps it, lifts it, moves it to the area next to the folded green cloth, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 742, "tasks": ["place food"], "length": 155, "global_instruction": "Place the long yellow bread into the open red-sided wooden box on the table.", "scene_description": "A brown table holds a folded green cloth, an open red-sided wooden box with orange contents, a closed light-beige slotted wooden box, and a long yellow bread. Office chairs and workshop supplies are visible in the surrounding area.", "global_instruction_dense": "The right robotic arm moves down toward the long yellow bread on the brown table, grasps it with its gripper, lifts and moves it left over the open red-sided wooden box, then releases the bread into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 743, "tasks": ["place food"], "length": 141, "global_instruction": "Place the yellow bread onto the brown tabletop.", "scene_description": "A brown table holds a green cloth, an open red-fronted wooden box with orange contents, and a closed cream slotted wooden box, surrounded by office chairs in a workshop space.", "global_instruction_dense": "The right robotic arm descends into view, grasps the yellow bread, moves it over the brown table, lowers it, and releases it onto the table next to the two wooden boxes.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 744, "tasks": ["place food"], "length": 131, "global_instruction": "Move the yellow bread-like object to the area adjacent to the green cloth on the table.", "scene_description": "A brown wooden table in a lab workspace holds a bright green cloth, a white box with a red drawer, and a yellow elongated bread-like object, with office chairs and workstations in the background.", "global_instruction_dense": "The right robotic gripper moves down to grasp the yellow bread-like object on the right side of the brown table, lifts it, moves it left to the spot next to the green cloth, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 745, "tasks": ["place food"], "length": 140, "global_instruction": "Move the green egg-shaped objects from the right of the table into the open drawer then return them to the table near the green cloth.", "scene_description": "A brown office table sits in a workspace, holding a green cloth, small silver bowl, open red-edged wooden drawer, light yellow slotted wooden box, and two green egg-shaped objects on the table's right side, with office chairs around the table.", "global_instruction_dense": "The left robotic arm lowers to grasp the two green egg-shaped objects on the right of the brown table, lifts and moves them left to place into the open red-edged wooden drawer, then retrieves the objects and places them back on the table near the green cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 746, "tasks": ["place food"], "length": 246, "global_instruction": "Open the wooden box's drawer and place the yellow bread into the drawer.", "scene_description": "A brown table holds a green folded cloth, a blue and white milk carton, a long yellow bread, and a closed beige wooden box with a red drawer and a top slot, in an office workspace.", "global_instruction_dense": "The right robotic arm moves down to the closed beige wooden box with a red front, pulls the drawer open, moves to the long yellow bread on the table, grasps it, lifts it, moves it over the open drawer, and places it inside the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 747, "tasks": ["place food"], "length": 145, "global_instruction": "Pick up the yellow bread roll and place it next to the silver metal bowl on the brown table.", "scene_description": "A brown table holds a silver metal bowl, folded green cloth, small purple cup, red-and-beige wooden box, yellow bread roll, and round silver lid, with an office chair to the left and a white worktable in the background.", "global_instruction_dense": "The left robotic arm lowers toward the yellow bread roll on the brown table, grasps it, lifts it, moves leftward, and places it beside the silver metal bowl on the left side of the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 748, "tasks": ["place food"], "length": 244, "global_instruction": "Open the red drawer of the wooden box and place the yellow bread from the metal bowl onto the table.", "scene_description": "A brown table holds a stainless steel bowl with a yellow bread stick, a folded green cloth, a purple-liquid filled clear cup, a closed wooden box with a red drawer, and a round silver lid, with office furniture and boxes in the background.", "global_instruction_dense": "The left robotic arm moves to the red drawer of the wooden box, pulls the drawer open, then moves to the stainless steel bowl, grasps the yellow bread inside, lifts it, and places it on the brown table next to the green cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 749, "tasks": ["place food"], "length": 1043, "global_instruction": "Place the red bell pepper on the right of the wooden table into the stainless steel pan on the left of the table.", "scene_description": "A wooden table holds a stainless steel pan on its left side, and a red bell pepper and a small red tomato on its right side. A grey office chair is to the left of the table, with items including an orange towel, black coiled cables, and a yellow emergency stop button below the table, and office workspaces in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red bell pepper on the right of the wooden table, adjusts its position to grasp the pepper, lifts the pepper, moves it leftward over the stainless steel pan on the table, and releases the pepper into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 750, "tasks": ["place food"], "length": 876, "global_instruction": "Place the corn tin lid and plush peach into the white bowl, and the pink ball into the corn tin.", "scene_description": "A brown wooden table holds a white bowl with blue handles (containing a yellow cylinder and blue block) at its upper left, a yellow corn tin with a grey lid at its center, and an orange pan holding a pink porous ball and a pink plush peach at its right.", "global_instruction_dense": "The right robotic gripper first moves to the yellow corn tin, grasps its grey lid, moves and drops the lid into the white bowl; next moves to the orange pan, grasps the pink porous ball, moves and drops the ball into the open corn tin; finally grasps the pink plush peach from the orange pan, moves and drops the peach into the white bowl, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 751, "tasks": ["place food"], "length": 914, "global_instruction": "Place the pink peach-shaped toy next to the orange plate into the orange plate.", "scene_description": "A white table holds an orange plate with a green ball, plus a green small toy and a pink peach-shaped toy next to the plate.", "global_instruction_dense": "The left robotic gripper moves toward the pink peach-shaped toy on the white table next to the orange plate, grasps it, lifts it, moves it over the orange plate, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 752, "tasks": ["place food"], "length": 253, "global_instruction": "Place a food slice from the silver pot into the red strainer in the sink.", "scene_description": "A silver metal pot and a light green sphere are on a white cabinet. Below the cabinet, a white counter has a sink with a red mesh strainer, a gray faucet, and a pink tray to the right of the sink.", "global_instruction_dense": "The left robotic arm moves into view above the silver pot, lowers into the pot to grasp a food slice, lifts the slice, moves it over the red strainer, releases the slice into the strainer, then moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 753, "tasks": ["place food"], "length": 245, "global_instruction": "Retrieve the pink peach from the red bowl and place it on the table below the cabinet.", "scene_description": "A red bowl holding a pink peach, yellow, grey and green soft toys rests on a white cabinet atop a lab tabletop. The table also features a silver faucet, orange grid tray, coiled grey cables on a black work platform with orange handles, with office furniture in the background.", "global_instruction_dense": "The right robotic gripper descends toward the pink peach inside the red bowl on the white cabinet, grasps the peach, lifts it out of the bowl, moves it down to the table surface next to the cabinet, and releases the peach onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 754, "tasks": ["place food"], "length": 678, "global_instruction": "Remove the yellow striped bread from the red bowl and place it on the lower table near the pink tray.", "scene_description": "A red bowl holding a yellow striped toy bread rests on a white upper cabinet, the lower white table below has a red grid strainer, pink toy peach, grey miniature faucet and pink tray, with office chairs and desks in the background.", "global_instruction_dense": "The right robotic gripper approaches the yellow striped bread inside the red bowl on the upper cabinet, grasps it, lifts and rotates it repeatedly, then moves it downward and releases it onto the lower white table next to the pink tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 755, "tasks": ["place food"], "length": 214, "global_instruction": "Place the brown plush bread onto the clear plastic storage containers in front of the red block.", "scene_description": "A gray utility cart holds stacked clear plastic storage containers, a small white container with a teal lid, a red block with a round wooden knob, and a brown plush bread behind the red block. A left robotic gripper is at the upper left, with an office workspace (desks, monitors, metal shelves) in the background.", "global_instruction_dense": "Left robotic gripper moves toward the brown plush bread behind the red block, grasps it, lifts it, moves it forward over the clear plastic storage containers, lowers it, releases it onto the containers, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 756, "tasks": ["place food"], "length": 261, "global_instruction": "Place the brown bread plush onto the white teal-rimmed container, then attempt to grasp the yellow round plush.", "scene_description": "An office lab has a grey utility cart with stacked clear plastic storage bins. Atop the bins are a brown bread plush with white markings, a yellow round plush, a red square box, a white teal-rimmed lidded container, and a small yellow round object, with a larger translucent dark-grey-lidded storage bin behind them. A robotic gripper is positioned at the top left initially.", "global_instruction_dense": "The robotic gripper moves downward from the top left, grasps the brown bread plush, lifts it, places it on the white teal-rimmed container, then moves right toward the yellow round plush, briefly attempts to grasp it, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 757, "tasks": ["place food"], "length": 808, "global_instruction": "Place the brown bread and small yellow object onto the red wooden box.", "scene_description": "An office workbench holds brown bread atop a teal-rimmed white container, a red wooden box with a round light brown knob, a small yellow object behind the red box, and a large translucent blue storage bin with a black lid.", "global_instruction_dense": "The robotic gripper enters the workspace, grasps the brown bread from the teal-rimmed white container, moves and releases it onto the red wooden box, then grasps the small yellow object behind the box, moves and releases it onto the red wooden box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 758, "tasks": ["place food"], "length": 285, "global_instruction": "Place the brown bread slice from the white bowl into the blue plastic crate", "scene_description": "A metal wire storage shelf holds a white bowl with a blue rim containing a brown bread slice, an open blue plastic crate to the left of the bowl, a blue bottle, a pink container with small items, a white box, and a brown paper bag on the right. Stacked dark gray and clear plastic storage bins are positioned above the blue crate.", "global_instruction_dense": "The left robotic gripper moves downward toward the white bowl on the shelf, grasps the brown bread slice inside the bowl, lifts it, moves it over the blue plastic crate, releases the bread into the crate, then moves upward away from the crate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 759, "tasks": ["place food"], "length": 390, "global_instruction": "Place a brown food piece from the pink bowl into the white teal-rimmed bowl", "scene_description": "A metal wire shelf holds stacked dark grey and translucent storage bins at the back. To the right of the dark bin is a small blue bin with yellow, orange, and blue balls, next to a white open box holding a blue item. In front are a white bowl with a teal rim, and a pink bowl containing dark brown food pieces and an orange strip, in a lab workspace background.", "global_instruction_dense": "The left robotic arm moves down to the pink bowl, grasps a brown food piece, lifts and moves it over the white teal-rimmed bowl, releases the piece into the bowl, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 760, "tasks": ["place food"], "length": 238, "global_instruction": "Pick the brown loaf of bread from the pink bowl and place it into the blue plastic bin.", "scene_description": "A metal wire shelf holds a large transparent plastic storage bin atop a black plastic storage bin, an open blue plastic bin, an open white cardboard box with a light green lid inside, a blue cleaning bottle with white cap, a white bowl with blue rim containing brown items, a pink shallow bowl holding a long brown loaf of bread, colorful soft objects, a white tag, and a small red object in a lower basket, with a lab/office background of cabinets and equipment.", "global_instruction_dense": "The right robotic arm enters the frame from the upper left, moves downward toward the brown bread in the pink bowl on the right side of the shelf, grasps the bread, lifts it, moves it over the blue plastic bin, releases the bread into the bin, then retracts upward out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 761, "tasks": ["place food"], "length": 167, "global_instruction": "Place the brown food chunk from the small white pot into the sink", "scene_description": "A toy kitchen countertop holds an orange bowl, a small white pot with blue handles containing a brown food chunk, and a stainless steel sink. A toy microwave is mounted on the wooden shelf above the counter, with an open office space in the background.", "global_instruction_dense": "The left robotic arm moves toward the small white pot on the toy kitchen counter, grasps the brown food chunk inside it, lifts the food, moves it over the adjacent sink, and releases the food into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 762, "tasks": ["place food"], "length": 175, "global_instruction": "Pick the orange carrot from the stove burner and place it into the adjacent sink.", "scene_description": "A small kitchen counter setup with a stainless steel sink, two black coil stove burners, an orange carrot in the right burner, a yellow ball and gray-red cap to the right of the sink, and a wooden counter with integrated microwave and dish-filled table in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange carrot in the right stove burner, grasps the carrot, lifts it, moves it over the adjacent sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 763, "tasks": ["place food"], "length": 177, "global_instruction": "Place the yellow lemon on the toy kitchen counter into the sink.", "scene_description": "A toy kitchen playset is in the workspace, with an orange ball inside its sink, a yellow lemon and red scoop on the counter right of the sink, cables and tools on a left workbench, and a robotic gripper above the playset.", "global_instruction_dense": "The right robotic arm moves down toward the yellow lemon on the toy kitchen counter, grasps it, lifts it, moves it left over the sink, and releases it into the sink next to the existing orange ball.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 764, "tasks": ["place food"], "length": 191, "global_instruction": "Pick up the triangular brown food slice from the stovetop and place it on the counter next to the sink.", "scene_description": "A toy kitchen countertop is visible, with a triangular brown food slice on one stovetop burner, a sink containing a red-capped bottle and purple object, a blue cup next to the sink, and a robotic arm positioned above the stovetop.", "global_instruction_dense": "The robotic arm moves toward the triangular brown food slice on the toy stovetop, grasps it, lifts it, moves it over the counter adjacent to the sink, then releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 765, "tasks": ["place food"], "length": 210, "global_instruction": "Pick the yellow plastic fruit from the toy sink and place it on the adjacent countertop.", "scene_description": "A toy kitchen set is visible, with a sink holding orange, red, and yellow plastic fruits, plus red and turquoise small dishes on the counter to the sink's right.", "global_instruction_dense": "The right robotic arm moves toward the toy kitchen sink, grasps the yellow plastic fruit inside the sink, lifts it, moves it to the counter to the right of the sink, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 766, "tasks": ["place food"], "length": 252, "global_instruction": "Pick the red apple from the toy kitchen sink and place it on the counter next to the orange ball.", "scene_description": "A toy kitchen countertop is visible, with a sink holding a yellow lemon and a red apple, an orange ball, red lid, and blue cup positioned to the right of the sink, stove burners to the left of the sink, and a toy microwave mounted above the counter.", "global_instruction_dense": "The left robotic arm lowers into the toy kitchen sink, grasps the red apple, lifts it out of the sink, moves it over the counter beside the orange ball, and releases it onto the counter at that position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 767, "tasks": ["place food"], "length": 159, "global_instruction": "Move the orange cylinder on the table to a position closer to the far stacked block assembly.", "scene_description": "A wooden table holds two stacked colorful block assemblies, an orange cylinder, and a yellow triangular block. A grey office chair and equipment with coiled grey cables are to the left of the table.", "global_instruction_dense": "The right robotic gripper enters the scene from the upper right, moves toward the orange cylinder, grasps it, lifts and moves it to a position closer to the far stacked block assembly, releases it, then exits the scene.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 768, "tasks": ["place food"], "length": 116, "global_instruction": "Move the orange cylinder on the wooden table to a new adjacent position on the same table.", "scene_description": "A wooden table holds a stacked block structure (green top block, blue middle block, green bottom cylinder) on its left side, a small blue triangular block at its center, an orange cylinder on its upper right, and a green curved block on its lower right. An office chair sits to the left of the table, and equipment with coiled grey cables is positioned to the lower left of the table.", "global_instruction_dense": "The right robotic gripper descends toward the orange cylinder on the upper right of the wooden table, grasps the cylinder, shifts it slightly to a new nearby position on the table, then releases the cylinder and lifts away from the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 769, "tasks": ["place food"], "length": 143, "global_instruction": "Move the orange cylinder to the position next to the yellow cylinder on the wooden table.", "scene_description": "A wooden table holds a yellow cylinder, a green semi-cylindrical block, a green rectangular block, a green hexagonal cylinder, an orange cylinder, and a blue rectangular block, with a grey office chair and work equipment to the left of the table.", "global_instruction_dense": "The right robotic gripper enters the scene, moves to and grasps the orange cylinder on the right side of the table, transports it left to the area adjacent to the yellow cylinder, lowers and releases it there, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 770, "tasks": ["place food"], "length": 125, "global_instruction": "Move the white garlic on the wooden cutting board to a different position on the same board.", "scene_description": "A wooden cutting board sits on a countertop, holding a small white garlic object and a small blue object; a sink with a gray faucet is to the right of the board, with office workspace in the background.", "global_instruction_dense": "The left robotic arm descends toward the white garlic on the wooden cutting board, grasps it, moves it to a new position on the cutting board, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 771, "tasks": ["place food"], "length": 122, "global_instruction": "Pick up the orange on the wooden countertop and place it back onto the countertop.", "scene_description": "A round orange fruit and a small white turtle figurine with green spots rest on a light wooden countertop. A grey office chair is to the left of the counter, a sink with a grey faucet is to the counter's right, and an open teal container sits behind the sink area.", "global_instruction_dense": "The left robotic arm moves down toward the orange on the wooden countertop, grasps it, lifts it briefly, then lowers and releases it back onto the countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 772, "tasks": ["place food"], "length": 119, "global_instruction": "Pick up the orange on the wooden tabletop and place it closer to the turtle figurine.", "scene_description": "A small orange, a dark gray plush toy, and a white turtle figurine with a green patterned shell are on a light wooden tabletop. A sink with a gray faucet sits to the right of the table, with blue containers behind the sink.", "global_instruction_dense": "The left robotic arm moves toward the orange on the rear part of the wooden tabletop, grasps it with its gripper, lifts it, moves it forward to the area between the plush toy and turtle figurine, then releases it to place it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 773, "tasks": ["place food"], "length": 139, "global_instruction": "Reposition the orange on the wooden countertop.", "scene_description": "A wooden countertop holds a gray fuzzy plush object, an orange round citrus fruit, and a small white turtle figurine with a dark patterned shell from left to right. A sink with a gray faucet and teal storage containers sits adjacent to the counter in a workshop background.", "global_instruction_dense": "The left robotic arm moves into view above the wooden countertop, lowers toward the orange, grasps the orange, adjusts its grip on the fruit, then releases the orange in a new position on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 774, "tasks": ["place food"], "length": 178, "global_instruction": "Place a dark brown food piece from the white bowl onto the wooden cutting board", "scene_description": "A wooden cutting board with an orange food piece and a small pink food piece, a white bowl with blue rim holding dark brown food pieces, a stainless steel bowl, and a toy sink are arranged on a test kitchen countertop. A gray office chair is to the left of the counter, with office desks in the background.", "global_instruction_dense": "The right robotic arm moves into the scene, lowers into the white and blue rimmed bowl to grasp a dark brown food piece, lifts the piece, moves it over the wooden cutting board, and releases it onto the board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 775, "tasks": ["place food"], "length": 150, "global_instruction": "Move the orange food piece on the cutting board to a new position on the same cutting board.", "scene_description": "An orange food piece and a pink food piece rest on a light brown wooden cutting board. A miniature sink, gas stove, and office workspace are visible in the background with no robotic arm in view.", "global_instruction_dense": "The left robotic arm moves down toward the orange food piece on the cutting board, grasps it, lifts and shifts it to a new position on the board, then releases it and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 776, "tasks": ["place food"], "length": 163, "global_instruction": "Place the orange bell pepper from the cutting board into the white teal-handled pot", "scene_description": "A wooden cutting board on a kitchen counter holds an orange bell pepper and a small pink vegetable, with a white teal-handled pot below the board next to a toy sink and stove.", "global_instruction_dense": "The right robotic arm moves down to the cutting board, grasps the orange bell pepper, lifts and moves it over the white teal-handled pot, then releases the pepper into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 777, "tasks": ["place food"], "length": 274, "global_instruction": "Pick an orange food piece from the bowl and place it on the wooden cutting board.", "scene_description": "A wooden cutting board with a small pink food item sits on a kitchen counter. Below the board is a white bowl with blue trim holding orange food pieces, a small sink with a gray faucet, and a stove area, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward the bowl of orange food, grasps an orange food piece with its gripper, lifts the piece, moves it over the wooden cutting board, lowers it, and releases it onto the cutting board.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 778, "tasks": ["place food"], "length": 132, "global_instruction": "Move the purple fake fruit on the play kitchen counter to an adjacent position on the same counter.", "scene_description": "A play kitchen setup has a wooden counter with three fake fruits (purple, magenta, yellow left to right), a white sink, a gas stove with a stainless steel pot, and a teal storage bin behind the sink.", "global_instruction_dense": "The left robotic arm moves above the purple fake fruit on the play kitchen counter, grasps it, lifts and shifts it slightly rightward, lowers it onto the counter, releases it, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 779, "tasks": ["place food"], "length": 137, "global_instruction": "Relocate the yellow lemon to a different position on the wooden kitchen counter.", "scene_description": "A yellow lemon rests on the left wooden section of a toy kitchen counter. The counter also has a white sink with a purple sponge, golden rings next to the sponge, a gas stove with a stainless steel pot, and two teal storage bins behind the sink and stove.", "global_instruction_dense": "The left robotic arm descends toward the yellow lemon on the wooden kitchen counter, grasps it, shifts it to a new position on the counter, then releases the lemon and retracts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 780, "tasks": ["place food"], "length": 119, "global_instruction": "Reposition the yellow lemon on the left wooden kitchen countertop.", "scene_description": "A toy kitchen setup with a yellow lemon on the left wooden countertop, a purple sponge in the sink, a stainless steel pot on the right stovetop, and two teal storage bins behind the sink.", "global_instruction_dense": "The left robotic arm extends toward the yellow lemon on the left wooden counter, grasps it, shifts it to a new position on the counter, then releases the lemon and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 781, "tasks": ["place food"], "length": 104, "global_instruction": "Place the orange object on the wooden countertop to the left of the turquoise object on the same countertop.", "scene_description": "A wooden countertop holds a yellow spherical object, a turquoise textured object, and an orange small object arranged left to right. A tool workbench is to the left of the counter, and a play kitchen with a faucet, drawer containing a purple ball and gold rings, and a stove with a metal pot is to the right.", "global_instruction_dense": "The left robotic arm moves into view above the wooden counter, descends to grasp the orange object at the right end of the counter, lifts it, moves it left to a position left of the turquoise object, lowers and releases it, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 782, "tasks": ["place food"], "length": 301, "global_instruction": "Place the orange toy carrot into the silver metal pan on the wooden table.", "scene_description": "A silver metal pan and an orange toy carrot are on a brown wooden table, with the pan positioned to the left of the carrot.", "global_instruction_dense": "The right robotic gripper moves into position above the orange toy carrot on the table, grasps the carrot, lifts and moves it over the silver metal pan, releases the carrot into the pan, then moves upward away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 783, "tasks": ["place food"], "length": 389, "global_instruction": "Place the orange carrot on the wooden table into the small stainless steel pan.", "scene_description": "A small stainless steel pan and an orange carrot are placed on a wooden table in an office workspace, with the pan positioned to the left of the carrot.", "global_instruction_dense": "The robotic arm moves into the workspace, approaches the orange carrot on the wooden table, grasps the carrot with its gripper, lifts the carrot, moves it over the small stainless steel pan, lowers the carrot into the pan, and releases the carrot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 784, "tasks": ["place food"], "length": 378, "global_instruction": "Place the orange carrot on the table into the silver metal pan.", "scene_description": "A brown wooden table has a small silver metal pan with a handle on its left side, and an orange carrot on its right side, in an office lab workspace.", "global_instruction_dense": "The right robotic gripper moves toward the orange carrot on the right side of the brown table, grasps and lifts the carrot, moves it left over the silver metal pan, lowers the carrot, releases it into the pan, then moves away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 785, "tasks": ["place food"], "length": 176, "global_instruction": "Place the orange carrot into the silver frying pan on the wooden table.", "scene_description": "A silver metal frying pan and an orange carrot are placed on a brown wooden table, with the pan positioned to the left of the carrot in a lab workspace.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange carrot on the right side of the wooden table, grasps the carrot, lifts it, moves leftward over the silver frying pan, lowers the carrot, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 786, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the yellow bell pepper resting on the orange bowl and place it into the orange bowl.", "scene_description": "A wooden table holds an orange translucent bowl, a yellow bell pepper resting on top of the bowl, a yellow corn-shaped object to the bowl's right, and a silver metal pot at the table's far right, in a lab workspace.", "global_instruction_dense": "The right robotic arm descends toward the yellow bell pepper on the orange bowl, grasps it, lifts it briefly, then lowers it into the orange bowl and releases it before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 787, "tasks": ["place food"], "length": 196, "global_instruction": "Take the yellow corn from the stainless steel pot and place it on the wooden table.", "scene_description": "A brown wooden table holds an orange container with a yellow bell pepper inside, and a stainless steel pot to the right of the container in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pot on the right of the table, lowers into the pot to grasp the yellow corn inside, lifts the corn out of the pot, moves it left over the table, lowers the corn, and releases it onto the table between the orange container and the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 788, "tasks": ["place food"], "length": 106, "global_instruction": "Pick the yellow bell pepper out of the orange container and place it on the adjacent table surface.", "scene_description": "A brown wooden table holds a yellow bell pepper in an orange container, a yellow oblong vegetable, and a stainless steel pot from left to right, with a cardboard panel behind the table in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow bell pepper inside the orange container, grasps it, lifts it out of the container, moves it slightly rightward above the table, lowers it, and releases it onto the table next to the orange container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 789, "tasks": ["place food"], "length": 104, "global_instruction": "Move the yellow corn-shaped object on the table closer to the yellow square cup.", "scene_description": "A brown table in a lab workspace holds a yellow square cup on its left, a yellow corn-shaped object in its middle, an orange round bowl and a silver metal pot on its right.", "global_instruction_dense": "The right robotic arm extends downward toward the yellow corn-shaped object on the middle of the brown table, grasps it with its gripper, lifts it, moves it left toward the yellow square cup, and places it down on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 790, "tasks": ["place food"], "length": 141, "global_instruction": "Place the yellow corn on the table into the silver metal pot.", "scene_description": "A wooden table holds a yellow cubic cup, yellow corn-shaped toy, orange bowl, and silver metal pot from left to right in a lab space.", "global_instruction_dense": "The right robotic arm moves down toward the yellow corn, grasps it, lifts and moves it over the silver metal pot, then releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 791, "tasks": ["place food"], "length": 175, "global_instruction": "Place the yellow bell pepper on the left of the table into the orange bowl.", "scene_description": "A yellow bell pepper, an orange bowl, and a silver metal pot are placed on a brown table in a lab workspace, with the bell pepper leftmost, the bowl in the center, and the pot on the right.", "global_instruction_dense": "The right robotic arm extends toward the yellow bell pepper on the left of the brown table, grasps the pepper, lifts it, moves it rightward over the orange bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 792, "tasks": ["place food"], "length": 136, "global_instruction": "Place the yellow bell pepper from the orange bowl into the silver metal pot.", "scene_description": "A brown wooden table holds a silver metal pot and an orange bowl containing a yellow bell pepper, in a lab workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow bell pepper in the orange bowl, grasps the pepper, lifts it out of the bowl, moves it over the adjacent silver pot, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 793, "tasks": ["place food"], "length": 137, "global_instruction": "Remove the yellow bell pepper from the stainless steel pot and place it on the right side of the wooden table.", "scene_description": "A wooden table holds an orange round container on its left and a stainless steel pot with a yellow bell pepper inside on its right, with a cardboard sheet positioned behind the table in a robotics lab workspace.", "global_instruction_dense": "The right robotic arm moves down toward the yellow bell pepper inside the stainless steel pot, grasps the pepper, lifts it out of the pot, moves it rightward over the table, lowers it onto the right side of the table, releases the pepper, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 794, "tasks": ["place food"], "length": 146, "global_instruction": "Move the yellow bell pepper on the right side of the table to a position closer to the silver pot.", "scene_description": "A brown wooden table in a lab workspace holds a silver metal pot, an orange round container, and a yellow bell pepper arranged left to right on its surface.", "global_instruction_dense": "The right robotic arm moves down to grasp the yellow bell pepper at the right end of the table, lifts it, moves it left across the table, then lowers and releases it on the table near the silver pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 795, "tasks": ["place food"], "length": 203, "global_instruction": "Place the yellow bell pepper into the silver metal pot on the table.", "scene_description": "A wooden table holds a silver metal pot on the left, a yellow bell pepper at the center, a brown bowl with a yellow corn on the right, with a cardboard board behind the items in a lab workspace.", "global_instruction_dense": "The right robotic arm lowers toward the yellow bell pepper on the table, grasps it, lifts it, moves it over the silver pot, lowers it into the pot, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 796, "tasks": ["place food"], "length": 154, "global_instruction": "Take the yellow bell pepper out of the metal pot and place it on the table next to the orange bowl.", "scene_description": "A wooden table holds a silver metal pot with a yellow bell pepper inside on the left, and an orange bowl with a yellow lemon inside to the right of the pot.", "global_instruction_dense": "The right robotic arm moves down toward the silver metal pot, grasps the yellow bell pepper inside the pot, lifts the pepper out of the pot, moves it rightward over the table, lowers it, and releases it onto the table to the left of the orange bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 797, "tasks": ["place food"], "length": 144, "global_instruction": "Take the yellow corn out of the orange container and place it on the wooden table.", "scene_description": "A wooden table holds a stainless steel pot on the left, a yellow bell pepper, an orange container with a yellow corn inside, and a small gray plush toy, with a cardboard panel behind the table in a lab workspace.", "global_instruction_dense": "The right robotic arm moves down from above the table, grasps the yellow corn inside the orange container, lifts it out of the container, moves it to the table surface left of the orange container, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 798, "tasks": ["place food"], "length": 173, "global_instruction": "Pick up the yellow bell pepper and place it into the orange bowl", "scene_description": "A brown wooden table holds a silver metal pot, a yellow bell pepper, an orange bowl, a yellow squash, and a gray plush toy, with a cardboard backdrop behind the table.", "global_instruction_dense": "The right robotic arm descends toward the yellow bell pepper on the table, grasps it with its gripper, lifts it, moves it over the orange bowl, lowers it into the bowl and releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 799, "tasks": ["place food"], "length": 120, "global_instruction": "Remove the yellow bell pepper from the orange bowl and place it on the wooden table.", "scene_description": "A wooden table in a robotics lab holds a silver metal pot on the left, an orange bowl with a yellow bell pepper inside in the center, and a small gray plush object on the right.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow bell pepper in the orange bowl, grasps the pepper, lifts it out of the bowl, moves it left over the table surface, and releases it onto the table between the pot and the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 800, "tasks": ["place food"], "length": 128, "global_instruction": "Place the yellow bell pepper into the orange bowl on the wooden table.", "scene_description": "A wooden table holds a yellow bell pepper at center front, an orange bowl to the pepper's right, a stainless steel pot to the pepper's left, and a grey plush toy at the right edge, with a cardboard panel behind the table.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow bell pepper on the table, grasps it with its gripper, lifts it, moves it right over the orange bowl, lowers it into the bowl, then releases the gripper and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 801, "tasks": ["place food"], "length": 130, "global_instruction": "Take the yellow bell pepper out of the orange bowl and place it on the wooden table.", "scene_description": "A brown wooden table holds a small stainless steel pot, a gray plush toy, an orange bowl with a yellow bell pepper inside, a teal capsule-shaped object, and a green-yellow-white labeled tin can from left to right, with a cardboard board behind the items and a robotic arm above the table.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow bell pepper in the orange bowl, grasps the pepper, lifts it out of the bowl, moves it to a clear spot on the table, lowers it onto the table surface, and releases it before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 802, "tasks": ["place food"], "length": 96, "global_instruction": "Move the yellow bell pepper on the wooden table to the position next to the stainless steel pot.", "scene_description": "A wooden table holds a stainless steel pot, a yellow bell pepper, a brown bowl with a small object inside, a labeled cylindrical can, and a teal cylinder from left to right. A robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow bell pepper, grasps it, lifts and moves it left to the area near the stainless steel pot, releases the pepper onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 803, "tasks": ["place food"], "length": 103, "global_instruction": "Move the yellow bell pepper on the left of the table to a position near the brown basket.", "scene_description": "A brown wooden table holds a yellow bell pepper, silver metal pot, brown basket, white labeled tin can, and teal cylindrical object, with a large cardboard panel behind the table in a lab workspace.", "global_instruction_dense": "The right robotic arm lowers toward the yellow bell pepper on the left of the table, grasps it, lifts it, moves it rightward toward the brown basket, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 804, "tasks": ["place food"], "length": 107, "global_instruction": "Place the yellow bell pepper on the table into the orange bowl.", "scene_description": "A brown wooden table in a lab workspace holds a small stainless steel pot, a teal elongated toy, a yellow bell pepper, an orange bowl, and a labeled paint can from left to right, with filming equipment to the left of the table.", "global_instruction_dense": "The right robotic gripper descends toward the yellow bell pepper on the table, grasps it, lifts it, moves it over the orange bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 805, "tasks": ["place food"], "length": 143, "global_instruction": "Remove the yellow corn from the stainless steel pot and place it on the wooden table", "scene_description": "A wooden table holds a stainless steel pot (left), an orange container with a yellow bell pepper, a teal elongated object, and a yellow-green tin can (right). A cardboard backdrop stands behind the table, with lab equipment and office space in the background, no robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm lowers toward the stainless steel pot on the left of the table, grasps and lifts the pot to access the yellow corn inside, retrieves the yellow corn, places the pot back on the table, then sets the yellow corn on the empty area of the table to the right of the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 806, "tasks": ["place food"], "length": 124, "global_instruction": "Place the yellow bell pepper from the orange bowl onto the wooden table near the stainless steel pot.", "scene_description": "A brown wooden table holds, from left to right, a small stainless steel pot, a yellow corn-shaped toy, an orange bowl containing a yellow bell pepper, a teal elongated toy, and a yellow-green canned good, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the yellow bell pepper in the orange bowl, lifts it out of the bowl, moves left over the table, lowers it to the table between the stainless steel pot and yellow corn toy, releases the pepper, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 807, "tasks": ["place food"], "length": 131, "global_instruction": "Pick the yellow bell pepper and place it into the orange bowl on the table", "scene_description": "A wooden table holds a yellow bell pepper, yellow corn model, teal cylindrical object, orange bowl, green-yellow tin can, and small stainless steel pot. The yellow bell pepper is leftmost on the table.", "global_instruction_dense": "The right robotic gripper moves toward the yellow bell pepper on the left of the table, grasps it, lifts it, moves right over the orange bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 808, "tasks": ["place food"], "length": 93, "global_instruction": "Move the yellow corn from the middle of the wooden table to the left side of the table.", "scene_description": "A wooden table holds a small stainless steel pot at its back left, a yellow corn at the middle left, a teal cucumber at the middle right, a yellow bell pepper in an orange container behind the cucumber, and a yellow-green canned good at the far right, with a cardboard partition behind the table.", "global_instruction_dense": "The right robotic arm descends toward the yellow corn on the middle of the wooden table, grasps it with its gripper, lifts it, moves it leftward to the left side of the table near the metal pot, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 809, "tasks": ["place food"], "length": 115, "global_instruction": "Remove the yellow bell pepper from the orange bowl and place it on the wooden table.", "scene_description": "A wooden table in a lab workspace holds a yellow corn, a teal cylindrical object, a stainless steel pot, an orange bowl containing a yellow bell pepper, and a yellow-green printed metal can.", "global_instruction_dense": "The right robotic arm moves toward the orange bowl on the table, grasps the yellow bell pepper inside the bowl, lifts the pepper, moves it leftward to a spot on the table between the teal cylinder and the stainless steel pot, lowers the pepper, releases it onto the table, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 810, "tasks": ["place food"], "length": 126, "global_instruction": "Pick up the yellow bell pepper and place it onto the orange cup on the table.", "scene_description": "A wooden table has objects arranged left to right: yellow corn toy, teal elongated toy, silver metal pot, orange small cup, yellow-green labeled can, yellow bell pepper toy, gray small plush toy, with lab equipment and two people in the background.", "global_instruction_dense": "The right robotic arm descends toward the yellow bell pepper on the wooden table, grasps it with its gripper, lifts it, moves it over the orange cup, lowers it, releases it onto the orange cup, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 811, "tasks": ["place food"], "length": 120, "global_instruction": "Take the yellow bell pepper out of the orange bowl and place it on the brown wooden table.", "scene_description": "A brown wooden table in a lab workspace holds a teal small object, a stainless steel pot, a green-yellow tin can, an orange bowl with a yellow bell pepper inside, a yellow elongated bar, a small gray plush toy, with a cardboard board behind the table items.", "global_instruction_dense": "The right robotic arm moves down toward the orange bowl on the table, grasps the yellow bell pepper inside the bowl, lifts it, moves it left to an empty spot on the table, lowers it, releases it onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 812, "tasks": ["place food"], "length": 125, "global_instruction": "Place the yellow bell pepper into the orange bowl on the wooden table.", "scene_description": "A wooden table holds a teal small object, a metal pot, a yellow-green tin can, a yellow bell pepper, an orange bowl, a yellow maize-shaped object, and a gray small plush from left to right, with a cardboard board behind the items.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers toward the yellow bell pepper, grasps it with its gripper, lifts it, moves it over the orange bowl, lowers it into the bowl, then releases the pepper and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 813, "tasks": ["place food"], "length": 112, "global_instruction": "Place the yellow lemon-shaped object on the right side of the wooden table next to the gray plush toy.", "scene_description": "A brown wooden table holds a teal small object, silver metal pot, green-yellow tin can, yellow lemon-shaped object, orange container with a yellow bell pepper, and gray plush toy, with a cardboard board behind the items.", "global_instruction_dense": "The right robotic arm descends from above the table, grasps the yellow lemon-shaped object in the middle of the table, lifts it, moves it rightward, and places it next to the gray plush toy on the right side of the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 814, "tasks": ["place food"], "length": 153, "global_instruction": "Take the yellow bell pepper out of the orange bowl and place it on the wooden table.", "scene_description": "A brown wooden table holds an orange bowl with a yellow bell pepper inside, a silver metal pot, a green and yellow tin can, a small teal object, a yellow banana-shaped toy, and a gray plush toy, with a cardboard partition behind the table and lab equipment in the background.", "global_instruction_dense": "The right robotic gripper descends toward the yellow bell pepper inside the orange bowl on the wooden table, grasps the pepper, lifts it out of the bowl, moves it rightward to an empty spot on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 815, "tasks": ["place food"], "length": 146, "global_instruction": "Place the yellow bell pepper into the orange plastic container on the table.", "scene_description": "A brown wooden table in a lab holds a stainless steel pot, a green-and-yellow tin can, an orange plastic container, a yellow bell pepper, a yellow toy banana, and a gray plush toy, with a cardboard panel behind the table.", "global_instruction_dense": "The right robotic arm lowers toward the table, grasps the yellow bell pepper, lifts it, moves it over the orange plastic container, lowers it into the container, and releases the pepper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 816, "tasks": ["place food"], "length": 130, "global_instruction": "Place the yellow bell pepper from the orange bowl onto the wooden table.", "scene_description": "A wooden table holds a stainless steel pot, a green-yellow labeled tin can, an orange bowl with a yellow bell pepper inside, a pair of gray plush objects, and a yellow oval squash, with a cardboard panel behind the table objects and lab equipment in the background.", "global_instruction_dense": "The right robotic arm moves into view above the table, lowers toward the yellow bell pepper inside the orange bowl, grasps the pepper, lifts it out of the bowl, moves it slightly right, lowers it onto the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 817, "tasks": ["place food"], "length": 128, "global_instruction": "Place the yellow bell pepper into the orange bowl on the wooden table.", "scene_description": "A wooden table in a lab workspace holds a stainless steel pot, a yellow-green tin can, an orange bowl, a yellow bell pepper, and gray plush toys, with a cardboard panel behind the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow bell pepper on the table, grasps the pepper, lifts it, moves it over the orange bowl, lowers the pepper, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 818, "tasks": ["place food"], "length": 127, "global_instruction": "Remove the yellow bell pepper from the orange bowl and place it on the wooden table.", "scene_description": "A brown wooden table holds a green-yellow tin can, an orange bowl with a yellow bell pepper inside, and a gray plush toy to the right of the bowl, with a cardboard board behind the table.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow bell pepper inside the orange bowl on the wooden table, grasps the pepper, lifts it out of the bowl, moves it rightward to an empty spot on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 819, "tasks": ["place food"], "length": 127, "global_instruction": "Place the yellow bell pepper on the wooden table into the orange bowl.", "scene_description": "A wooden tabletop holds a yellow bell pepper, a small gray toy, an orange bowl, and a white can with a green lid. A cardboard board stands behind the table, with lab equipment and office furnishings around the workspace.", "global_instruction_dense": "The right robotic gripper enters the workspace from the upper right, descends to grasp the yellow bell pepper on the table, lifts it, moves it over the orange bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 820, "tasks": ["place food"], "length": 123, "global_instruction": "Remove the yellow bell pepper from the orange bowl and place it on the brown table to the right of the bowl.", "scene_description": "A brown wooden table holds a white tin can with a green lid, a pink plush toy, an orange bowl containing a yellow bell pepper, and a gray plush toy, with a cardboard sheet propped behind the table items.", "global_instruction_dense": "The right robotic gripper lowers toward the orange bowl on the brown table, grasps the yellow bell pepper inside the bowl, lifts the pepper, moves it rightward over the table near the gray plush toy, lowers the pepper, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 821, "tasks": ["place food"], "length": 111, "global_instruction": "Move the yellow bell pepper to a position left of the orange fruit bowl on the table.", "scene_description": "A brown wooden table holds a labeled tin can, an orange fruit bowl, a yellow bell pepper, and a small gray plush toy from left to right, with a cardboard panel behind the table in a lab workspace.", "global_instruction_dense": "The right robotic gripper lowers toward the yellow bell pepper on the right side of the table, grasps it, moves it left to a position between the tin can and orange bowl, releases the pepper, then lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 822, "tasks": ["place food"], "length": 145, "global_instruction": "Take the pink peach from the orange bowl and place it on the table next to the yellow bell pepper.", "scene_description": "A brown wooden table holds a labeled metal can, yellow bell pepper, orange bowl with a pink peach, and gray small plush toy, with a cardboard panel behind the table.", "global_instruction_dense": "The right robotic arm lowers from above the table, grasps the pink peach inside the orange bowl, lifts the peach, moves it leftward, and places it on the table adjacent to the yellow bell pepper before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 823, "tasks": ["place food"], "length": 142, "global_instruction": "Place the yellow bell pepper on the table into the orange bowl.", "scene_description": "A brown wooden table holds a yellow bell pepper, pink peach, green-topped metal can, orange bowl, and gray small plush toy, with a brown cardboard panel behind the table.", "global_instruction_dense": "The right robotic arm lowers toward the yellow bell pepper on the table, grasps it with its gripper, lifts it, moves it above the orange bowl, then lowers and releases the pepper into the bowl before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 824, "tasks": ["place food"], "length": 121, "global_instruction": "Place the yellow bell pepper next to the orange bowl on the table.", "scene_description": "A wooden table holds an orange shallow bowl, a white pot with a blue handle, a yellow bell pepper, a yellow cylinder, a gray cylinder, and a pink octopus plush arranged left to right, with a cardboard box behind the table in an office space.", "global_instruction_dense": "The right robotic arm descends toward the yellow bell pepper on the table, grasps it, lifts it, moves leftward to the area next to the orange bowl, lowers it, and releases it at the target position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 825, "tasks": ["place food"], "length": 137, "global_instruction": "Place the yellow pepper into the orange bowl on the table", "scene_description": "A brown wooden table holds an orange bowl, a yellow pepper behind the bowl, a white pot with blue handles at the center, a yellow cylinder, a gray cylinder, and a pink plush toy on the right, with a cardboard panel behind the objects in an office.", "global_instruction_dense": "The left robotic gripper descends toward the yellow pepper behind the orange bowl, grasps the pepper, lifts it, moves it over the orange bowl, lowers it, and releases it into the bowl before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 826, "tasks": ["place food"], "length": 121, "global_instruction": "Pick a yellow pepper from the orange bowl and place it on the table next to the yellow cylinder.", "scene_description": "A brown wooden table holds an orange bowl with two yellow peppers, a white pot with a blue handle, a yellow cylinder, a gray cylinder, and a pink octopus plush, with a cardboard board behind the items, set in an office space with desks and chairs in the background.", "global_instruction_dense": "The left robotic arm descends toward the orange bowl, grasps a yellow pepper inside the bowl, lifts the pepper, moves it right across the table, and releases it onto the table near the yellow cylinder before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 827, "tasks": ["place food"], "length": 141, "global_instruction": "Pick up the yellow bell pepper and place it into the orange bowl", "scene_description": "A wooden table in an office holds a white pot with teal trim, a yellow cylinder inside the pot, an orange bowl, a pink plush toy, a yellow bell pepper, a yellow corn-shaped toy, and a gray cylinder, with a cardboard sheet behind the table items.", "global_instruction_dense": "The right robotic arm moves down toward the yellow bell pepper on the table, grasps it with the gripper, lifts it, moves left over the orange bowl, lowers it, and releases it into the orange bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 828, "tasks": ["place food"], "length": 129, "global_instruction": "Move the yellow corn from the right side of the table to the left side of the table.", "scene_description": "A wooden office table holds a white bowl with a blue handle at the front center, an orange bowl with a yellow bell pepper inside, a small pink plush toy, a yellow cylinder, a gray cylinder, and a yellow corn model on the far right, with a cardboard partition behind the table and office furniture in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow corn on the right of the wooden table, grasps it, lifts it, moves it left across the table to the area left of the white bowl, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 829, "tasks": ["place food"], "length": 132, "global_instruction": "Pick up the yellow corn on the left of the table and place it on the right side of the table.", "scene_description": "A brown wooden table holds a yellow corn, an orange bowl with a yellow bell pepper inside, a white pot with a teal handle, a small pink plush, a yellow cylinder, and a gray cylinder from left to right. A cardboard partition sits behind the table, with an office environment of chairs and monitors in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow corn on the left side of the table, grasps it with the gripper, lifts it, moves rightward across the table, lowers it, releases it onto the right side of the table, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 830, "tasks": ["place food"], "length": 119, "global_instruction": "Pick up the yellow bell pepper and place it on the table to the right of the white pot.", "scene_description": "A brown wooden office table holds a white pot with blue handles (with a yellow cylinder inside), an orange bowl behind the pot, a yellow bell pepper behind the bowl, a green cucumber-shaped toy left of the pot, a pink rabbit plush right of the pot, a yellow corn toy far right, a gray cylinder behind the plush, and a cardboard sheet at the table's back, with an open office workspace in the background.", "global_instruction_dense": "The left robotic arm moves down toward the yellow bell pepper behind the orange bowl, grasps it with its gripper, lifts it, moves it rightward over the table, lowers it, and releases it onto the table to the right of the white pot near the gray cylinder.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 831, "tasks": ["place food"], "length": 148, "global_instruction": "Place the yellow bell pepper on the table into the orange bowl.", "scene_description": "A brown wooden table in an office holds multiple objects: a white pot with teal handles at the front center, an orange bowl to the left behind the pot, a green teardrop object left of the orange bowl, a yellow cylinder right of the orange bowl, a yellow bell pepper right of the yellow cylinder, a gray cylinder right of the yellow bell pepper, a pink rabbit plush toy to the right of the pot, and a yellow banana-shaped object at the right end of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow bell pepper on the table, grasps it with its gripper, lifts it, moves left over the orange bowl, lowers the pepper, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 832, "tasks": ["place food"], "length": 146, "global_instruction": "Place the yellow toy corn next to the purple round toy on the table.", "scene_description": "A brown wooden table in an office holds a purple round toy, orange toy pan with yellow peppers, small teal toy cucumber, white pot with teal handles, and yellow toy corn from left to right, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow toy corn on the right side of the wooden table, grasps it, lifts it, moves it left to the area next to the purple round toy, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 833, "tasks": ["place food"], "length": 151, "global_instruction": "Pick the yellow bell pepper from the orange pan and place it on the right side of the wooden table.", "scene_description": "A brown wooden table holds an orange pan with a yellow bell pepper, a purple round toy, a yellow corn toy, a green cucumber toy, and a white pot with blue handles, in an office environment with desks, chairs and monitors in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the orange pan to grasp the yellow bell pepper inside it, lifts the pepper, moves it rightward over the table, lowers it, and releases it onto the right section of the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 834, "tasks": ["place food"], "length": 148, "global_instruction": "Place the yellow bell pepper into the orange spatula", "scene_description": "A brown wooden table in an office workspace holds toy kitchen items: yellow corn, teal cucumber toy, purple ball, orange spatula with white handle, yellow cylinder, white pot with blue rim, and a yellow bell pepper on the table's right side.", "global_instruction_dense": "The right robotic arm moves toward the yellow bell pepper on the right of the table, grasps it with its gripper, lifts it, moves left over the orange spatula, lowers it, and releases it into the orange spatula.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 835, "tasks": ["place food"], "length": 124, "global_instruction": "Pick up the yellow pepper from the orange pan and place it on the left side of the table.", "scene_description": "A wooden table in an office holds an orange pan with a yellow pepper, a white teal-rimmed pot with a yellow block, a yellow corn, a teal cucumber, a purple plush ball, and a small pink plush toy, with a cardboard panel behind the table.", "global_instruction_dense": "The left robotic arm moves down toward the yellow pepper in the orange pan, grasps the pepper, lifts it out of the pan, moves left, lowers it, and releases it onto the left area of the table next to the yellow corn.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 836, "tasks": ["place food"], "length": 120, "global_instruction": "Place the yellow bell pepper into the orange pan on the table.", "scene_description": "A brown wooden table in an office holds a yellow bell pepper, yellow corn, green cucumber, orange pan, white pot with blue rim, and purple plush ball, with a cardboard panel behind the items.", "global_instruction_dense": "The left robotic gripper moves toward the yellow bell pepper on the left of the table, grasps it, lifts it, moves it over the orange pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 837, "tasks": ["place food"], "length": 138, "global_instruction": "Place the yellow toy corn next to the purple plush ball on the right side of the table.", "scene_description": "A brown wooden table holds a yellow cylinder, yellow toy corn, teal toy cucumber, orange pan with a yellow bell pepper toy inside, white pot with teal trim, and purple plush ball, with a cardboard backdrop in an office workspace.", "global_instruction_dense": "The right robotic arm descends toward the yellow toy corn on the table, grasps it, lifts it, moves right toward the purple plush ball, lowers the corn, and releases it next to the purple ball.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 838, "tasks": ["place food"], "length": 121, "global_instruction": "Pick up the yellow toy corn and place it at a new position on the wooden table.", "scene_description": "A wooden table in an office environment holds, from left to right: a teal toy cucumber, a purple plush ball, an orange bowl with a yellow toy bell pepper inside, a white pot with blue rim holding a yellow cylinder, and a yellow toy corn.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow toy corn to the right of the white pot, grasps it, lifts it, moves it slightly forward and left, then lowers and releases it onto the wooden table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 839, "tasks": ["place food"], "length": 143, "global_instruction": "Pick up the yellow toy corn and place it next to the green toy cucumber on the table.", "scene_description": "A brown wooden table in an office holds an orange pan with a yellow bell pepper inside, a white pot with teal trim holding a yellow cylinder, a green toy cucumber, a yellow toy corn, and a purple fuzzy ball, with a cardboard panel behind the tabletop items.", "global_instruction_dense": "The right robotic gripper moves toward the yellow toy corn on the right side of the table, grasps it, lifts it, moves it leftward to the position next to the green toy cucumber, lowers it, releases it, and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 840, "tasks": ["place food"], "length": 109, "global_instruction": "Pick the yellow bell pepper from the orange pan and place it on the wooden table.", "scene_description": "A brown wooden table holds an orange pan with a yellow bell pepper inside, a white pot with a blue rim containing a yellow cylinder, a yellow corn toy, a green cucumber toy, a purple plush ball, a yellow corn-patterned can, and a small pink toy. A robotic arm is positioned at the top left, with an office environment in the background.", "global_instruction_dense": "The left robotic gripper lowers toward the yellow bell pepper in the orange pan, grasps it, lifts it, moves leftward, places it on the wooden table to the left of the yellow corn toy, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 841, "tasks": ["place food"], "length": 126, "global_instruction": "Move the yellow toy corn to a new position on the wooden tabletop.", "scene_description": "A wooden tabletop in an office holds a yellow bell pepper, orange pan, yellow toy corn, green toy cucumber, white pot with blue trim, pink plush toy, yellow-green can, purple ball, with a cardboard panel behind the items.", "global_instruction_dense": "The left robotic gripper moves toward the yellow toy corn, grasps it, lifts and shifts it rightward, then lowers and releases it onto the tabletop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 842, "tasks": ["place food"], "length": 121, "global_instruction": "Place the yellow bell pepper into the orange pan on the table", "scene_description": "A brown wooden office table holds multiple toy items: a yellow bell pepper, an orange pan, a gray cylinder, a green cucumber, a yellow zucchini, a white pot with blue rim, a purple ball, a yellow patterned can, and a pink plush, spread across the table surface, with an open office space in the background.", "global_instruction_dense": "The left robotic arm approaches the yellow bell pepper on the left side of the table, grasps it, lifts it, moves it above the orange pan, and releases it to drop into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 843, "tasks": ["place food"], "length": 128, "global_instruction": "Pick the yellow bell pepper from the orange bowl and place it on the table.", "scene_description": "A brown wooden table holds a pink plush toy, an orange bowl with a yellow bell pepper inside, a yellow toy zucchini, a white pot with blue rim, a small teal toy, a purple ball, and a yellow-green can, set in an office environment.", "global_instruction_dense": "The left robotic arm moves toward the yellow bell pepper in the orange bowl, grasps it, lifts it, moves it rightward, then releases it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 844, "tasks": ["place food"], "length": 105, "global_instruction": "Place the yellow bell pepper into the orange bowl on the table", "scene_description": "A brown wooden table in an office holds an orange bowl, yellow squash, white pot with blue rim, yellow bell pepper, pink plush rabbit, purple fuzzy ball, and yellow can with green label.", "global_instruction_dense": "The right robotic arm lowers toward the yellow bell pepper on the table, grasps it, lifts it, moves left over the orange bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 845, "tasks": ["place food"], "length": 138, "global_instruction": "Pick the yellow bell pepper from the orange bowl and place it on the wooden desk.", "scene_description": "A brown wooden office desk holds an orange bowl with a yellow bell pepper inside, a white pot with teal handles, a tin can, an orange carrot, a purple plush ball, and a pink rabbit plush arranged left to right, with an open office workspace in the background.", "global_instruction_dense": "The left robotic gripper descends toward the orange bowl on the desk, grasps the yellow bell pepper inside it, lifts the pepper, moves it rightward, then lowers and releases it onto the desk surface between the orange bowl and the tin can.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 846, "tasks": ["place food"], "length": 126, "global_instruction": "Place the yellow bell pepper into the orange bowl on the table.", "scene_description": "A wooden office tabletop holds an orange bowl, yellow bell pepper, labeled tin can, orange carrot, purple soft ball, pink rabbit plush, and a white pot with blue rim arranged from left to right.", "global_instruction_dense": "The left robotic gripper lowers toward the yellow bell pepper on the table, grasps it, lifts and moves it left over the orange bowl, then releases the pepper into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 847, "tasks": ["place food"], "length": 124, "global_instruction": "Pick the yellow bell pepper from the orange pan and place it on the wooden table.", "scene_description": "A wooden office table holds an orange pan with a yellow bell pepper inside, a metal can, a white pot with blue trim, an orange carrot, and a purple ball, with a cardboard barrier behind the items.", "global_instruction_dense": "The left robotic gripper descends toward the orange pan on the table, grasps the yellow bell pepper inside the pan, lifts it out of the pan, moves it to the left of the pan, and lowers it onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 848, "tasks": ["place food"], "length": 151, "global_instruction": "Pick up the orange toy carrot on the wooden table and place it back on the table.", "scene_description": "A wooden table in an office workspace holds a yellow toy bell pepper, an orange toy frying pan, an open metal can, a white pot with a blue rim and yellow top knob, and an orange toy carrot, with a cardboard panel behind the objects.", "global_instruction_dense": "The right robotic arm moves down from above the table toward the orange toy carrot on the right side of the table, grasps the carrot with its gripper, lifts it slightly, lowers it back to the table surface, and releases the carrot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 849, "tasks": ["place food"], "length": 116, "global_instruction": "Place the yellow bell pepper into the orange frying pan", "scene_description": "A brown wooden table holds a yellow bell pepper, orange frying pan, white pot with teal handles, yellow cylinder, labeled tin can, and small orange chili pepper, with a cardboard barrier behind the table objects in an open office. A robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow bell pepper on the left of the table, grasps it, lifts it, moves it rightward over the orange frying pan, lowers it into the pan, then releases the pepper and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 850, "tasks": ["place food"], "length": 122, "global_instruction": "Place the orange carrot on the right side of the table onto the front area of the table.", "scene_description": "A brown wooden table in an office holds an orange bowl with a yellow bell pepper (left), a white pot with blue handles (center), and an orange toy carrot (right).", "global_instruction_dense": "The right robotic gripper descends toward the orange carrot on the right of the white pot, grasps the carrot, lifts it, moves it forward and left to the front area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 851, "tasks": ["place food"], "length": 97, "global_instruction": "Place the orange chili pepper near the orange bowl on the brown table.", "scene_description": "A brown wooden table holds an orange bowl with a yellow bell pepper inside, a white pot with blue handles, and an orange chili pepper on the far right, in an office workspace.", "global_instruction_dense": "The right robotic gripper moves down toward the orange chili pepper on the right side of the table, grasps and lifts it, moves it left toward the orange bowl, then lowers and places it on the table next to the orange bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 852, "tasks": ["place food"], "length": 109, "global_instruction": "Place the orange chili pepper from the table center onto the right side of the table.", "scene_description": "A brown wooden office table holds an orange bowl with a yellow bell pepper inside, an orange chili pepper, and a white pot with teal handles.", "global_instruction_dense": "The right robotic gripper descends to the orange chili pepper on the table center, grasps it, lifts it, moves it rightward to the table's right side, releases it onto the surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 853, "tasks": ["place food"], "length": 99, "global_instruction": "Place the yellow bell pepper from the orange bowl onto the table next to the white pot.", "scene_description": "A brown wooden table in an office holds an orange bowl with a yellow bell pepper inside it, a white pot with blue handles, and an orange carrot to the right of the pot.", "global_instruction_dense": "The left robotic gripper descends toward the yellow bell pepper inside the orange bowl, grasps the pepper, lifts it out of the bowl, moves it rightward to the space beside the white pot, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 854, "tasks": ["place food"], "length": 104, "global_instruction": "Place the yellow bell pepper into the orange frying pan", "scene_description": "An orange frying pan, a white pot with blue handles, a yellow bell pepper, and a yellow cylinder are placed on a brown wooden table in an office workspace.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow bell pepper on the table, grasps it, lifts it, moves it left above the orange frying pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 855, "tasks": ["place food"], "length": 85, "global_instruction": "Move the yellow fake banana to a position closer to the labeled metal can on the table.", "scene_description": "A wooden table holds a yellow cylinder on the left, a yellow fake banana in the middle-left, an orange squishy toy, a purple round squishy toy, and a labeled metal can on the right, with a cardboard sheet behind the objects.", "global_instruction_dense": "The left robotic gripper moves downward toward the yellow fake banana, grasps it, lifts it, moves it rightward toward the metal can, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 856, "tasks": ["place food"], "length": 116, "global_instruction": "Move the orange object on the wooden table to a new position on the same table.", "scene_description": "A small wooden table holds an orange object, a blue cube, and a metal bowl, with a black workbench holding cables and a yellow emergency stop button in the foreground, and office chairs and a larger work station in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange object on the left side of the wooden table, grasps it, lifts it, moves it to the right side of the table near the metal bowl, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 857, "tasks": ["place food"], "length": 129, "global_instruction": "Move the orange bell pepper to a new position next to the blue block on the wooden table.", "scene_description": "A small wooden table in a lab workspace holds a blue cubic block, a metal bowl with a white object inside, an orange bell pepper, and a yellow corn model arranged left to right, with office chairs and lab equipment surrounding it.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper on the right side of the wooden table, grasps and lifts it, moves it left to the area beside the blue block, lowers the pepper, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 858, "tasks": ["place food"], "length": 90, "global_instruction": "Move the orange bell pepper on the wooden table to the left side of the table.", "scene_description": "A brown wooden table holds an orange bell pepper, blue cylindrical block, grey metal bowl, yellow long object, and green long object, with office chairs and equipment workbenches around it.", "global_instruction_dense": "The right robotic gripper descends toward the orange bell pepper, grasps it, lifts it, moves it leftward, lowers it, and places it on the left side of the table before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 859, "tasks": ["place food"], "length": 112, "global_instruction": "Place the yellow corn-shaped toy on the right of the wooden table next to the orange bell pepper.", "scene_description": "A brown wooden table holds an orange bell pepper, a metal bowl, a yellow corn-shaped toy, and a teal small object from left to right, with a cardboard panel behind the table; a workbench with equipment including a yellow emergency stop button is in the foreground, and office chairs are visible in the background.", "global_instruction_dense": "The right robotic gripper moves into the scene, descends to grasp the yellow corn-shaped toy on the right side of the wooden table, lifts it, moves it left to the area beside the orange bell pepper, and releases it to set it down on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 860, "tasks": ["place food"], "length": 86, "global_instruction": "Place the orange pepper on the brown wooden table at the right edge of the table.", "scene_description": "A small brown wooden table holds a silver metal bowl, orange toy pepper, purple plush ball, white salt shaker, and yellow-labeled tin can. A black workbench with cables and a yellow emergency stop button sits below the table, with grey office chairs to the left.", "global_instruction_dense": "The right robotic gripper moves down toward the orange pepper on the brown wooden table, grasps and lifts it, moves it to the right edge of the table, then releases the pepper onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 861, "tasks": ["place food"], "length": 125, "global_instruction": "Place the orange bell pepper on the left section of the wooden table near the silver tin can.", "scene_description": "A wooden table holds a silver tin can, a dark metal bowl, an orange bell pepper, and a purple plush ball, with office chairs and workshop equipment surrounding the workspace.", "global_instruction_dense": "The right robotic arm reaches toward the orange bell pepper on the right side of the wooden table, grasps it with its gripper, lifts it, moves it leftward to the area near the silver tin can, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 862, "tasks": ["place food"], "length": 93, "global_instruction": "Place the orange bell pepper next to the light blue cup on the wooden table", "scene_description": "A small brown wooden table holds a light blue cup, a green cylindrical object, a yellow elongated object, a purple round object, an orange bell pepper, and a small metal bowl, with a cardboard panel behind the table. A black workbench with coiled cables, clamps, and a yellow block with an orange button is in the foreground, and office chairs are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper on the right side of the wooden table, grasps it, lifts it, moves it left to the area beside the light blue cup, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 863, "tasks": ["place food"], "length": 88, "global_instruction": "Pick up the orange bell pepper and place it on the left section of the wooden table", "scene_description": "A brown wooden table holds an orange bell pepper, small green object, white salt shaker, silver metal bowl, yellow oval object, and light blue cup. A black workbench with cables, clamps, and a yellow box with an orange button is in the foreground, with office chairs and lab items in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper on the center left of the wooden table, grasps it, lifts it, moves it leftward, places it on the left edge of the wooden table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 864, "tasks": ["place food"], "length": 139, "global_instruction": "Place the red bell pepper into the white pot with blue handles on the brown table.", "scene_description": "A brown table holds a white pot with blue handles, a red bell pepper, a light blue cup, a yellow object behind the cup, and a folded orange cloth. A cardboard sheet stands behind the table, a gray office chair is to the left of the table, and a lower black workbench with assorted tools and objects sits in the foreground.", "global_instruction_dense": "The robotic gripper descends toward the red bell pepper on the brown table, grasps it, lifts it, moves it over the adjacent white pot with blue handles, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 865, "tasks": ["place food"], "length": 136, "global_instruction": "Remove the orange bell pepper from the white pot and place it on the brown table surface.", "scene_description": "A brown wooden table holds a white pot with blue handles containing an orange bell pepper, a turquoise cup, a yellow banana-shaped object, and a folded orange cloth. A black workbench with tools, cables, a purple ball, and other items sits below the table, with a grey office chair and camera equipment to the left.", "global_instruction_dense": "The right robotic gripper moves toward the white pot on the brown table, descends to grasp the orange bell pepper inside the pot, lifts the pepper out of the pot, moves it to an empty spot on the brown table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 866, "tasks": ["place food"], "length": 121, "global_instruction": "Place the red bell pepper into the white pot with blue trim on the wooden table.", "scene_description": "A brown wooden table holds a white pot with blue trim/handles, a light blue cup, a yellow lemon-shaped object, a red bell pepper, and a folded orange cloth, with a cardboard sheet behind the items; a tool bench with cables, a purple ball and other supplies sits below the table, with office furniture in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red bell pepper on the wooden table, grasps it, lifts it, moves it over the white pot with blue trim, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 867, "tasks": ["place food"], "length": 133, "global_instruction": "Place the orange bell pepper into the white bowl with blue handles on the wooden table.", "scene_description": "A small brown wooden table holds a white bowl with blue handles, an orange bell pepper, and a light blue cup. A robotic arm is positioned above the table, and a workbench with assorted tools, a purple ball, and coiled cables sits below the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper on the wooden table, grasps it, lifts it, moves it over the white bowl with blue handles, and releases the pepper into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 868, "tasks": ["place food"], "length": 97, "global_instruction": "Move the orange pepper to a different position on the brown wooden table.", "scene_description": "A small brown wooden table holds an orange pepper, a small white bottle, and a white bowl with blue rim containing a light blue cup, positioned in front of a cardboard partition. A lower workbench in the foreground holds an orange towel, tools, and small toys including a yellow corn piece, purple knob, and yellow block with an orange button, with office furniture and supplies visible in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the orange pepper on the brown table, grasps it, moves it rightward across the table surface, and releases it at the new position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 869, "tasks": ["place food"], "length": 94, "global_instruction": "Place the red bell pepper on the wooden table to the position beside the white bowl.", "scene_description": "A brown wooden table holds an orange folded cloth, yellow-green tin can, turquoise plastic cup, red bell pepper, small white bottle, and white bowl with turquoise trim. A lower work surface below the table has an orange towel, grey tin can, yellow corn-shaped object, tools, black cables, and a yellow emergency stop with a red button, with a grey office chair to the left of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the red bell pepper on the wooden table, grasps it, lifts it, moves it rightward to the area adjacent to the white bowl, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 870, "tasks": ["place food"], "length": 108, "global_instruction": "Move the red pepper on the right of the wooden table to a position next to the teal curved object on the table.", "scene_description": "A brown wooden table holds an orange folded cloth on its left, a small white paint can, a teal curved object, a blue-rimmed white bowl with a light blue cup inside, and a red pepper on its right. A grey office chair sits to the left of the table, a black workbench below holds an orange towel, silver can, yellow corn-shaped object, clamps, cables, and a yellow emergency stop box with an orange button, with a cardboard sheet behind the table in a workshop space.", "global_instruction_dense": "The right robotic arm moves down toward the red pepper on the right of the wooden table, grasps it with the gripper, lifts it, moves it left to the area next to the teal curved object, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 871, "tasks": ["place food"], "length": 108, "global_instruction": "Grasp the upside-down orange bell pepper on the wooden table, reorient it upright, and place it back on the table.", "scene_description": "A wooden table holds a folded orange cloth on its left, a small upside-down orange bell pepper, and a white blue-rimmed bowl with a light blue cup inside on its right. A right Robotiq robotic gripper is positioned above the right side of the table, with a lower workbench holding an orange towel, yellow corn model, metal can, cables, and a yellow emergency stop button below the table, plus a gray office chair to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the upside-down orange bell pepper on the right side of the wooden table, grasps it, lifts and rotates it to orient it upright, then lowers and places the upright bell pepper back onto the wooden table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 872, "tasks": ["place food"], "length": 135, "global_instruction": "Place the red bell pepper on the brown table into the white pot with blue handles.", "scene_description": "A small brown table holds an orange folded cloth, red bell pepper, white pot with blue handles, light blue cup, and small metal can. A lower workbench to the table's left holds an orange towel, yellow toy corn, grey metal can, coiled black cable, and yellow emergency stop with an orange button. A grey office chair sits to the left of the workbench, with workshop equipment visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red bell pepper on the small brown table, grasps it, lifts it, moves it over the white pot with blue handles, and releases the pepper into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 873, "tasks": ["place food"], "length": 125, "global_instruction": "Place the orange bell pepper from the white bowl onto the wooden table next to the bowl.", "scene_description": "A brown wooden table holds a yellow oblong toy vegetable, a folded orange cloth, a yellow-green tin can, and a white bowl with blue handles containing an orange bell pepper, with a robotic gripper above the table.", "global_instruction_dense": "The right robotic gripper descends toward the orange bell pepper in the white bowl, grasps the pepper, lifts it out of the bowl, moves it to the empty table space beside the bowl, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 874, "tasks": ["place food"], "length": 124, "global_instruction": "Place the orange bell pepper on the brown table into the silver frying pan on the same table.", "scene_description": "A brown table holds an orange folded cloth, an orange bell pepper, a red round tomato, a silver frying pan, and a small orange round container. A gray office chair is to the left of the table, with tools, an orange towel, cables, and a yellow block on a lower foreground work surface, and additional work desks in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange bell pepper on the brown table, grasps it, lifts it, moves it rightward over the silver frying pan, lowers it, and releases it into the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 875, "tasks": ["place food"], "length": 113, "global_instruction": "Move the orange bell pepper from the silver pan onto the brown table surface.", "scene_description": "A brown work table holds an orange folded cloth, a red tomato, a small brown dish, and a silver pan with an orange bell pepper inside it. A grey office chair is to the left of the table, and other workbenches are in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange bell pepper in the silver pan on the table, grasps the pepper, lifts it out of the pan, moves it left over the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 876, "tasks": ["place food"], "length": 144, "global_instruction": "Place the red tomato on the brown work table into the stainless steel frying pan.", "scene_description": "A brown work table holds a folded orange cloth, an orange bell pepper, a red tomato, and a stainless steel frying pan. The surrounding area has a grey office chair, other work tables with supplies, and foreground equipment including an orange towel, coiled black cables, and a yellow toolbox with an orange lid.", "global_instruction_dense": "The right robotic gripper moves toward the red tomato on the brown work table, grasps the tomato, lifts it, moves it over the stainless steel frying pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 877, "tasks": ["place food"], "length": 119, "global_instruction": "Take the red tomato from the silver pan and place it on the brown table next to the orange bell pepper.", "scene_description": "A brown table holds an orange folded cloth, an orange bell pepper, and a silver pan with a small red tomato inside it. A grey office chair is to the left of the table, a black workbench with cables, an orange towel, and a yellow block with an orange lid is in the foreground, and a cluttered white desk is in the background.", "global_instruction_dense": "The right robotic arm moves into the frame, lowers toward the silver pan on the brown table, grasps the red tomato inside the pan, lifts it, moves it to the empty area of the table next to the orange bell pepper, lowers the tomato, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 878, "tasks": ["place food"], "length": 120, "global_instruction": "Move the orange bell pepper on the brown table to a new position on the same table.", "scene_description": "A brown table holds an orange folded cloth on its left, an orange bell pepper at its center, a red tomato to the right of the pepper, and a silver frying pan on its right. A grey office chair is positioned left of the table, with tools and cables on a foreground work surface and more worktables in the background.", "global_instruction_dense": "The right robotic arm lowers toward the orange bell pepper on the brown table, grasps it with its gripper, lifts it, moves it a short distance rightward, lowers it, and releases it back onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 879, "tasks": ["place food"], "length": 150, "global_instruction": "Place the orange bell pepper on the brown table into the silver frying pan.", "scene_description": "A brown table holds an orange cloth on its left, an orange bell pepper, a red tomato, a small red container, and a silver frying pan on its right. The foreground has equipment with orange cloths, coiled cables, and a yellow box with an orange cap, with office chairs in the background.", "global_instruction_dense": "The left robotic arm moves down toward the orange bell pepper on the brown table, grasps it with its gripper, lifts it, moves it over the silver frying pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 880, "tasks": ["place food"], "length": 116, "global_instruction": "Move the orange bell pepper from the silver pan to the empty spot on the brown table.", "scene_description": "A brown work table in the foreground holds an orange cloth on its left, a small red round fruit, a small dark dish, and a silver pan with an orange bell pepper inside, with office chairs and other work tables in the background workspace.", "global_instruction_dense": "The right robotic arm moves toward the orange bell pepper in the silver pan on the brown table, grasps the pepper, lifts it out of the pan, moves it left to an empty area of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 881, "tasks": ["place food"], "length": 164, "global_instruction": "Place the red tomato on the brown table into the silver metal pan.", "scene_description": "A brown table in a lab workshop holds an orange folded cloth, an orange bell pepper, a red tomato, a small multicolored round object, and a silver metal pan, with office chairs and other worktables in the background.", "global_instruction_dense": "The right robotic arm moves toward the red tomato on the brown table, grasps it with its gripper, lifts the tomato, moves it over the silver metal pan, and releases the tomato into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 882, "tasks": ["place food"], "length": 118, "global_instruction": "Place the red tomato on the brown table into the silver shallow pan", "scene_description": "A brown table holds an orange folded cloth, a red tomato, a silver shallow pan, and a small orange dish. A grey office chair is left of the table, with work tools and orange fabric in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the red tomato on the brown table, grasps it, lifts it, moves it over the silver shallow pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 883, "tasks": ["place food"], "length": 131, "global_instruction": "Move the small round orange object on the right of the brown table to the left near the folded orange cloth.", "scene_description": "A brown worktable holds a silver frying pan with a red ball inside, a folded orange cloth at its far end, and a small round orange object to the right of the pan. A grey office chair is left of the table, and a lower workbench with an orange towel, black coiled cables, and a yellow push button device is in the foreground.", "global_instruction_dense": "The right robotic arm moves downward toward the small round orange object on the right side of the brown table, grasps it with its gripper, lifts it, moves it leftward to the area near the folded orange cloth, lowers it, and releases it at the target position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 884, "tasks": ["place food"], "length": 133, "global_instruction": "Pick the red apple from the silver frying pan and place it on the brown table surface.", "scene_description": "A brown table holds a folded orange cloth at its rear edge, a small round reddish object, a silver frying pan containing a red apple, and a red bell pepper at its right edge. A grey office chair is positioned to the left of the table, work desks are visible in the background, and tools, orange cloths, and cables rest on the foreground work surface.", "global_instruction_dense": "The right robotic arm moves down toward the silver frying pan on the brown table, grasps the red apple inside the pan, lifts the apple, moves it toward the upper right area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 885, "tasks": ["place food"], "length": 120, "global_instruction": "Place the orange bell pepper on the brown table into the silver frying pan", "scene_description": "A brown central table holds a silver frying pan, an orange bell pepper, a small red round object, a small reddish-brown round object, and a folded orange cloth. A gray office chair is left of the table, and a foreground workbench holds an orange towel, coiled black cables, and a yellow control box with an orange knob.", "global_instruction_dense": "The right robotic gripper enters from the upper right, moves down to grasp the orange bell pepper on the right of the brown table, lifts it, moves left over the silver frying pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 886, "tasks": ["place food"], "length": 115, "global_instruction": "Pick the orange bell pepper from the silver pan and place it on the brown tabletop.", "scene_description": "A brown table holds a green small cylinder, orange folded cloth, small brown round object, red ball, yellow cube, and a silver pan with an orange bell pepper inside; a gray office chair is to the left of the table, while tools, orange towels, cables, and a yellow fixture with an orange knob sit on a foreground work surface.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper in the silver pan on the brown table, grasps and lifts the pepper out of the pan, moves it over the empty spot on the table next to the small brown round object, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 887, "tasks": ["place food"], "length": 123, "global_instruction": "Place the orange bell pepper from the silver pan onto the wooden table next to the green cylinder.", "scene_description": "A brown wooden table holds an orange folded cloth, a small brown round container, a green cylindrical block, a tall orange bottle, and a silver pan with a short orange bell pepper-shaped object inside. A lower workbench with coiled cables, a colorful printed cube, and a yellow block with an orange cap sits below the table, in a lab workspace with boxes and office furniture in the background.", "global_instruction_dense": "The right robotic arm enters the scene, moves down toward the silver pan on the brown table, grasps the orange bell pepper inside the pan, lifts it, moves it leftward, and places it on the table surface near the green cylindrical block before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 888, "tasks": ["place food"], "length": 91, "global_instruction": "Place the orange bell pepper toy into the silver frying pan on the brown table.", "scene_description": "A brown tabletop holds an orange folded cloth, a green cylindrical block, an orange squeeze bottle, a silver frying pan, and an orange bell pepper toy, set in a lab workspace with a robotic arm nearby.", "global_instruction_dense": "The right robotic arm moves toward the orange bell pepper toy on the brown table, grasps it, lifts and moves it over the adjacent silver frying pan, then releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 889, "tasks": ["place food"], "length": 112, "global_instruction": "Remove the orange bell pepper from the silver frying pan and place it on the brown table.", "scene_description": "A brown wooden table holds an orange folded cloth, a green cylinder, a tall red bottle, and a silver frying pan with an orange bell pepper inside it, in a workshop space.", "global_instruction_dense": "The right robotic arm moves toward the silver frying pan on the brown table, grasps the orange bell pepper inside the pan, lifts it, places it on the table surface next to the red bottle, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 890, "tasks": ["place food"], "length": 120, "global_instruction": "Move the pale yellow bread-shaped toy to the right edge of the brown table.", "scene_description": "A brown tabletop holds a green cucumber-shaped toy, a small turquoise toy, a pale yellow bread-shaped toy, and a red funnel bowl arranged left to right, with a robotic workbench holding tools below the table.", "global_instruction_dense": "The right robotic arm moves into view above the brown table, lowers to grasp the pale yellow bread-shaped toy, carries it rightward to the table's right edge, then releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 891, "tasks": ["place food"], "length": 133, "global_instruction": "Place the light yellow bread-shaped object on the right of the table next to the gray cylinder.", "scene_description": "A brown wooden table holds a turquoise grape-shaped toy, a gray cylinder, a red squeeze bottle, a red bowl with a green object inside, and a light yellow bread-shaped object on the table's right side, with workshop equipment in the surrounding area.", "global_instruction_dense": "The right robotic gripper moves toward the light yellow bread on the right of the wooden table, grasps it, lifts and moves it left to the position next to the gray cylinder, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 892, "tasks": ["place food"], "length": 121, "global_instruction": "Place the green egg-shaped object into the red bowl on the brown table.", "scene_description": "A brown table holds a yellow elongated object, an orange squeeze bottle, a green egg-shaped object, and a red bowl. A lower work surface holds a colorful printed cube, black coiled cables, and a yellow block with an orange button.", "global_instruction_dense": "The right robotic gripper moves toward the green egg-shaped object on the brown table, grasps it, lifts it, moves it over the red bowl, lowers it, and releases it into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 893, "tasks": ["place food"], "length": 100, "global_instruction": "Pick up the green egg-shaped object on the brown table and reposition it closer to the yellow elongated object.", "scene_description": "A brown table has a yellow elongated object, a green egg-shaped object, a yellow cubic block, and a red bowl arranged on its surface from left to right.", "global_instruction_dense": "The left robotic gripper moves down toward the green egg-shaped object on the brown table, grasps it, lifts it, moves it slightly leftward, then lowers and releases it on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 894, "tasks": ["place food"], "length": 151, "global_instruction": "Place the green egg on the brown table into the red bowl.", "scene_description": "A brown table holds a yellow elongated object, a green egg, a yellow cube, and a red bowl, with the red bowl on the right side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the green egg on the table, grasps and lifts it, moves it right over the red bowl, then releases it into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 895, "tasks": ["place food"], "length": 134, "global_instruction": "Pick up the pink peach on the brown table and place it on the front edge of the table.", "scene_description": "A brown wooden table holds an orange folded towel on its left side, an orange plastic scoop with a yellow-green cylindrical block inside, a pink peach, and an orange tin can with a silver lid on its right side, with a tool-equipped black workbench in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the pink peach on the brown table, grasps it, lifts it, moves it to the front right edge of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 896, "tasks": ["place food"], "length": 113, "global_instruction": "Move the pink toy peach from the right edge of the table to the left side of the table near the orange towel.", "scene_description": "A brown wooden table holds an orange folded towel on its left, an orange toy pan with a yellow cylinder inside at its center, and a pink toy peach at its right edge, with a cardboard panel propped behind the table and a tool workbench in the foreground.", "global_instruction_dense": "The right robotic arm moves down toward the pink toy peach at the right edge of the brown table, grasps it, lifts it, moves it left across the table to the area near the orange towel, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 897, "tasks": ["place food"], "length": 118, "global_instruction": "Reposition the purple egg-shaped object on the wooden table to a position closer to the yellow cylinder.", "scene_description": "A brown wooden table holds, from left to right: a yellow elongated object, a blue cubic block, an orange-patterned metal can, an orange pan with a white handle, a purple egg-shaped object, and a yellow cylinder. A black work surface with an orange plush item and tools is in the foreground, no robot arm is visible above the table initially.", "global_instruction_dense": "The right robotic gripper descends from the upper right, grasps the purple egg-shaped object on the wooden table, lifts it, moves it rightward to a spot near the yellow cylinder, then lowers and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 898, "tasks": ["place food"], "length": 128, "global_instruction": "Pick up the yellow lemon on the left of the table and place it closer to the yellow cylinder", "scene_description": "A brown wooden table holds an orange bowl with a blue cube, an orange-handled can, a yellow oval lemon, a pink plush object, a purple eggplant toy, and a yellow cylinder. A foreground workspace has an orange plush toy and tools.", "global_instruction_dense": "The right robotic arm moves above the table, lowers to grasp the yellow lemon, lifts and moves it rightward, lowers to release it near the yellow cylinder, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 899, "tasks": ["place food"], "length": 89, "global_instruction": "Grasp the orange bell pepper on the brown table and reposition it closer to the silver metal bowl.", "scene_description": "A brown table holds a silver metal bowl on its left, two red bell peppers, a yellow cube, and a purple eggplant on its surface, with a tool workbench holding cables and an orange emergency stop button below the table.", "global_instruction_dense": "The right robotic arm descends toward the orange bell pepper on the brown table, grasps it with its gripper, lifts it, moves it left toward the silver bowl, then lowers and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 900, "tasks": ["place food"], "length": 118, "global_instruction": "Place the orange bell pepper on the table into the silver metal bowl", "scene_description": "A silver metal bowl, an orange bell pepper, a red strawberry, a yellow cube, and a purple eggplant are placed on a brown wooden table. The bowl is at the left of the table, the orange pepper is right of the bowl, the strawberry is right of the pepper, the yellow cube is at upper right, and the purple eggplant is at lower right of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange bell pepper on the brown table, grasps the pepper, lifts it, moves left over the silver metal bowl, lowers the pepper, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 901, "tasks": ["place food"], "length": 100, "global_instruction": "Reposition the red strawberry toy on the brown table to another spot on the same table.", "scene_description": "A brown wooden table holds a metal bowl with an orange block inside, a red strawberry-shaped toy with green leaves, a yellow rectangular block, and a purple eggplant-shaped toy, with a tool workbench below the table in a workshop space.", "global_instruction_dense": "The right robotic arm moves down toward the red strawberry toy on the brown table, grasps it with its gripper, lifts it briefly, then lowers it and places it back onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 902, "tasks": ["place food"], "length": 123, "global_instruction": "Take the orange bell pepper out of the silver bowl and place it on the brown table.", "scene_description": "A brown table holds a silver metal bowl with an orange bell pepper inside, a red strawberry-shaped toy, a yellow cubic block, and a purple eggplant-shaped toy, with the bowl on the left side of the table.", "global_instruction_dense": "The right robotic gripper moves toward the silver bowl on the left of the brown table, grasps the orange bell pepper inside the bowl, lifts it, moves it rightward to an empty spot on the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 903, "tasks": ["place food"], "length": 108, "global_instruction": "Place the red strawberry with green leaves into the silver metal bowl.", "scene_description": "A silver metal bowl, an orange bell pepper, a yellow cube, a purple eggplant, and a red strawberry with green leaves are placed on a brown table. The bowl is on the left side of the table, and other objects are to its right.", "global_instruction_dense": "The right robotic arm moves toward the red strawberry on the brown table, grasps it with the gripper, lifts it, moves left over the silver metal bowl, and releases the strawberry into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 904, "tasks": ["place food"], "length": 140, "global_instruction": "Take the red strawberry out of the stainless steel bowl and place it on the brown table.", "scene_description": "A brown wooden table holds a stainless steel bowl with a red strawberry inside on its left side, and to the right of the bowl are an orange bell pepper model, purple eggplant model, gray cylinder, and yellow rectangular block. A workbench with cables and control components is in the foreground, with a static robotic arm on the left of the frame.", "global_instruction_dense": "The right robotic gripper moves downward toward the stainless steel bowl on the brown table, grasps the red strawberry inside the bowl, lifts the strawberry out of the bowl, moves it rightward, and places it on the brown table surface next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 905, "tasks": ["place food"], "length": 95, "global_instruction": "Move the red strawberry toy to a position closer to the left edge of the brown table.", "scene_description": "A brown wooden table holds a red strawberry toy, yellow cube, gray cylinder, and silver metal bowl in a lab workshop environment.", "global_instruction_dense": "The right robotic arm moves down toward the red strawberry toy on the brown table, grasps it, lifts and shifts it leftward to a new position near the table's left edge, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 906, "tasks": ["place food"], "length": 105, "global_instruction": "Move the red strawberry toy from the left of the table to a position near the metal bowl.", "scene_description": "A brown wooden table holds a red strawberry-shaped toy with a green base on its left, and a silver metal bowl with a yellow cube inside on its right, in a lab workspace.", "global_instruction_dense": "The right robotic arm descends to the left side of the table, grasps the red strawberry toy, lifts it, moves it rightward toward the metal bowl, then lowers and releases the toy onto the table next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 907, "tasks": ["place food"], "length": 117, "global_instruction": "Place the orange bell pepper toy into the stainless steel bowl on the table.", "scene_description": "A brown wooden table holds a silver stainless steel bowl, a yellow cube, a purple toy, a red ball toy with green base, and an orange bell pepper toy. The orange pepper is to the right of the bowl, other objects are to the bowl's left, with office chairs and work equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange bell pepper toy on the right side of the brown table, grasps it with its gripper, lifts it, moves it left above the stainless steel bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 908, "tasks": ["place food"], "length": 111, "global_instruction": "Remove the orange bell pepper from the silver bowl and place it on the brown table.", "scene_description": "A brown table holds a green-based orange toy, yellow cube, purple object, silver metal bowl with an orange bell pepper inside, and gray cylinder arranged left to right, with office chairs and lab equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the silver bowl on the brown table, grasps the orange bell pepper inside the bowl, lifts it, moves it to the empty right area of the table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 909, "tasks": ["place food"], "length": 113, "global_instruction": "Place the orange bell pepper to the left side of the yellow cubic block on the table.", "scene_description": "A brown table holds a yellow cubic block, a red strawberry with green base, an orange bell pepper, a stainless steel bowl, and a gray cylinder, with an office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper at the right side of the stainless steel bowl, grasps the pepper, lifts and moves it leftward to the area left of the yellow cubic block, lowers it onto the table, then releases the pepper and retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 910, "tasks": ["place food"], "length": 80, "global_instruction": "Pick up the red strawberry on the table and place it beside the red toy pepper.", "scene_description": "A brown wooden table holds a red toy pepper, a yellow cubic block, a red strawberry with green base, and a stainless steel bowl, with a robotic arm above the table in a lab workspace.", "global_instruction_dense": "The right robotic arm moves downward toward the red strawberry on the right side of the table, grasps it, lifts it, moves leftward, and places it next to the red toy pepper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 911, "tasks": ["place food"], "length": 90, "global_instruction": "Move the orange pepper from the left side of the table to a position further right on the table.", "scene_description": "A brown wooden table holds an orange pepper on its left side, a metal bowl with a yellow cube on its right side, and a gray cylinder at its right edge. A workbench with tools, cables and a yellow emergency stop button sits in front of the table, and a gray office chair is to the left of the table.", "global_instruction_dense": "The right robotic arm lowers toward the orange pepper on the left part of the brown table, grasps it with its gripper, lifts and moves it rightward across the table, then releases it to place it on the table before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 912, "tasks": ["place food"], "length": 92, "global_instruction": "Move the orange bell pepper to a new position on the brown tabletop.", "scene_description": "A brown wooden table holds a small gray cylinder, an orange bell pepper, and a metal bowl with a yellow cube inside, arranged left to right. A gray office chair is to the left of the table, and a workbench with cables, tools, and a yellow emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic arm moves down toward the orange bell pepper on the table, grasps it, shifts it slightly toward the front of the table, releases the pepper, and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 913, "tasks": ["place food"], "length": 97, "global_instruction": "Move the orange bell pepper from the center-right of the table to its right edge.", "scene_description": "A brown wooden table holds a yellow cubic block, a gray cylindrical block, an orange bell pepper, and a stainless steel bowl. The yellow block is on the left, gray cylinder in the center, pepper in center-right, and bowl on the right. A workbench with tools is below the table.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper on the table, grasps it, lifts it, moves it to the right side of the table, and releases it to place it on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 914, "tasks": ["place food"], "length": 120, "global_instruction": "Place the orange bell pepper on the right of the brown table into the stainless steel bowl.", "scene_description": "A brown table holds a yellow cube (left), gray cylindrical block (middle left), stainless steel bowl (middle right), and orange bell pepper (right). A workbench with cables and a yellow emergency stop button is in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the orange bell pepper on the right side of the brown table, grasps the pepper, lifts it, moves left to position above the stainless steel bowl, then releases the pepper into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 915, "tasks": ["place food"], "length": 110, "global_instruction": "Place the orange from the metal bowl onto the empty area of the wooden table.", "scene_description": "A brown wooden table in a lab workspace holds a gray cylinder, a yellow cube, and a metal bowl containing an orange fruit.", "global_instruction_dense": "The right robotic gripper moves toward the metal bowl on the wooden table, grasps the orange inside the bowl, lifts the orange, moves it to an empty spot on the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 916, "tasks": ["place food"], "length": 98, "global_instruction": "Place the pale yellow striped fruit into the small silver metal bowl on the wooden table.", "scene_description": "A brown wooden table holds a folded orange cloth on its left, a small silver metal bowl in its center, and a pale yellow fruit with dark stripes on its right. A cardboard panel is propped behind the table, and a black workbench with tools is in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the pale yellow striped fruit on the right of the wooden table, grasps it, lifts it, moves left over the small silver metal bowl, and releases the fruit into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 917, "tasks": ["place food"], "length": 118, "global_instruction": "Place the small orange triangular object on the wooden table into the orange round plate.", "scene_description": "A brown wooden table holds an orange round plate, a small orange triangular object, and a green spherical object, with a cardboard sheet propped behind the table. A black workbench with coiled cables, an orange-capped yellow emergency stop button, and orange-handled clamps sits in the foreground.", "global_instruction_dense": "The right robotic arm moves into view above the wooden table, lowers to grasp the small orange triangular object, lifts it, moves it over the orange round plate, lowers it, and releases it into the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 918, "tasks": ["place food"], "length": 101, "global_instruction": "Place the green egg-shaped object from the right stove burner to the left stove burner of the toy kitchen playset.", "scene_description": "A white toy kitchen playset with a sink and two grey stove burners sits on a tabletop, a green egg-shaped object rests on the right burner, with office chairs and desks in the lab background.", "global_instruction_dense": "The right robotic arm moves into position above the toy kitchen set, lowers toward the green egg on the right burner, grasps the egg, lifts it, moves it left to the left burner, and releases it to place it on the left burner.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 919, "tasks": ["place food"], "length": 104, "global_instruction": "Pick up the brown round fruit and place it next to the red fruit on the toy kitchen counter.", "scene_description": "A white toy kitchen playset sits on a lab floor. On its counter, a brown round fruit is near the sink, a yellow sponge rests on the left burner, a red fruit and green vegetable are on the right burner, with a white toy fridge attached to the left of the playset, and office chairs and tables in the background.", "global_instruction_dense": "The left robotic arm lowers toward the brown round fruit near the toy kitchen sink, grasps the fruit, lifts it, moves it rightward to the area next to the red fruit, and places it down on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 920, "tasks": ["place food"], "length": 95, "global_instruction": "Place the brown apple toy into the toy kitchen sink", "scene_description": "A white toy kitchen counter with an integrated sink holds a brown apple toy, green round toy, yellow cylindrical toy, red heart toy, and small green toy on its surface.", "global_instruction_dense": "The left robotic arm moves toward the brown apple toy on the toy kitchen counter, grasps it with its gripper, lifts the toy, moves it over the sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 921, "tasks": ["place food"], "length": 115, "global_instruction": "Place the pink fruit toy from the right stand next to the green ball on the counter.", "scene_description": "A white toy kitchen counter is visible, with a silver sink on its left, a green ball on the left circular stand, and a pink fruit-shaped toy with green leaves on the right circular stand.", "global_instruction_dense": "The right robotic arm moves into view above the counter, descends to grasp the pink fruit toy on the right stand, lifts it, moves leftward, and places it next to the green ball on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 922, "tasks": ["place food"], "length": 118, "global_instruction": "Place the brown apple from the stove grate into the toy kitchen sink", "scene_description": "A white toy kitchen unit is on a table, with a brown apple on its left stove grate, a green ball on its right stove grate, a pink strawberry next to the right grate, and a sink next to the left grate, with office chairs and tables in the background.", "global_instruction_dense": "The left robotic arm moves toward the brown apple on the left stove grate, grasps it, lifts it, moves it over the adjacent sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 923, "tasks": ["place food"], "length": 110, "global_instruction": "Place the pink strawberry toy and green leaf toy onto the empty right burner of the toy kitchen.", "scene_description": "A white toy kitchen setup sits on a tabletop. The toy kitchen has a sink holding a brown object, a left burner with a green spherical toy, an empty right burner, a pink teardrop-shaped strawberry toy, and a small green leaf toy next to the pink toy at the front counter edge.", "global_instruction_dense": "The right robotic arm enters the frame above the toy kitchen, lowers toward the pink strawberry toy and green leaf toy at the front counter edge, grasps both toys, moves them over the empty right burner, and releases them onto the burner.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 924, "tasks": ["place food"], "length": 119, "global_instruction": "Place the pink strawberry-shaped and green clover-shaped objects onto the right toy kitchen stove burner.", "scene_description": "A white toy kitchen countertop holds a brown spherical object, a green spherical object on the left burner, a pink strawberry-shaped object, and a green clover-shaped object between the two burners, with office furniture in the background lab space.", "global_instruction_dense": "The right robotic arm descends toward the toy kitchen counter, pushes the pink strawberry-shaped and green clover-shaped objects across the counter, places them onto the right stove burner, then lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 925, "tasks": ["place food"], "length": 130, "global_instruction": "Place the light brown bread in the storage bin into the red bowl inside the same bin.", "scene_description": "A translucent white plastic storage bin sits on a metal wire shelf. Inside the bin are a red shallow bowl, a small blue item with a yellow design, and a light brown bread item. The background is an office with working people, grey chairs, a concrete pillar with a red fire extinguisher, and grey lockers to the shelf's right.", "global_instruction_dense": "The left robotic arm moves down toward the light brown bread in the white storage bin, grasps the bread, lifts it, moves it over the red bowl in the bin, and releases the bread into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 926, "tasks": ["place food"], "length": 126, "global_instruction": "Place the light brown bread from the red bowl onto the base of the clear plastic storage bin.", "scene_description": "A clear plastic storage bin rests on a metal wire shelf. Inside the bin are a green ball, a blue box, and a red bowl holding a light brown bread, with a white robotic arm in the left foreground.", "global_instruction_dense": "The right robotic arm moves downward toward the light brown bread inside the red bowl, grasps the bread, lifts it out of the bowl, moves it to an empty spot on the clear storage bin's base, lowers it, and releases it onto the bin base.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 927, "tasks": ["place food"], "length": 112, "global_instruction": "Grasp the light brown bread roll in the plastic bin and move it to a new position inside the bin.", "scene_description": "A clear plastic bin sits on a metal wire shelf, containing a light brown oblong bread roll and a red round container with a blue lid. A robotic gripper is positioned above the bin.", "global_instruction_dense": "The left robotic arm moves its gripper downward toward the light brown bread roll in the clear plastic bin, grasps the bread roll, lifts it, moves it a short distance within the bin, then lowers and releases it onto the bin's surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 928, "tasks": ["place food"], "length": 128, "global_instruction": "Place the brown bread inside the storage bin next to the red plate with the colorful cube.", "scene_description": "A transparent plastic storage bin sits on a metal wire shelf, with a brown bread piece and a colorful cube on a red plate inside the bin, in an office workspace.", "global_instruction_dense": "The left robotic arm moves toward the brown bread inside the storage bin, grasps it, lifts it, moves it rightward to the position next to the red plate holding the colorful cube, and releases the bread there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 929, "tasks": ["place food"], "length": 134, "global_instruction": "Pick brown food pieces from the white bowl and place them on the metal wire shelf.", "scene_description": "A metal wire shelf holds a blue plastic bin, a red-and-white small box atop the bin, a rainbow stacking toy, a white bowl with brown food pieces, a brown paper bag, and a black bag with yellow print, with an office workspace including chairs, desks and a fire extinguisher in the background.", "global_instruction_dense": "The left robotic arm moves toward the white bowl on the metal wire shelf, lowers into the bowl to grasp a brown food piece, lifts the food piece, moves it over the empty area of the wire shelf, and releases the food piece onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 930, "tasks": ["place food"], "length": 120, "global_instruction": "Pick up the light brown peach on the upper wire shelf and place it on the lower section of the shelf near the rainbow stacking toy.", "scene_description": "A silver wire shelf holds a blue plastic tray on its upper left, a light brown peach to the right of the tray, a white bowl with a green item inside on its lower right, and a rainbow stacking toy on its lower shelf, in an office background with chairs and a fire extinguisher.", "global_instruction_dense": "The left robotic arm moves down from the upper left of the view, travels right toward the light brown peach beside the blue tray on the wire shelf, grasps the peach, lifts it, moves left to the lower part of the shelf above the rainbow stacking toy, and places the peach on the lower shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 931, "tasks": ["place food"], "length": 154, "global_instruction": "Pick up the brown bread loaf from the wire shelf and move it to the left side of the shelf.", "scene_description": "A metal wire shelf holds a blue plastic bin, a brown bread loaf, a white bowl with a green item inside, a rainbow stacking toy, and assorted boxes and bags. A robotic arm is partially visible in the left foreground.", "global_instruction_dense": "The left robotic arm moves toward the brown bread loaf on the wire shelf, grasps it with its gripper, lifts it, and moves it leftward above the wire shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 932, "tasks": ["place food"], "length": 134, "global_instruction": "Place the brown peach on the metal wire shelf into the blue plastic bin.", "scene_description": "A metal wire shelf holds a brown peach, a blue plastic bin, and a white bowl with a green ball inside. A robotic arm is positioned above the left of the shelf, open brown boxes and a black M&M branded bag are on the shelf's right side, a small fan sits on a black work surface left of the shelf, and office chairs are visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the brown peach on the metal wire shelf, grasps the peach, lifts it, moves it over the blue plastic bin, releases the peach into the bin, then lowers back toward the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 933, "tasks": ["place food"], "length": 96, "global_instruction": "Place the brown bread onto the metal wire shelf.", "scene_description": "A left robotic gripper holds a brown bread above a metal wire shelf. The shelf holds a green spray bottle, metallic dishes, a blue container, and small tools. A cardboard box with a black yellow-logoed bag sits to the right of the shelf, with office chairs in the background workspace.", "global_instruction_dense": "The left robotic arm holding a brown bread moves downward toward the metal wire shelf, lowers the bread onto the shelf surface, releases its gripper to set the bread in place, then lifts and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 934, "tasks": ["place food"], "length": 93, "global_instruction": "Place the light brown peach from its initial position to a new position on the wire rack.", "scene_description": "A white robotic arm is in the foreground, with a wire metal shelf holding a light brown peach, blue container, colorful stacking toys and small metal items behind it, cardboard boxes and a black bag with yellow markings to the shelf's right, in an office workspace.", "global_instruction_dense": "The left robotic arm moves from its initial position near the camera down toward the light brown peach on the wire rack, grasps the peach, lifts it, moves it horizontally across the rack, and lowers it to place it on a new spot on the wire rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 935, "tasks": ["place food"], "length": 91, "global_instruction": "Move the light brown bread loaf to a new position on the wire shelf", "scene_description": "A metal wire shelf holds a blue plastic bin, a small metal bowl, a white cup with light blue handles, an open brown cardboard box, and a light brown loaf of bread. A white robotic arm is positioned near the bread on the left side of the shelf.", "global_instruction_dense": "The left robotic arm reaches toward the light brown bread loaf on the wire shelf, grasps it, lifts it upward, and moves it horizontally to a new position above the shelf surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 936, "tasks": ["place food"], "length": 112, "global_instruction": "Place the brown bread on the metal shelf into the blue plastic bin", "scene_description": "A blue plastic bin, a brown bread with white spots, a green plush toy, a silver metal lid, and a small turtle plush are placed on a metal wire shelf. A white container holding colorful toy blocks sits under the shelf, with an office workspace with desks, monitors, and chairs in the background.", "global_instruction_dense": "The left robotic arm moves down toward the brown bread on the metal shelf, grasps it, lifts it, moves it over the blue plastic bin, and releases the bread into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 937, "tasks": ["place food"], "length": 113, "global_instruction": "Pick up the light brown bread from the wire shelf and place it near the brown paper bag on the same shelf.", "scene_description": "A blue plastic container, a light brown bread, a small brown object, a silver pot lid, and a brown paper bag are placed on a metal wire shelf. The blue container is on the left end of the shelf, the paper bag is on the far right, and the bread sits left of the silver lid. The background is an office lab area with chairs, monitors, and a wall-mounted fire extinguisher.", "global_instruction_dense": "The right robotic arm descends toward the light brown bread on the wire shelf, grasps it with its gripper, lifts and moves it right to the area near the brown paper bag, then releases the bread onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 938, "tasks": ["place food"], "length": 103, "global_instruction": "Place the light brown peach on the wire rack into the blue rectangular tray.", "scene_description": "A silver wire rack sits on a black workbench. A blue rectangular tray is at the left of the rack, with a light brown peach, light blue cup, silver pot lid, and small green toy on the rack. The background is an office with desks, monitors and chairs.", "global_instruction_dense": "The left robotic gripper moves downward toward the light brown peach on the wire rack, grasps it, lifts it, moves it over the blue tray, and releases it into the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 939, "tasks": ["place food"], "length": 147, "global_instruction": "Pick the brown fruit from the blue tray and place it onto the metal wire shelf.", "scene_description": "A metal wire shelving unit holds a blue plastic tray at its left edge, a light blue plastic cup, a round silver metal lid, a green plush toy, and red storage boxes, with office equipment, chairs, and a fire extinguisher in the background.", "global_instruction_dense": "The left robotic arm lowers to the blue tray on the wire shelf, grasps the brown fruit inside the tray, lifts the fruit out of the tray, moves it rightward over the shelf, and places it on the wire shelf next to the silver lid.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 940, "tasks": ["place food"], "length": 96, "global_instruction": "Place the brown bread on the wire shelf into the small stainless steel bowl.", "scene_description": "A metal wire shelf holds a blue plastic bin on its left, a brown bread, a small stainless steel bowl, a white bowl with a blue rim, and a brown paper bag on its right, with an office space with desks, chairs and monitors in the background.", "global_instruction_dense": "The right robotic arm moves down toward the brown bread on the wire shelf, grasps it with the gripper, lifts it, moves it right over the small stainless steel bowl, then releases the bread into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 941, "tasks": ["place food"], "length": 105, "global_instruction": "Pick up the light brown bread loaf and place it on the right section of the metal wire shelf.", "scene_description": "A metal wire shelf holds a light brown bread loaf, a white pot with blue handles, and small green items. A robotic arm is positioned left of the shelf, with an office workspace (chairs, monitor, red fire extinguisher on a concrete pillar) in the background.", "global_instruction_dense": "The left robotic arm moves toward the light brown bread loaf on the left section of the metal wire shelf, grasps it with its gripper, lifts it, moves it rightward across the shelf, lowers it, and releases it onto the right section of the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 942, "tasks": ["place food"], "length": 121, "global_instruction": "Pick the white garlic bulb from the small metal cup and place it on the metal wire shelf.", "scene_description": "A metal wire shelf holds a light brown baguette, white pot with teal handles, silver pot lid, multicolored bowl, small metal cup with a white garlic bulb, and red plate with a green ball, in a lab space with a concrete pillar and office furniture in the background.", "global_instruction_dense": "The left robotic arm moves down toward the small metal cup holding the white garlic bulb on the shelf, grasps the garlic bulb, lifts it, moves it horizontally across the shelf to an empty spot, lowers it, and releases it onto the wire shelf surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 943, "tasks": ["place food"], "length": 228, "global_instruction": "Pick up the yellow lemon and place it into the stainless steel pot on the left countertop.", "scene_description": "A toy kitchen countertop setup: left side has a stainless steel pot, yellow cube, small green block, orange toy, and yellow spherical lemon; middle has a white sink with a grey faucet, with an open drawer below holding assorted toy foods; right side has a toy stovetop with a white pot with blue handles, with an office in the background.", "global_instruction_dense": "The left robotic arm enters the frame, moves down toward the yellow lemon on the left countertop, grasps it, lifts it, moves it over the stainless steel pot, and releases the lemon into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 944, "tasks": ["place food"], "length": 360, "global_instruction": "Place the orange toy carrot into the toy kitchen sink.", "scene_description": "A toy kitchen setup on a wooden countertop: a stainless steel pot with a yellow cube inside sits on the left counter, a toy sink below holds assorted toy food items, a gray faucet is above the sink, two blue planters with red toy radishes are behind the sink, and a toy gas stove is to the right of the sink.", "global_instruction_dense": "The left robotic arm first grasps and moves the stainless steel pot on the left counter, then grasps the orange toy carrot from the left counter edge, moves it over the toy sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 945, "tasks": ["place food"], "length": 331, "global_instruction": "Pick the yellow lemon from the drawer below the sink and place it into the stainless steel pot on the left counter.", "scene_description": "A wooden toy kitchen countertop has a stainless steel pot on its left, a grey-faucet sink in the center, and a toy gas stove on its right. An open drawer below the sink holds multiple toy kitchen items including a yellow lemon, with an office space and seated person in the background.", "global_instruction_dense": "The right robotic arm moves into view above the sink, lowers toward the open drawer beneath the sink, grasps the yellow lemon inside the drawer, lifts the lemon and moves it left over the stainless steel pot on the counter, releases the lemon into the pot, then lifts away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 946, "tasks": ["place food"], "length": 158, "global_instruction": "Place the yellow lemon on the counter into the stainless steel pot.", "scene_description": "A toy kitchen counter has a stainless steel pot, a yellow lemon, and a small yellow cube on its left section. An open drawer with toy utensils sits below the counter, next to a toy stove to the right, with an office workspace in the background.", "global_instruction_dense": "The left robotic arm moves into the frame above the counter, lowers to grasp the yellow lemon, lifts it, moves it over the stainless steel pot, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 947, "tasks": ["place food"], "length": 165, "global_instruction": "Pick up the yellow lemon on the left counter and place it onto the toy gas stove.", "scene_description": "A toy kitchen setup on a wooden counter: a yellow lemon is on the left counter section, a metal bowl with colorful toys sits beside it, a grey-faucet sink is in the middle, and a two-burner toy gas stove is on the right.", "global_instruction_dense": "The left robotic arm moves toward the yellow lemon on the left toy kitchen counter, grasps it with its gripper, lifts it, moves it rightward over the toy gas stove, lowers it, and releases it onto the left stove burner.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 948, "tasks": ["place food"], "length": 153, "global_instruction": "Place the yellow toy corn on the countertop into the metal pot", "scene_description": "A wooden toy kitchen countertop holds a metal pot left of the sink, a yellow toy corn next to the pot, a sink with assorted small toy foods inside, and a stove with a yellow ball on its left burner, in an office environment.", "global_instruction_dense": "The left robotic gripper moves toward the yellow toy corn on the left countertop, grasps it, lifts it, moves it over the adjacent metal pot, lowers it, and releases the corn into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 949, "tasks": ["place food"], "length": 206, "global_instruction": "Pick up the yellow lemon on the countertop and place it into the metal bowl.", "scene_description": "A wooden toy kitchen countertop holds a yellow lemon, a green ball, a metal bowl, a silver round dish, and a small brown fruit next to a gray toy faucet. An open drawer below the counter contains an orange towel, a yellow fruit, and a green fruit, with a toy gas stove on the right side of the counter. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic arm enters the frame from the upper left, moves toward the yellow lemon on the countertop, grasps the lemon, lifts it, moves it over the adjacent metal bowl, and releases the lemon into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 950, "tasks": ["place food"], "length": 177, "global_instruction": "Place the green fruit on the wooden counter into the nearby clear glass bowl", "scene_description": "A wooden kitchen counter holds a yellow fruit, a green spherical fruit, a clear glass bowl, and a metal bowl, adjacent to a play sink and gas stove. A grey office chair with a brown cardboard box sits to the left of the counter.", "global_instruction_dense": "The left robotic arm moves down into the frame from the top left, approaches the green fruit on the wooden counter, grasps it with its gripper, lifts it, moves it left over the clear glass bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 951, "tasks": ["place food"], "length": 141, "global_instruction": "Pick up the yellow lemon from the countertop and place it into the drawer below.", "scene_description": "A wooden countertop holds a yellow lemon, a green ball in a metal container, and two small metal dishes. An open drawer below the countertop contains colorful toys, a gas stove sits to the right of the countertop, and no robotic arm is visible in the initial frame.", "global_instruction_dense": "The left robotic arm moves from off-screen toward the yellow lemon on the wooden countertop, grasps the lemon with its gripper, lifts the lemon, moves it over the open drawer below the countertop, and releases the lemon into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 952, "tasks": ["place food"], "length": 136, "global_instruction": "Place the small yellow lemon from the left toy counter into the storage bin under the sink.", "scene_description": "A toy kitchen setup is visible: a small yellow lemon, green foam ball, and larger yellow foam ball rest on the left wooden counter section. A white sink with gray faucet sits in the middle, above an open storage bin filled with toy food items. A toy stove with a stainless steel pot sits on the right counter, and an orange towel hangs on a black bar above the sink.", "global_instruction_dense": "The left robotic gripper enters the frame from the left side, moves to grasp the small yellow lemon on the left counter, lifts it, moves it rightward over the open storage bin under the sink, then releases the lemon into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 953, "tasks": ["place food"], "length": 154, "global_instruction": "Pick up the yellow lemon and place it into the stainless steel pot on the toy stove.", "scene_description": "A toy kitchen setup rests on a wooden tabletop: a stainless steel pot sits on the right toy stove, a yellow lemon lies next to an orange cloth near the toy sink, with small toys (green ball, colorful cube, metal bowls) on the left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow lemon next to the orange cloth, grasps it, lifts and moves it right over the stainless steel pot, then releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 954, "tasks": ["place food"], "length": 175, "global_instruction": "Pick the yellow lemon from the stainless steel pot and place it on the counter near the orange cloth.", "scene_description": "A wooden toy kitchen countertop has a stainless steel pot with a yellow lemon inside on its right stove section, a grey-faucet sink in the middle, an orange cloth next to the sink, and small play items (colorful cube, green ball, toy fruits) on the left counter area, with an office chair and lab workspace in the background.", "global_instruction_dense": "The left robotic arm moves toward the stainless steel pot on the right stove area, grasps the yellow lemon inside the pot, lifts the lemon, moves left toward the sink area, and releases it onto the counter near the orange cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 955, "tasks": ["place food"], "length": 209, "global_instruction": "Move the yellow lemon from its dish to a position next to the colorful patterned cube.", "scene_description": "A toy kitchen setup sits on a surface in an office environment. The left side of the toy kitchen counter holds a colorful patterned cube, a yellow lemon resting in a small brown dish, and a metal pot lid. The center has a sink with a grey faucet, an orange cloth, and green and yellow toy balls inside the sink basin. The right side has a toy stove with a metal pot containing pink and purple toy items.", "global_instruction_dense": "The left robotic gripper descends toward the yellow lemon in the small brown dish on the toy kitchen counter, grasps the lemon, lifts it, moves it leftward to the area next to the colorful patterned cube, and releases the lemon onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 956, "tasks": ["place food"], "length": 196, "global_instruction": "Move the orange bell pepper on the left of the brown table to the right side of the table near the banana.", "scene_description": "A brown table holds an orange bell pepper, yellow cube, gray cylinder, blue-and-white milk carton, and yellow banana from left to right. A workbench in the foreground holds miscellaneous equipment including a yellow ball in a metal pan, coiled black cables, and a yellow box with a red button.", "global_instruction_dense": "The right robotic arm moves down toward the orange bell pepper on the left side of the brown table, grasps it, lifts it, moves it rightward to the area near the yellow banana, lowers it onto the table, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 957, "tasks": ["place food"], "length": 165, "global_instruction": "Move the yellow banana on the brown table to a new position near the gray cylinder on the same table.", "scene_description": "A brown table holds a yellow banana, red bell pepper, gray cylinder, small yellow block, and white-blue carton. A black workbench with a yellow ball in a metal bowl, coiled cables, tools, and a yellow emergency stop with a red cap is below the table, with office furniture and boxes in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow banana on the right section of the brown table, grasps it, lifts it, moves it leftward to a position adjacent to the gray cylinder, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 958, "tasks": ["place food"], "length": 132, "global_instruction": "Move the yellow banana on the brown table to a position next to the gray cylinder.", "scene_description": "A brown table holds a yellow banana, gray cylinder, blue-white box, and red pepper. A foreground workbench has tools, a metal bowl with a yellow ball, and other workshop items.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the brown table, grasps it, lifts it, moves it rightward to position it next to the gray cylinder, then releases the banana.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 959, "tasks": ["place food"], "length": 139, "global_instruction": "Move the yellow orange on the lower part of the brown table to the area near the gray cylinder on the same table.", "scene_description": "A brown table holds a white and blue carton, a yellow banana, a yellow round orange, and a small gray cylinder. A workbench below the table holds a purple cone, coiled black cables, a metal bowl with a red bell pepper, an orange wedge, a yellow cube, and a yellow emergency stop with a red button. Office chairs and boxes are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow orange on the lower right of the brown table, grasps it, lifts it, moves it to the area next to the gray cylinder on the upper part of the brown table, releases it, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 960, "tasks": ["place food"], "length": 132, "global_instruction": "Move the yellow orange on the brown table to the left of the blue-and-white carton.", "scene_description": "A brown wooden table holds a blue-and-white carton, yellow round orange, yellow banana, and gray cylinder. A workbench below has a red bell pepper in a metal bowl, coiled cables, and tools in a lab workspace.", "global_instruction_dense": "The right robotic arm moves into position above the yellow orange, grasps it, lifts and moves it left to the side of the blue-and-white carton, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 961, "tasks": ["place food"], "length": 174, "global_instruction": "Place the yellow banana on the brown table next to the yellow spherical ball.", "scene_description": "A brown wooden table holds a yellow spherical ball, a white and blue rectangular carton, a yellow banana, and a gray cylindrical cup, with a workbench of tools and other items below the table.", "global_instruction_dense": "The right robotic gripper descends toward the yellow banana on the brown table, grasps it, lifts and moves it leftward to the area beside the yellow ball, then lowers and releases the banana in that position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 962, "tasks": ["place food"], "length": 147, "global_instruction": "Move the red bell pepper from the right side of the brown table to the left near the yellow ball and packaged box.", "scene_description": "A brown wooden table holds a yellow ball, a white-and-blue packaged box, a gray cylinder, and a red bell pepper, with work tools including a metal pan, coiled cables, and a yellow emergency stop button on a lower work surface in the foreground.", "global_instruction_dense": "The right robotic gripper descends to the red bell pepper on the right of the brown table, grasps it, lifts and moves it left across the table, places it adjacent to the white-and-blue box and yellow ball, then releases the pepper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 963, "tasks": ["place food"], "length": 125, "global_instruction": "Move the yellow lemon from next to the banana to the right side of the gray cylinder", "scene_description": "A brown wooden table holds a yellow lemon, a yellow banana, a gray cylinder, a metal pot with a red pepper inside, and a blue-and-white carton, with a tool workbench in the foreground.", "global_instruction_dense": "The right robotic arm descends toward the yellow lemon next to the banana, grasps it, lifts it, moves it rightward to the right side of the gray cylinder, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 964, "tasks": ["place food"], "length": 174, "global_instruction": "Take the red bell pepper out of the metal bowl and place it on the wooden table.", "scene_description": "A brown wooden table in a robotics workshop holds a yellow banana, gray cylindrical block, yellow spherical ball, red bell pepper inside a small metal bowl, and a blue-and-white carton arranged left to right, with a tool workbench holding cables and tools in the foreground.", "global_instruction_dense": "The left robotic arm lowers toward the red bell pepper inside the metal bowl on the wooden table, grasps the pepper, lifts it out of the bowl, moves it to an empty spot on the table next to the bowl, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 965, "tasks": ["place food"], "length": 128, "global_instruction": "Move the yellow banana on the left of the brown table to a position near the red bell pepper.", "scene_description": "A brown wooden table holds a yellow banana, gray cylinder, orange ball, red bell pepper, small metal pan, and blue-white carton from left to right. A black workbench with tools, coiled cables, and a yellow emergency stop with red button is in the foreground, in a lab workspace with chairs and boxes in the background.", "global_instruction_dense": "The right robotic arm lowers toward the yellow banana at the left of the brown table, grasps it, lifts and moves it right to a position between the orange ball and red bell pepper, then releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 966, "tasks": ["place food"], "length": 189, "global_instruction": "Place the red bell pepper on the wooden table into the silver metal bowl.", "scene_description": "A brown wooden table holds a gray cylinder, yellow ball, yellow banana, red bell pepper, blue-white carton, and small silver metal bowl. A tool workbench with cables and an orange emergency button is in the foreground.", "global_instruction_dense": "The right robotic gripper moves toward the red bell pepper on the wooden table, grasps it, lifts it, moves it over the silver metal bowl, and releases the pepper into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 967, "tasks": ["place food"], "length": 154, "global_instruction": "Take the yellow peach out of the metal bowl and place it on the adjacent brown table surface.", "scene_description": "A brown table holds a green cylinder, gray cylinder, small metal bowl with a yellow peach inside, yellow banana, and blue-white carton arranged left to right across the tabletop.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow peach inside the metal bowl on the brown table, grasps the peach, lifts it out of the bowl, moves it rightward to the table space next to the yellow banana, lowers the peach, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 968, "tasks": ["place food"], "length": 142, "global_instruction": "Move the yellow banana-shaped object on the right of the brown table to a position near the yellow cube.", "scene_description": "A brown table holds a metal bowl with a yellow ball, a small green cylinder, a small dark object, a blue-and-white striped carton, a yellow cube, and a yellow banana-shaped object on its right side. A black workbench with tools including a red emergency stop, coiled cables, and a red toy pepper sits in the foreground.", "global_instruction_dense": "The right robotic arm enters the scene, moves toward the yellow banana-shaped object on the right of the brown table, grasps it, lifts it, moves it left to the area near the yellow cube, lowers it onto the table, releases it, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 969, "tasks": ["place food"], "length": 145, "global_instruction": "Place the yellow lemon into the silver metal bowl on the wooden table", "scene_description": "A brown wooden table holds a silver metal bowl, a yellow lemon, a yellow rectangular block, a green cylindrical block, a blue and white carton, a red bell pepper, a yellow banana, and a small dark purple object, in a lab workspace with chairs and boxes in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow lemon on the brown table, grasps it with its gripper, lifts it, moves it over the silver metal bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 970, "tasks": ["place food"], "length": 153, "global_instruction": "Place the yellow corn toy on the wire shelf into the pink shallow bowl.", "scene_description": "A metal wire shelf holds a yellow corn toy, a green spherical toy, an orange toy, a red-green patterned cube, and a pink shallow bowl, with an office area including a concrete pillar, desks, and monitors in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow corn toy on the wire shelf, grasps it, lifts it, moves it over the pink shallow bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 971, "tasks": ["place food"], "length": 154, "global_instruction": "Place the yellow toy banana from the pink bowl onto the adjacent wire shelf.", "scene_description": "A metal wire shelf holds a pink bowl with a yellow toy banana inside, a red-topped green patterned cube, and assorted colorful toy produce, set in an office workspace with a concrete pillar, desks, and monitors in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the pink bowl on the wire shelf, grasps the yellow toy banana inside the bowl, lifts the banana, moves it left to an empty spot on the shelf, releases the banana onto the shelf, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 972, "tasks": ["place food"], "length": 119, "global_instruction": "Place the small orange object atop the blue toy block into the pink shallow bowl", "scene_description": "A metal wire shelf holds a green ball, a blue toy block topped with a small orange object, a yellow corn-shaped toy, and a pink shallow bowl. The background is an office area with concrete pillars, computer equipment, and a grey trash bin to the right of the shelf.", "global_instruction_dense": "The right robotic arm moves toward the small orange object on top of the blue toy block, grasps it with the gripper, lifts and moves it over the pink shallow bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 973, "tasks": ["place food"], "length": 132, "global_instruction": "Pick up the yellow corn toy and place it next to the green egg toy on the metal shelf.", "scene_description": "A metal wire shelf holds a multicolored cube toy, yellow corn toy, pink bowl, green egg-shaped toy, and orange-white slice toy, with an office workspace with desks, a concrete pillar, and grey storage bin in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow corn toy on the metal wire shelf, grasps it, lifts it, moves it right toward the green egg toy, lowers it, and releases it in its new position on the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 974, "tasks": ["place food"], "length": 136, "global_instruction": "Place the yellow toy carrot into the silver metal pan on the table.", "scene_description": "A silver small metal pan and a yellow toy carrot with a green top are placed on a brown wooden table, the pan is to the left of the carrot.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow carrot on the right side of the table, grasps it with the gripper, lifts it, moves it left over the silver pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 975, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the yellow plush carrot and place it into the silver metal pan", "scene_description": "A brown wooden table holds a silver metal pan and a yellow plush carrot with green tops, in an office workspace.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow carrot on the table, grasps it, lifts it, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 976, "tasks": ["place food"], "length": 121, "global_instruction": "Place the yellow carrot into the silver metal pan", "scene_description": "A silver metal pan and a yellow carrot with a green top are placed on a brown wooden table, the pan is to the left of the carrot.", "global_instruction_dense": "The left robotic gripper moves downward toward the yellow carrot on the table, grasps the carrot, lifts it, moves it over the silver pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 977, "tasks": ["place food"], "length": 152, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan with a handle and a yellow plush carrot with a green top are placed on a brown wooden table, with the pan on the left side of the table and the carrot on the right side, and an office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow plush carrot on the right of the table, grasps it, lifts it, moves it leftward over the silver pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 978, "tasks": ["place food"], "length": 122, "global_instruction": "Place the yellow plush carrot into the silver metal pan.", "scene_description": "A silver metal pan and a yellow plush carrot with green leaf tops are placed on a brown wooden table in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow plush carrot on the table, grasps it with its gripper, lifts it, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 979, "tasks": ["place food"], "length": 138, "global_instruction": "Place the yellow carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table in an office workspace holds a silver metal pan on its left half and a yellow carrot with a green tip on its right half.", "global_instruction_dense": "The right robotic gripper moves toward the yellow carrot on the right side of the table, grasps it, lifts it, moves it left over the silver pan, releases it into the pan, and then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 980, "tasks": ["place food"], "length": 165, "global_instruction": "Pick up the yellow carrot and place it into the silver metal pan", "scene_description": "A silver metal pan and a yellow carrot with green leaves are placed on a brown wooden tabletop, the pan is on the left and the carrot is on the right in an office workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow carrot on the right side of the table, grasps it with the gripper, lifts it, moves leftward over the silver pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 981, "tasks": ["place food"], "length": 137, "global_instruction": "Place the yellow carrot into the silver pan on the table.", "scene_description": "A silver metal pan and a yellow carrot with a green top are placed on a brown wooden table, with an office workspace in the background.", "global_instruction_dense": "The robotic arm moves down toward the yellow carrot on the right of the table, grasps it with its gripper, lifts and moves it over the silver pan, then releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 982, "tasks": ["place food"], "length": 146, "global_instruction": "Place the yellow toy carrot into the silver pan on the wooden table", "scene_description": "A brown wooden table holds a silver metal pan and a yellow toy carrot with green leaves. The pan is on the left side of the table, the carrot is to the right of the pan.", "global_instruction_dense": "The right robotic arm moves down toward the yellow toy carrot on the table, grasps it with the gripper, lifts and moves it over the silver pan, then releases the carrot into the pan before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 983, "tasks": ["place food"], "length": 135, "global_instruction": "Place the yellow plush carrot into the silver metal pan.", "scene_description": "A small silver metal pan with a handle and a yellow plush carrot with green leafy tops are placed on a brown wooden table in an office space; the pan is positioned to the left of the carrot.", "global_instruction_dense": "The left robotic gripper moves toward the yellow plush carrot on the brown table, grasps it, lifts it, moves left over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 984, "tasks": ["place food"], "length": 132, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table holds a small silver metal pan on its left half and a yellow plush carrot with green tops on its right half, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow plush carrot, grasps it with its gripper, lifts and moves it left over the silver pan, lowers the carrot into the pan, releases it, then moves upward away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 985, "tasks": ["place food"], "length": 133, "global_instruction": "Pick up the yellow plush carrot and place it into the silver metal pan", "scene_description": "A silver metal pan and a yellow plush carrot with green leaves are placed on a brown wooden table. The pan is on the left side of the table, the carrot is on the right side of the table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow plush carrot on the right side of the brown wooden table, grasps the carrot with its gripper, lifts the carrot, moves it left over the silver metal pan, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 986, "tasks": ["place food"], "length": 150, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan and a yellow plush carrot with a green top are placed on a wooden table. The pan is positioned to the left of the carrot.", "global_instruction_dense": "The right robotic gripper moves toward the yellow plush carrot on the wooden table, grasps it, lifts it, moves it left over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 987, "tasks": ["place food"], "length": 136, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table holds a silver metal pan with a handle on its left side, and a yellow plush carrot with a green top on its right side, in an office workspace.", "global_instruction_dense": "The right robotic arm moves down toward the yellow plush carrot on the right of the table, grasps it with its gripper, lifts it, moves leftward over the silver pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 988, "tasks": ["place food"], "length": 132, "global_instruction": "Place the yellow toy carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan and a yellow toy carrot with green top are on a wooden table. The pan is on the left side of the table, the carrot is on the right. The background is an office workspace with desks, chairs and other equipment.", "global_instruction_dense": "The right robotic gripper lowers toward the yellow toy carrot on the right side of the wooden table, grasps it, lifts it, moves it left over the silver metal pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 989, "tasks": ["place food"], "length": 134, "global_instruction": "Pick up the yellow toy carrot and place it into the silver metal pan.", "scene_description": "A silver metal pan and a yellow toy carrot with green leaves are placed on a wooden table. The pan is on the left side of the table, and the carrot is on the right side.", "global_instruction_dense": "The right robotic arm moves above the carrot on the right side of the wooden table, grasps the carrot with its gripper, lifts the carrot, moves it over the silver pan on the left side of the table, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 990, "tasks": ["place food"], "length": 153, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table", "scene_description": "A silver metal pan and a yellow plush carrot with green leaves are placed on a wooden table. The pan is on the left side of the table, the carrot is on the right.", "global_instruction_dense": "The right robotic arm moves down toward the yellow plush carrot on the right of the table, grasps it with the gripper, lifts it, moves it leftward over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 991, "tasks": ["place food"], "length": 145, "global_instruction": "Place the yellow toy carrot into the silver metal pan on the wooden table.", "scene_description": "A silver metal pan and a yellow toy carrot with green top are placed on a brown wooden table in an office workspace, with office furniture and equipment in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow toy carrot on the brown wooden table, grasps it, lifts it, moves over the silver metal pan, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 992, "tasks": ["place food"], "length": 135, "global_instruction": "Pick up the yellow plush carrot and place it into the silver metal pan.", "scene_description": "A silver metal pan with a thin handle and a yellow plush carrot with a green leaf top rest on a brown wooden tabletop. The pan sits to the left of the carrot.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow plush carrot on the table, grasps it with its gripper, lifts it, moves it left over the silver metal pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 993, "tasks": ["place food"], "length": 118, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan and a yellow plush carrot with green leaf tops are placed on a brown wooden table, the carrot is positioned to the right of the pan in an office workspace.", "global_instruction_dense": "The right robotic gripper lowers toward the yellow plush carrot on the right side of the table, grasps the carrot, lifts it, moves left over the silver pan, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 994, "tasks": ["place food"], "length": 124, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan with a handle and a yellow plush carrot with green top are placed on a brown wooden table. The pan is to the left of the carrot, with an office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow plush carrot to the right of the silver pan, grasps the carrot, lifts it, moves left over the pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 995, "tasks": ["place food"], "length": 127, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan and a yellow plush carrot with green tops are placed on a brown wooden table, with the pan positioned to the left of the carrot in an office workspace.", "global_instruction_dense": "The right robotic gripper lowers toward the yellow plush carrot on the brown wooden table, grasps the carrot, lifts it, moves it over the silver pan, releases the carrot into the pan, then lifts away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 996, "tasks": ["place food"], "length": 131, "global_instruction": "Place the yellow toy carrot into the silver metal pan", "scene_description": "A silver metal pan and a yellow toy carrot with green leaves are on a brown wooden table. The pan is on the left side of the table, the carrot is on the right, with an office workspace in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow toy carrot on the right side of the table, grasps it, lifts it, moves it left over the silver pan, releases it into the pan, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 997, "tasks": ["place food"], "length": 138, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table holds a silver metal pan on its left side and a yellow plush carrot with green top on its right side, in an office workspace with other desks in the background.", "global_instruction_dense": "The robotic gripper lowers toward the yellow plush carrot on the right of the wooden table, grasps it, lifts and moves it left over the silver pan, then releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 998, "tasks": ["place food"], "length": 133, "global_instruction": "Place the yellow plush carrot into the silver metal pan", "scene_description": "A silver metal pan and a yellow plush carrot with a green top are placed on a brown wooden table. The pan is on the left side of the table, and the carrot is on the right side.", "global_instruction_dense": "The right robotic gripper moves toward the yellow plush carrot on the right side of the wooden table, grasps it, lifts it, moves it leftward over the silver metal pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 999, "tasks": ["place food"], "length": 120, "global_instruction": "Place the yellow plush carrot into the silver metal pan", "scene_description": "A silver metal pan and a yellow plush carrot with green tops are on a brown wooden table. The pan is to the left of the carrot.", "global_instruction_dense": "The right robotic gripper descends toward the brown wooden table, moves to the yellow plush carrot, grasps it, lifts and moves it over the silver metal pan, releases the carrot into the pan, then lifts away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1000, "tasks": ["place food"], "length": 126, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the wooden table.", "scene_description": "A silver metal pan with a handle and a yellow plush carrot with green leaves are placed on a brown wooden table, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm descends toward the yellow plush carrot on the wooden table, grasps it with its gripper, lifts the carrot, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1001, "tasks": ["place food"], "length": 130, "global_instruction": "Place the yellow plush carrot into the silver pan on the wooden table.", "scene_description": "A small silver metal pan with a handle and a yellow plush carrot with a green top are placed on a brown wooden table, with office desks and chairs in the background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow plush carrot on the right side of the wooden table, grasps it with its gripper, lifts it, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1002, "tasks": ["place food"], "length": 123, "global_instruction": "Place the yellow plush carrot into the silver pan on the wooden table", "scene_description": "A silver metal pan and a yellow plush carrot with green leaves are placed on a brown wooden table, with an office workspace with desks and chairs in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow plush carrot on the wooden table, grasps it with its gripper, lifts it, moves it over the silver pan, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1003, "tasks": ["place food"], "length": 115, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table holds a silver metal pan and a yellow plush carrot with green leaves, in an office workspace.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow plush carrot on the brown table, grasps it, lifts it, moves it over the silver metal pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1004, "tasks": ["place food"], "length": 102, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan and a yellow plush carrot with green tops are placed on a brown wooden table, with the pan above the carrot.", "global_instruction_dense": "The left robotic gripper moves toward the yellow plush carrot on the table, grasps it, lifts it, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1005, "tasks": ["place food"], "length": 115, "global_instruction": "Place the yellow carrot toy into the silver metal pan on the table.", "scene_description": "A silver metal pan sits on the left side of a wooden table, a human hand places a yellow carrot toy with green top on the right side of the table in an office workspace.", "global_instruction_dense": "The right robotic arm moves down to grasp the yellow carrot on the right of the wooden table, lifts the carrot, moves it left over the silver pan, then releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1006, "tasks": ["place food"], "length": 137, "global_instruction": "Place the yellow toy carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table holds a silver handled metal pan and a yellow toy carrot with a green top, with the pan positioned to the left of the carrot.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow toy carrot on the brown table, grasps the carrot, lifts it, moves left over the silver metal pan, lowers it, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1007, "tasks": ["place food"], "length": 111, "global_instruction": "Place the yellow carrot into the silver metal pan on the table.", "scene_description": "A brown wooden table holds a small silver stainless steel pan and a yellow carrot with a green top; the pan is positioned to the left of the carrot, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves down toward the yellow carrot on the table, grasps it with its gripper, lifts the carrot, moves it over the adjacent silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1008, "tasks": ["place food"], "length": 114, "global_instruction": "Pick up the yellow plush carrot and place it into the silver metal pan", "scene_description": "A silver metal pan and a yellow plush carrot with a green top are on a brown wooden table. The pan is on the left of the table, the carrot is to the right of the pan.", "global_instruction_dense": "The right robotic arm moves down toward the yellow plush carrot on the right of the wooden table, grasps it with the gripper, lifts it, moves it leftward above the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1009, "tasks": ["place food"], "length": 121, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the wooden table.", "scene_description": "A brown wooden table holds a silver shallow metal pan on its left section and a yellow plush carrot with a green top on its right section, located in a lab workspace with other office furniture in the background.", "global_instruction_dense": "The left robotic gripper descends toward the yellow plush carrot on the right of the wooden table, grasps the carrot, lifts it, moves left over the silver pan, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1010, "tasks": ["place food"], "length": 107, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the wooden table", "scene_description": "A silver metal pan and a yellow plush carrot with a green top are placed on a wooden table. The pan is on the left side of the table, and the carrot is on the right side.", "global_instruction_dense": "The right robotic arm moves down from above the table to the yellow plush carrot on the right of the table, grasps the carrot, lifts it, moves it left over the silver metal pan, and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1011, "tasks": ["place food"], "length": 120, "global_instruction": "Place the yellow toy carrot into the silver metal pan on the wooden table.", "scene_description": "A silver metal pan and a yellow toy carrot with green leaves are placed on a brown wooden table, with office furniture and equipment visible in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow toy carrot on the right side of the wooden table, grasps it with the gripper, lifts it, moves it leftward over the silver metal pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1012, "tasks": ["place food"], "length": 111, "global_instruction": "Place the yellow toy carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan with a handle and a yellow toy carrot with a green top are placed on a brown wooden table in an office workshop setting.", "global_instruction_dense": "The right robotic gripper moves toward the yellow toy carrot on the brown table, grasps it, lifts it, moves it over the silver metal pan, and lowers it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1013, "tasks": ["place food"], "length": 130, "global_instruction": "Place the yellow plush carrot into the silver frying pan", "scene_description": "A small silver frying pan and a yellow plush carrot with green leaf top are placed on a brown wooden table, the pan is at the left side of the table and the carrot is at the right side.", "global_instruction_dense": "The right robotic gripper moves toward the yellow carrot on the right of the wooden table, grasps it, lifts it, moves left to position over the silver frying pan, then lowers and releases the carrot into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1014, "tasks": ["place food"], "length": 132, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A small silver metal pan and a yellow plush carrot with green leaf tops are on a brown wooden table, with the pan positioned to the left of the carrot.", "global_instruction_dense": "The right robotic arm moves toward the yellow carrot on the table, grasps it with its gripper, lifts it, moves it over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1015, "tasks": ["place food"], "length": 121, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the table.", "scene_description": "A silver metal pan with a handle and a yellow plush carrot with a green top are placed on a brown wooden table. The pan is on the left side of the table, the carrot is on the right side.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow plush carrot on the right of the table, grasps the carrot, lifts and moves it left over the silver pan, then releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1016, "tasks": ["place food"], "length": 139, "global_instruction": "Place the yellow plush carrot into the silver metal pan", "scene_description": "A small silver metal pan with a handle and a yellow plush carrot with a green top are placed on a brown wooden table, the pan is to the left of the carrot.", "global_instruction_dense": "The right robotic gripper descends toward the yellow plush carrot on the right side of the brown table, grasps the carrot, lifts it, moves it left over the silver pan, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1017, "tasks": ["place food"], "length": 123, "global_instruction": "Place the yellow plush carrot into the silver metal pan on the wooden table.", "scene_description": "A human hand holds a yellow plush carrot with green leaves above the right side of a wooden table, a silver metal pan with a handle sits on the left side of the table in an office lab environment.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow plush carrot on the wooden table, grasps the carrot, lifts it, moves it left over the silver pan, lowers it, and releases it into the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1018, "tasks": ["place food"], "length": 191, "global_instruction": "Place the yellow lemon on the countertop into the stainless steel pot.", "scene_description": "A wooden toy kitchen countertop holds a yellow lemon left of a stainless steel pot, with an open drawer of toys below, a gray play faucet behind, and an open office workspace in the background.", "global_instruction_dense": "The left robotic arm moves into view above the countertop, lowers to grasp the yellow lemon, lifts and moves the lemon over the stainless steel pot, releases the lemon into the pot, then lifts and moves back away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1019, "tasks": ["place food"], "length": 229, "global_instruction": "Pick up the orange fruit and place it into the silver metal bowl on the table.", "scene_description": "A brown wooden table holds an orange fruit and a silver metal bowl, with the orange positioned to the left of the bowl in a laboratory office space.", "global_instruction_dense": "The left robotic arm descends toward the orange fruit on the wooden table, grasps it with its gripper, lifts and moves it right over the silver metal bowl, then lowers and releases the orange into the bowl before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1020, "tasks": ["place food"], "length": 166, "global_instruction": "Place the yellow corn on the right of the wooden table into the white bowl on the left of the table.", "scene_description": "A white bowl is placed on the left side of a small wooden table, and a yellow corn toy is placed on the right side of the table, with a workshop space in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow corn on the right of the wooden table, grasps it, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1021, "tasks": ["place food"], "length": 120, "global_instruction": "Place the yellow corn-shaped toy on the table into the white bowl.", "scene_description": "A white bowl and a yellow corn-shaped toy are placed on a brown wooden table, with the bowl positioned left of the yellow toy.", "global_instruction_dense": "The left robotic gripper moves toward the yellow corn-shaped toy on the brown table, grasps it, lifts it, moves it over the adjacent white bowl, then releases the toy into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1022, "tasks": ["place food"], "length": 132, "global_instruction": "Place the yellow corn-shaped object into the white plastic bowl.", "scene_description": "A white round plastic bowl and a yellow corn-shaped object are placed on a brown wooden table, with the bowl positioned to the left of the yellow object in a workshop workspace.", "global_instruction_dense": "The right robotic arm moves toward the yellow corn-shaped object on the right side of the brown table, grasps it with its gripper, lifts it, moves it leftward over the white bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1023, "tasks": ["place food"], "length": 143, "global_instruction": "Place the yellow corn-shaped object on the wooden table into the white plastic bowl.", "scene_description": "A white plastic bowl and a yellow corn-shaped object are placed on a reddish-brown wooden table, with the bowl positioned to the left of the yellow object.", "global_instruction_dense": "The right robotic arm moves toward the yellow corn-shaped object on the right side of the wooden table, grasps it with its gripper, lifts it, moves leftward over the white plastic bowl, and releases the corn into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1024, "tasks": ["place food"], "length": 117, "global_instruction": "Place the yellow corn-shaped object on the table into the white bowl", "scene_description": "A white plastic bowl and a yellow corn-shaped object are placed on a reddish-brown wooden table, with the bowl positioned to the left of the yellow object. Workshop furniture and equipment are visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the yellow corn-shaped object on the right side of the table, grasps it, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1025, "tasks": ["place food"], "length": 144, "global_instruction": "Place the yellow corn-shaped object on the wooden table into the white bowl.", "scene_description": "A large white bowl and a yellow corn-shaped object are placed on a reddish-brown wooden table. The yellow object is to the left of the bowl, and workshop furniture and equipment are visible in the background.", "global_instruction_dense": "Right robotic gripper moves downward toward the yellow corn-shaped object on the left of the table, grasps it, lifts it off the table, moves right to position it over the white bowl, then releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1026, "tasks": ["place food"], "length": 125, "global_instruction": "Place the yellow corn-shaped toy into the white plastic bowl on the table.", "scene_description": "A white plastic bowl and a yellow corn-shaped toy are placed on a reddish-brown wooden table, with the bowl positioned to the left of the yellow toy.", "global_instruction_dense": "The right robotic arm moves down toward the yellow corn-shaped toy on the table, grasps it with its gripper, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1027, "tasks": ["place food"], "length": 156, "global_instruction": "Place the yellow toy corn into the white plastic bowl.", "scene_description": "A brown wooden table holds a white round plastic bowl on the left and a yellow toy corn on the right, in a lab workspace.", "global_instruction_dense": "The right robotic arm moves down toward the yellow corn on the table, grasps it with its gripper, lifts it, moves it over the white bowl, then releases the corn into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1028, "tasks": ["place food"], "length": 156, "global_instruction": "Pick up the yellow lemon-shaped toy and place it into the white bowl.", "scene_description": "A brown wooden table holds a white plastic bowl and a yellow lemon-shaped toy to the left of the bowl, with a robotic arm above the left of the table, and an office workspace in the background.", "global_instruction_dense": "The left robotic arm moves down toward the yellow lemon-shaped toy left of the bowl, grasps it, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1029, "tasks": ["place food"], "length": 117, "global_instruction": "Pick up the yellow corn-shaped object and place it into the white bowl", "scene_description": "A white plastic bowl and a yellow corn-shaped object are placed on a brown wooden table, with the bowl on the left and the yellow object on the right.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow corn-shaped object on the right of the brown table, grasps it, lifts it, moves leftward over the white bowl, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1030, "tasks": ["place food"], "length": 123, "global_instruction": "Place the yellow corn on the table into the white bowl.", "scene_description": "A white bowl and a yellow corn are placed on a brown wooden table, the bowl is to the left of the corn.", "global_instruction_dense": "The right robotic arm moves down toward the yellow corn on the right of the brown table, grasps the corn, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1031, "tasks": ["place food"], "length": 167, "global_instruction": "Place the yellow corn on the wooden table into the white bowl.", "scene_description": "A brown wooden table holds a white plastic bowl on its left side and a yellow corn on its right side, with an office workspace in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow corn on the right of the wooden table, grasps it with its gripper, lifts the corn, moves it above the white bowl on the left of the table, then releases the corn into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1032, "tasks": ["place food"], "length": 124, "global_instruction": "Place the yellow corn-shaped toy on the table into the white plastic bowl.", "scene_description": "A brown wooden table holds a white plastic bowl on its left and a yellow corn-shaped toy on its right, set in an office lab workspace with desks and chairs in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow corn-shaped toy on the right of the table, grasps it, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1033, "tasks": ["place food"], "length": 156, "global_instruction": "Pick up the yellow corn-shaped object on the table and place it into the white bowl", "scene_description": "A white plastic bowl and a yellow corn-shaped object are placed on a reddish-brown wooden table, with the bowl positioned to the left of the yellow object.", "global_instruction_dense": "The right robotic gripper moves down toward the wooden table, grasps the yellow corn-shaped object, lifts it, moves it over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1034, "tasks": ["place food"], "length": 119, "global_instruction": "Place the yellow corn on the right of the table into the white bowl on the left of the table.", "scene_description": "A brown wooden table has a white plastic bowl on its left side and a yellow corn-shaped object on its right side, set in a lab workspace with office chairs and other work tables in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow corn on the right side of the brown table, grasps it with its gripper, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1035, "tasks": ["place food"], "length": 122, "global_instruction": "Place the yellow corn into the white bowl on the wooden table", "scene_description": "A reddish-brown wooden table holds a white plastic bowl on its left side and a yellow corn-shaped object on its right side, with a grey office chair to the left of the table in a workshop environment.", "global_instruction_dense": "The right robotic gripper moves toward the yellow corn on the right of the wooden table, grasps it, lifts it, moves left over the white bowl, and releases the corn into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1036, "tasks": ["place food"], "length": 112, "global_instruction": "Place the yellow corn-shaped object on the right of the wooden table into the white bowl.", "scene_description": "A white plastic bowl and a yellow corn-shaped object are placed on a reddish-brown wooden table, with the bowl positioned to the left of the yellow object.", "global_instruction_dense": "The right robotic gripper moves downward toward the yellow corn-shaped object on the right side of the wooden table, grasps it, lifts it, moves it left above the white bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1037, "tasks": ["place food"], "length": 136, "global_instruction": "Place the yellow corn-shaped object on the table into the white bowl.", "scene_description": "A white plastic bowl and a yellow elongated corn-shaped object are placed on a reddish-brown wooden table. The bowl is to the left of the yellow object, with lab workstations and equipment visible in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the yellow object on the right side of the table, grasps the object, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1038, "tasks": ["place food"], "length": 150, "global_instruction": "Place the yellow corn-shaped toy into the white bowl on the table", "scene_description": "A white empty bowl and a yellow corn-shaped toy are placed on a brown wooden table, with the corn to the left of the bowl.", "global_instruction_dense": "The left robotic arm moves toward the yellow corn-shaped toy on the left side of the brown table, grasps it with its gripper, lifts it, moves it rightward over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1039, "tasks": ["place food"], "length": 97, "global_instruction": "Place the yellow corn on the wooden table into the white bowl.", "scene_description": "A white bowl and a yellow corn-shaped object are placed on a brown wooden table. The bowl is on the left portion of the table, the corn is to the right of the bowl. A grey office chair is positioned to the left of the table, with workshop workbenches and equipment in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow corn on the right side of the wooden table, grasps it with its gripper, lifts it, moves it left over the white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1040, "tasks": ["place food"], "length": 124, "global_instruction": "Pick up the orange toy carrot from the toy kitchen stovetop and place it into the sink's metal pot.", "scene_description": "A wooden children's toy kitchen playset has an orange toy carrot on its stovetop, a small stainless steel pot sits in the playset's sink, with an office environment in the background.", "global_instruction_dense": "The left robotic arm moves down toward the orange toy carrot on the toy kitchen stovetop, grasps it, lifts it, moves it over the metal pot in the sink, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1041, "tasks": ["place food"], "length": 165, "global_instruction": "Pick up the toy carrot from the stovetop and place it into the toy pot in the sink.", "scene_description": "A wooden toy kitchen playset is in an office space. An orange toy carrot with a green top sits on the playset's stovetop, and a small stainless steel toy pot is in the playset's sink. Office chairs, boxes and work tables are in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the orange carrot on the toy kitchen stovetop, lifts the carrot, moves it rightward over the pot in the sink, then releases the carrot into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1042, "tasks": ["place food"], "length": 151, "global_instruction": "Pick up the orange toy carrot from the toy kitchen stovetop and place it into the sink.", "scene_description": "A wooden toy kitchen with a stovetop, four black burners, stainless steel sink with a metal pot inside, and an orange toy carrot with a green top on the left front burner is in the center. A grey office chair, assorted boxes, bags, and office furniture are in the background.", "global_instruction_dense": "The left robotic gripper moves into position above the toy kitchen stovetop, lowers toward the orange carrot on the burner, grasps the carrot, lifts it, moves it rightward over the sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1043, "tasks": ["place food"], "length": 129, "global_instruction": "Place the orange toy carrot from the toy kitchen stove into the toy kitchen sink.", "scene_description": "A wooden toy kitchen set is in the foreground, with an orange toy carrot on one stove burner, a metal pot in its sink, and office furniture and boxes in the background.", "global_instruction_dense": "The left robotic gripper moves toward the orange toy carrot on the toy kitchen stove, grasps the carrot, lifts it, moves it over the toy sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1044, "tasks": ["place food"], "length": 147, "global_instruction": "Place the orange toy carrot on the toy kitchen stovetop into the metal pot in the toy sink.", "scene_description": "A wooden toy kitchen set is in an office workspace. An orange toy carrot rests on the toy kitchen's stovetop, a stainless steel pot sits in the toy sink to the right of the stovetop, a toy microwave is mounted above the stovetop, and a toy fridge is positioned to the left of the stovetop.", "global_instruction_dense": "The right robotic arm moves toward the orange toy carrot on the toy kitchen stovetop, grasps the carrot, lifts it, moves it right over the metal pot in the toy sink, and releases the carrot into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1045, "tasks": ["place food"], "length": 182, "global_instruction": "Pick up the yellow carrot on the toy kitchen stovetop and place it into the sink.", "scene_description": "A children's toy kitchen set is in view, with a yellow carrot on the stovetop and a metal bowl in the sink; office chairs, cables, and boxes are in the surrounding area.", "global_instruction_dense": "The right robotic arm moves toward the yellow carrot on the toy kitchen stovetop, grasps it, lifts it, moves it over the sink, and releases it into the metal bowl in the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1046, "tasks": ["place food"], "length": 125, "global_instruction": "Place the yellow toy carrot from the toy kitchen stove into the kitchen sink.", "scene_description": "A toy wooden kitchen set with a stove, sink, and upper microwave is positioned in a workspace. A yellow toy carrot rests on the stove burners, a metal pot sits inside the sink, and an office chair with coiled cables on a dark work surface are to the left of the kitchen set.", "global_instruction_dense": "The right robotic arm moves down toward the yellow carrot on the toy kitchen stove, grasps the carrot, lifts it, moves it rightward over the sink, lowers it, and releases it into the sink next to the metal pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1047, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the carrot from the toy kitchen stove and place it into the metal pot in the sink", "scene_description": "A wooden toy kitchen set has a silver microwave above a stove with four black burners. An orange carrot with a green top sits on the stove. A sink with a metal pot inside is to the stove's right, with equipment and an office chair to the kitchen's left.", "global_instruction_dense": "The right robotic arm moves toward the carrot on the toy kitchen stove, grasps the carrot with its gripper, lifts it, moves it right over the metal pot in the sink, releases the carrot into the pot, and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1048, "tasks": ["place food"], "length": 165, "global_instruction": "Pick up the yellow toy carrot from the toy kitchen stove and place it into the metal pot in the sink.", "scene_description": "A wooden toy kitchen set is in the center, with a yellow toy carrot on its stove burners, a metal pot in its sink, and office furniture and supplies in the background.", "global_instruction_dense": "The right robotic arm moves from the left off-screen area toward the yellow toy carrot on the toy kitchen stove, grasps the carrot, lifts it, moves it over the metal pot in the sink, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1049, "tasks": ["place food"], "length": 132, "global_instruction": "Place the orange toy carrot from the toy stove into the stainless steel pot in the toy sink.", "scene_description": "A toy kitchen set is centered in view, with an orange toy carrot on one of its stove burners, a stainless steel pot inside its sink, and a toy microwave above the stove. Office chairs, cabled equipment are to the left, with an office space of desks and boxes in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange carrot on the toy stove, grasps it with its gripper, lifts the carrot, moves it rightward over the stainless steel pot in the sink, and releases the carrot into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1050, "tasks": ["place food"], "length": 148, "global_instruction": "Pick up the orange toy carrot and place it into the stainless steel pot in the toy kitchen sink.", "scene_description": "An orange toy carrot with a green top sits on a toy kitchen counter next to a sink holding a stainless steel pot, with office equipment in the background.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves down to grasp the toy carrot on the counter, lifts the carrot, moves it over the pot in the sink, and lowers it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1051, "tasks": ["place food"], "length": 191, "global_instruction": "Pick up the yellow toy corn from the toy stove burner and place it into the metal pot in the toy sink.", "scene_description": "A wooden toy kitchen set is positioned in an office space, with a yellow toy corn resting on the left rear burner of the toy stove, a stainless steel pot inside the toy sink, and no robotic arm visible.", "global_instruction_dense": "The right robotic arm enters the frame from the top left, descends to grasp the yellow toy corn on the toy stove burner, lifts the corn, moves it rightward over the metal pot in the toy sink, and releases the corn into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1052, "tasks": ["place food"], "length": 105, "global_instruction": "Place the toy carrot and green toy from the stovetop into the metal bowl in the toy kitchen sink.", "scene_description": "A wooden toy kitchen set is visible, with an orange toy carrot and small green toy resting on its stovetop, and a metal bowl inside its sink.", "global_instruction_dense": "The right robotic arm moves toward the stovetop, grasps the orange toy carrot and small green toy, lifts them, moves them over the metal bowl in the sink, and releases them into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1053, "tasks": ["place food"], "length": 160, "global_instruction": "Place the orange toy carrot from the stovetop into the pot in the toy kitchen sink.", "scene_description": "A wooden toy kitchen set is in an office workspace, with an orange toy carrot on its stovetop and a stainless steel pot in its sink.", "global_instruction_dense": "The left robotic arm moves downward toward the orange toy carrot on the stovetop, grasps it, lifts it, moves it over the pot in the sink, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1054, "tasks": ["place food"], "length": 162, "global_instruction": "Pick up the orange carrot from the stovetop and place it into the metal bowl in the sink", "scene_description": "A wooden toy play kitchen with stovetop, sink and microwave is at the center. An orange toy carrot rests on the stovetop, and a metal bowl sits in the sink.", "global_instruction_dense": "The left robotic arm descends from above the frame toward the orange carrot on the stovetop, grasps the carrot, lifts it, moves it over the sink, and releases it into the metal bowl in the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1055, "tasks": ["place food"], "length": 160, "global_instruction": "Place the yellow corn from the stovetop into the metal pot in the sink.", "scene_description": "A wooden toy kitchen sits in a workspace, with a yellow toy corn on the left front stovetop burner and a metal pot in the sink.", "global_instruction_dense": "The left robotic arm extends into the frame, moves toward the yellow corn on the stovetop, grasps and lifts it, moves it over the metal pot in the sink, then releases the corn into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1056, "tasks": ["place food"], "length": 122, "global_instruction": "Pick up the yellow toy carrot from the toy kitchen stovetop and place it into the metal bowl in the toy sink.", "scene_description": "A wooden toy kitchen set is in a workspace, with a yellow toy carrot placed on its stovetop, a stainless steel bowl inside its toy sink, a toy microwave above the counter, and office furniture/workbenches in the background.", "global_instruction_dense": "The left robotic gripper descends toward the yellow toy carrot on the toy kitchen stovetop, grasps and lifts it, moves it rightward over the metal bowl in the toy sink, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1057, "tasks": ["place food"], "length": 181, "global_instruction": "Place the orange object from the toy kitchen stovetop into the stainless steel pot in the sink.", "scene_description": "A toy kitchen with a white countertop is shown. The counter has a four-burner stovetop with an orange object on its lower-right burner, a sink holding a stainless steel pot, and a grey microwave installed above the counter. A robotic arm is positioned above the toy kitchen area.", "global_instruction_dense": "The left robotic arm lowers toward the orange object on the toy kitchen stovetop, grasps it with its gripper, lifts and moves it over the stainless steel pot in the sink, then lowers and releases the object into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1058, "tasks": ["place food"], "length": 177, "global_instruction": "Pick up the orange toy carrot on the toy kitchen counter and place it into the stainless steel pot in the toy sink.", "scene_description": "A wooden toy kitchen playset sits on a workspace, with a silver toy microwave above four black toy stove burners, an orange toy carrot rests on the counter next to the burners, a small stainless steel pot is in the toy sink to the right of the burners, and office items are in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange toy carrot on the toy kitchen counter, grasps the carrot, moves it rightward over the stainless steel pot in the toy sink, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1059, "tasks": ["place food"], "length": 244, "global_instruction": "Place the orange toy carrot on the stovetop into the stainless steel pot in the sink.", "scene_description": "A toy kitchen counter has an orange toy carrot on its stovetop, and a stainless steel pot sits in the sink below the stovetop.", "global_instruction_dense": "The left robotic gripper descends to grasp the orange toy carrot on the toy kitchen stovetop, moves the carrot over the stainless steel pot in the sink, and releases the carrot into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1060, "tasks": ["place food"], "length": 238, "global_instruction": "Pick the orange object from the toy kitchen stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A children's toy kitchen set is visible, with a small orange object on its four-burner stovetop, a stainless steel bowl in the adjacent sink, and lab/office equipment surrounding the kitchen.", "global_instruction_dense": "The right robotic arm extends toward the orange object on the toy kitchen stovetop, grasps it, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1061, "tasks": ["place food"], "length": 170, "global_instruction": "Place the orange toy fruit on the toy kitchen stovetop into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen counter has four black stovetop burners, an orange toy fruit on the stovetop, a stainless steel bowl in the integrated sink, and a toy microwave mounted above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the orange toy fruit on the toy kitchen stovetop, grasps it with its gripper, lifts it, moves it right over the stainless steel bowl in the sink, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1062, "tasks": ["place food"], "length": 236, "global_instruction": "Pick up the small orange object from the toy kitchen stove and place it into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen setup with a white counter, four black stove burners, a stainless steel bowl in the sink, and a small orange object on the stove area is situated in a workshop with surrounding office equipment and chairs.", "global_instruction_dense": "The right robotic arm moves into position above the small orange object on the toy kitchen stove, grasps the object, lifts it, moves it over the stainless steel bowl in the sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1063, "tasks": ["place food"], "length": 151, "global_instruction": "Pick up the orange object on the toy kitchen stovetop and place it into the metal bowl in the playset's sink.", "scene_description": "A small orange object rests on the four-burner stovetop of a wooden toy kitchen playset, with a stainless steel bowl placed in the playset's sink; office chairs, cardboard boxes, and work tables are visible in the lab background.", "global_instruction_dense": "The left robotic arm extends from the left side of the frame toward the orange object on the toy kitchen stovetop, grasps the object, lifts it, moves it over the metal bowl in the playset's sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1064, "tasks": ["place food"], "length": 139, "global_instruction": "Pick up the orange carrot toy on the stove and place it into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen setup is visible: a white counter holds four black stove burners with an orange carrot toy on the burners, a stainless steel bowl sits in the sink, and a silver microwave is mounted above the counter. A robotic arm is positioned above the left side of the kitchen, a grey office chair is to the left of the kitchen, and worktables with boxes and assorted items are in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the orange carrot toy on the toy kitchen stove, grasps it with the gripper, lifts it, moves it rightward over the stainless steel bowl in the sink, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1065, "tasks": ["place food"], "length": 202, "global_instruction": "Pick up the orange object on the toy kitchen stove burner and place it into the stainless steel bowl in the sink.", "scene_description": "A children's toy kitchen set is shown, with an orange object placed on a black stove burner, and a stainless steel bowl positioned in the sink to the right of the burners.", "global_instruction_dense": "The left robotic arm moves above the orange object on the toy kitchen stove, grasps the object, lifts it, moves it rightward over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1066, "tasks": ["place food"], "length": 156, "global_instruction": "Pick up the small orange object on the toy kitchen stovetop and place it into the metal bowl in the sink.", "scene_description": "A wooden toy kitchen playset has a small orange object on its white four-burner stovetop, a metal bowl in the attached sink, and a toy microwave mounted above the stovetop.", "global_instruction_dense": "The left robotic arm moves into position above the toy kitchen stovetop, lowers to grasp the small orange object on the stovetop, lifts the object, moves it over the metal bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1067, "tasks": ["place food"], "length": 139, "global_instruction": "Pick the orange object from the stove burner and place it into the bowl in the sink.", "scene_description": "A toy kitchen set is in a lab workspace, with an orange object on its left front stove burner and a stainless steel bowl in its sink. A person is seated to the left of the kitchen set.", "global_instruction_dense": "The right robotic arm moves from off-frame toward the orange object on the toy kitchen stove burner, grasps the object, lifts it, moves it right over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1068, "tasks": ["place food"], "length": 117, "global_instruction": "Place the orange toy carrot from the stove burner into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen counter has an orange toy carrot on the front right stove burner, and a stainless steel bowl sits in the sink to the right of the stovetop. The left robotic arm is initially out of frame, with a seated person and lab equipment in the background.", "global_instruction_dense": "The left robotic arm moves down toward the orange toy carrot on the stove burner, grasps it, lifts it, moves it over the stainless steel bowl in the sink, and releases the carrot into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1069, "tasks": ["place food"], "length": 181, "global_instruction": "Place the orange object from the toy stovetop into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen set is positioned centrally, with an orange object on its stovetop and a stainless steel bowl in its sink. A person sits left of the kitchen, and workbench equipment is in the foreground.", "global_instruction_dense": "The right robotic arm enters the frame, moves toward the orange object on the toy kitchen stovetop, grasps the orange, lifts it, moves it over the stainless steel bowl in the sink, and places the orange into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1070, "tasks": ["place food"], "length": 182, "global_instruction": "Pick the orange object from the toy kitchen stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen playset with a white countertop, four black stovetop burners, an orange object on the left burner area, and a stainless steel bowl in the integrated sink, with a microwave mounted above the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange object on the toy kitchen stovetop, grasps the orange object, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1071, "tasks": ["place food"], "length": 193, "global_instruction": "Place the orange object from the stove burner into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen countertop has an orange object on the lower front stove burner, and a stainless steel bowl sits inside the sink to the right of the burners.", "global_instruction_dense": "The right robotic arm lowers from off-frame toward the orange object on the stove, grasps it, lifts it, moves right over the stainless steel bowl in the sink, releases the object into the bowl, then lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1072, "tasks": ["place food"], "length": 168, "global_instruction": "Pick up the orange toy fruit on the toy kitchen stove and place it into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen playset with a stove, sink, and microwave is shown. An orange toy fruit rests on the stove burners, and a stainless steel bowl sits in the sink.", "global_instruction_dense": "The right robotic arm moves down toward the orange toy fruit on the toy stove, grasps it with its gripper, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1073, "tasks": ["place food"], "length": 169, "global_instruction": "Pick up the orange object on the toy kitchen stove and place it into the stainless steel bowl in the sink.", "scene_description": "A children's toy kitchen set is in a workshop environment, with a small orange object on the front right stove burner, and a stainless steel bowl in the sink to the right of the burners.", "global_instruction_dense": "The left robotic arm moves down toward the orange object on the toy kitchen stove, grasps the object, lifts it, moves right over the stainless steel bowl in the sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1074, "tasks": ["place food"], "length": 177, "global_instruction": "Pick up the orange object from the stovetop and place it into the bowl in the sink.", "scene_description": "A wooden toy kitchen set is in a lab space, with an orange object on the left stovetop burner and a stainless steel bowl in the sink.", "global_instruction_dense": "The left robotic arm moves down toward the orange object on the toy kitchen stovetop, grasps it, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1075, "tasks": ["place food"], "length": 168, "global_instruction": "Place the small orange object from the toy kitchen stovetop into the metal bowl in the sink.", "scene_description": "A wooden toy kitchen playset has four black burners on its stovetop, a small orange object on the stovetop, a silver microwave above the stovetop, and a stainless steel bowl in the sink below the stovetop.", "global_instruction_dense": "The left robotic arm moves toward the small orange object on the toy kitchen stovetop, grasps the object, lifts it, moves it over the stainless steel bowl in the toy kitchen sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1076, "tasks": ["place food"], "length": 180, "global_instruction": "Place the orange object from the toy kitchen stovetop into the stainless steel bowl in the sink", "scene_description": "A toy kitchen playset with a white speckled countertop has an orange object on its black stovetop burners, a stainless steel bowl sits in the playset's sink, and a right robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange object on the toy kitchen stovetop, grasps the object, lifts it, moves it over the stainless steel bowl in the sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1077, "tasks": ["place food"], "length": 220, "global_instruction": "Place the orange object from the stovetop into the metal bowl in the toy kitchen sink.", "scene_description": "A toy kitchen playset is positioned on a work surface, with an orange object on the leftmost stovetop burner and a metal bowl in the playset's sink. A robotic gripper is positioned above the playset.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange object on the stovetop, grasps the object, lifts and transports it over the metal bowl in the sink, then releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1078, "tasks": ["place food"], "length": 129, "global_instruction": "Pick up the orange object from the stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen set is in the foreground: an orange object rests on the lower right stovetop burner, a stainless steel bowl sits in the adjacent sink, and a toy microwave is mounted above the counter.", "global_instruction_dense": "The left robotic arm moves toward the orange object on the stovetop, grasps it with the gripper, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1079, "tasks": ["place food"], "length": 156, "global_instruction": "Pick up the orange object on the toy stove burner and place it into the metal bowl in the toy sink.", "scene_description": "A toy kitchen playset with a white countertop is in view; an orange round object rests on the left front black stove burner, and a stainless steel bowl sits in the sink to the right of the burners.", "global_instruction_dense": "The right robotic arm moves into the scene from above, lowers to grasp the orange object on the left front stove burner, lifts it, moves it rightward over the stainless steel bowl in the sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1080, "tasks": ["place food"], "length": 134, "global_instruction": "Pick the orange object from the toy stove burner and place it into the metal bowl in the sink.", "scene_description": "A children's play kitchen set is shown, with an orange object on a black toy stove burner, a metal bowl in the adjacent sink, and a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the orange object on the toy stove burner, grasps it, lifts it, moves it rightward over the metal bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1081, "tasks": ["place food"], "length": 162, "global_instruction": "Pick up the small orange object on the toy kitchen stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A children's wooden toy kitchen set is in view, with a small orange object on its four-burner stovetop, and a stainless steel bowl inside its sink. A person sits to the left of the kitchen, and work equipment with cables is in the foreground.", "global_instruction_dense": "The left robotic gripper moves from outside the frame to above the small orange object on the toy kitchen stovetop, lowers to grasp the object, lifts it, moves it over the stainless steel bowl in the sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1082, "tasks": ["place food"], "length": 122, "global_instruction": "Place the orange object from the toy stove into the metal bowl in the sink.", "scene_description": "A toy play kitchen with a white countertop, four black stove burners, an orange rectangular object on the stovetop, a stainless steel bowl in the sink, and a robotic arm positioned above the kitchen area.", "global_instruction_dense": "The left robotic arm moves down toward the orange object on the toy stove, grasps it, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1083, "tasks": ["place food"], "length": 180, "global_instruction": "Pick up the orange object from the stove burner and place it into the stainless steel bowl in the sink", "scene_description": "A toy kitchen playset counter is visible. An orange object rests on the lower-right of four black stove burners. A stainless steel bowl sits in the sink to the right of the burners, and a toy microwave is mounted above the counter.", "global_instruction_dense": "The left robotic arm moves towards the orange object on the stove burner, grasps it, lifts it, moves it over the stainless steel bowl in the sink, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1084, "tasks": ["place food"], "length": 166, "global_instruction": "Pick up the orange object on the stove burner and place it into the stainless steel bowl in the sink.", "scene_description": "A wooden toy kitchen playset sits in a lab workspace, with a white countertop holding four black stove burners, a silver sink containing a stainless steel bowl, a silver toy microwave mounted above the counter, and a small orange object resting on the front-right stove burner.", "global_instruction_dense": "The right robotic gripper moves into position above the toy kitchen stove, lowers to grasp the orange object on the front-right stove burner, lifts the object, moves it over the stainless steel bowl in the sink, and places the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1085, "tasks": ["place food"], "length": 166, "global_instruction": "Pick up the orange toy fruit on the stovetop and place it into the stainless steel bowl in the sink", "scene_description": "A toy kitchen setup has an orange toy fruit on its stovetop, a stainless steel bowl in its sink, and a toy microwave above the counter, with robotic equipment in the foreground and a person seated at the left.", "global_instruction_dense": "The left robotic gripper moves into position above the toy kitchen stovetop, lowers toward the orange toy fruit, grasps it, lifts and moves it over the stainless steel bowl in the sink, then releases the orange into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1086, "tasks": ["place food"], "length": 150, "global_instruction": "Pick up the orange toy carrot from the stovetop and place it into the metal bowl in the sink.", "scene_description": "A toy kitchen playset with a white speckled countertop is in view. An orange toy carrot rests on the stovetop burners, and a small metal bowl sits in the playset's sink.", "global_instruction_dense": "The right robotic arm moves down toward the orange toy carrot on the playset stovetop, grasps and lifts it, moves it right over the metal bowl in the sink, then releases the carrot into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1087, "tasks": ["place food"], "length": 159, "global_instruction": "Place the small orange object from the toy kitchen counter into the metal bowl in the sink.", "scene_description": "A toy kitchen with four black stove burners, a silver sink holding a metal bowl, and a small orange object on the counter between the burners and sink.", "global_instruction_dense": "The left robotic arm descends to the toy kitchen counter, grasps the small orange object between the burners and sink, lifts it, moves it over the metal bowl in the sink, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1088, "tasks": ["place food"], "length": 119, "global_instruction": "Place the small brown food item from the stove burner into the stainless steel bowl in the sink.", "scene_description": "A wooden children's toy kitchen playset is in the initial view, with a small brown food item placed on one of its four black stove burners, and a stainless steel bowl resting inside the playset's sink.", "global_instruction_dense": "The left robotic arm moves into view above the toy kitchen, lowers to grasp the small brown food item on the stove burner, lifts it, moves it over the stainless steel bowl in the sink, releases the food into the bowl, then lifts away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1089, "tasks": ["place food"], "length": 140, "global_instruction": "Pick up the light brown food piece from the toy kitchen stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A toy kitchen set with a white countertop, four black stovetop burners, a stainless steel bowl in the sink, and a light brown food piece on the right front burner, situated in a workshop environment.", "global_instruction_dense": "The left robotic arm moves down toward the light brown food piece on the toy kitchen stovetop, grasps it with its gripper, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1090, "tasks": ["place food"], "length": 153, "global_instruction": "Pick up the brown food piece from the toy kitchen stove burner and place it into the metal bowl in the sink.", "scene_description": "A children's toy kitchen countertop has four black stove burners, a stainless steel sink with a metal bowl inside, and a brown food piece on the upper left stove burner, with work equipment and a seated person in the background.", "global_instruction_dense": "The left robotic arm moves into the scene, approaches the brown food piece on the upper left stove burner, grasps it, lifts and moves it over the metal bowl in the sink, then releases the food piece into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1091, "tasks": ["place food"], "length": 98, "global_instruction": "Place the light brown food on the play kitchen stove burner into the stainless steel bowl in the sink.", "scene_description": "A wooden children's play kitchen sits at the center, with a light brown food item on the front right stove burner, a stainless steel bowl in the sink, and work tools on the left foreground workbench.", "global_instruction_dense": "The right robotic gripper moves down toward the light brown food on the play kitchen stove burner, grasps the food, lifts it, moves it right over the stainless steel bowl in the sink, and releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1092, "tasks": ["place food"], "length": 97, "global_instruction": "Pick up the small golden food pieces from the toy kitchen stovetop and place them into the metal bowl in the sink.", "scene_description": "A toy kitchen playset has a stovetop with four black burners, small golden food pieces on the stovetop, and a silver sink holding a metal bowl below a silver microwave.", "global_instruction_dense": "The left robotic arm moves downward toward the stovetop, grasps the small golden food pieces, lifts them, moves over the metal bowl in the sink, and releases the pieces into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1093, "tasks": ["place food"], "length": 101, "global_instruction": "Place the golden food item from the stove burner into the stainless steel bowl in the sink.", "scene_description": "A light wood trimmed toy kitchen set sits on a surface, with four black burners on a white countertop, a silver faucet, a stainless steel bowl in the sink, and a golden food item on the lower right burner. Office chairs and equipment are visible in the background.", "global_instruction_dense": "The left robotic arm descends toward the golden food item on the toy kitchen stove burner, grasps the food item, lifts it, moves it over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1094, "tasks": ["place food"], "length": 135, "global_instruction": "Pick up the dry food on the stove burner and place it into the stainless steel bowl in the sink.", "scene_description": "A wooden toy kitchen set is in the center, with a four-burner stove, a microwave above the stove, a sink with a stainless steel bowl inside, and a small fridge on its left. A clump of light brown dry food sits on the leftmost stove burner. The surrounding area is a lab/workshop with chairs, cables, and storage boxes, with a person's hand holding an object in the lower left.", "global_instruction_dense": "The right robotic arm moves downward to grasp the light brown dry food on the toy kitchen's left stove burner, lifts it, moves it rightward over the stainless steel bowl in the sink, then releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1095, "tasks": ["place food"], "length": 142, "global_instruction": "Pick up the small golden food pieces on the toy kitchen stovetop and place them into the metal bowl in the sink.", "scene_description": "A wooden children's toy kitchen is visible, with a pile of small golden food pieces on the white stovetop between four black burners, and a stainless steel bowl in the sink next to the stovetop.", "global_instruction_dense": "The left robotic arm extends from the upper frame, moves down to the stovetop to grasp the golden food pieces, lifts them, moves right over the metal bowl in the sink, and releases the food pieces into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1096, "tasks": ["place food"], "length": 162, "global_instruction": "Pick up the brown dry food on the toy kitchen stovetop and place it into the stainless steel bowl in the sink.", "scene_description": "A cluster of brown dry food rests on the stovetop of a wooden toy kitchen set, with a stainless steel bowl placed in the sink to the right of the stovetop.", "global_instruction_dense": "The left robotic arm lowers toward the brown dry food on the toy kitchen stovetop, grasps the dry food, lifts it, moves it rightward over the stainless steel bowl in the sink, and releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1097, "tasks": ["place food"], "length": 92, "global_instruction": "Pick up the beige food item from the stovetop burner and place it into the metal bowl in the sink.", "scene_description": "A wooden toy kitchen set is in the frame, with a beige food item on the bottom-right black stovetop burner, a stainless steel sink holding a metal bowl to the right of the burners, and office equipment in the background.", "global_instruction_dense": "The right robotic arm moves down from above the toy kitchen, grasps the beige food item on the stovetop burner, lifts it, moves it rightward over the metal bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1098, "tasks": ["place food"], "length": 129, "global_instruction": "Pick up the small food items from the toy kitchen stove top and place them into the stainless steel bowl in the sink.", "scene_description": "A toy wooden kitchen playset is in the workspace, with a white countertop holding four black stove burners, a stainless steel bowl in the sink, and a cluster of small dry food items resting on the stove top between burners.", "global_instruction_dense": "The left robotic gripper moves into position above the toy kitchen stove top, lowers to grasp the small dry food items on the stove, lifts the food, moves it over the stainless steel bowl in the sink, and releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1099, "tasks": ["place food"], "length": 135, "global_instruction": "Place the beige food item from the play kitchen stovetop into the stainless steel bowl in the sink.", "scene_description": "A wooden play kitchen has a stovetop holding a beige food item, a sink with a stainless steel bowl inside, and a robotic arm positioned left of the kitchen on a tool workbench.", "global_instruction_dense": "The left robotic arm moves toward the beige food item on the play kitchen stovetop, grasps it, lifts it, moves it right over the stainless steel bowl in the sink, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1100, "tasks": ["place food"], "length": 390, "global_instruction": "Reposition the folded gray towel and move the small light brown fruit to the center of the wooden table.", "scene_description": "A brown wooden table has a folded gray towel in its central area and a small round light brown fruit at its rear edge, with no robotic arm visible initially.", "global_instruction_dense": "The left robotic arm moves into view, grasps the folded gray towel to reposition it on the left side of the table, then moves to the small light brown fruit, grasps it, and places it in the central empty area of the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1101, "tasks": ["place food"], "length": 274, "global_instruction": "Remove the yellow egg from the small stainless steel dish and place it on the white table.", "scene_description": "A round white table holds a small stainless steel dish with a yellow egg, a red-handled spoon, a small gray shaker, a white mug, and two stainless steel containers, in an indoor room with white walls and doors in the background.", "global_instruction_dense": "The right robotic arm moves toward the small stainless steel dish holding the yellow egg on the table, grasps the egg, lifts it out of the dish, moves it to the adjacent table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1102, "tasks": ["place food"], "length": 215, "global_instruction": "Place the light brown egg into the small single-handle stainless steel bowl", "scene_description": "A light brown egg, red-handled metal fork, white ceramic mug, small single-handle stainless steel bowl, small two-handle stainless steel bowl, lidded stainless steel container, and small gray plastic cup are arranged on a white round table, with a robotic arm station to the left of the table.", "global_instruction_dense": "The right robotic arm extends toward the light brown egg on the left side of the white table, grasps the egg with its gripper, lifts the egg, moves it over the adjacent small single-handle stainless steel bowl, lowers the egg, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1103, "tasks": ["place food"], "length": 272, "global_instruction": "Place the egg into the small empty stainless steel dish on the table.", "scene_description": "A white round table holds a red bowl, a small egg in a holder, a white mug, a red-handled tool, an open stainless steel container, a lidded stainless steel container, and a small gray bottle.", "global_instruction_dense": "The left robotic gripper moves toward the egg on the table, grasps it, lifts it, moves it over the small stainless steel dish, lowers it, and releases it into the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1104, "tasks": ["place food"], "length": 215, "global_instruction": "Place the light brown egg from its small stainless steel bowl into the adjacent empty small stainless steel bowl.", "scene_description": "A white round table holds a red bowl, red mug, light gray mug, red-handled utensil, lidded stainless steel pot, loose stainless steel lid, two small stainless steel bowls (one containing a light brown egg), and a small gray shaker. A robotic arm is positioned left of the table.", "global_instruction_dense": "The right robotic arm moves from left of the table toward the small stainless steel bowl holding the light brown egg, grasps the egg, lifts it out of the bowl, moves it over the adjacent empty small stainless steel bowl, and releases the egg into that bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1105, "tasks": ["place food"], "length": 188, "global_instruction": "Place the brown egg into the red bowl on the table.", "scene_description": "A white round table holds a red bowl, red mug, white mug, red-handled utensil, large stainless steel pot, stainless steel lid, two small stainless steel bowls, a brown egg, and a small gray container, with a robotic arm base to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the brown egg on the table, grasps it, lifts it, moves it over the red bowl, lowers the egg into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1106, "tasks": ["place food"], "length": 199, "global_instruction": "Place the small black pepper shaker into the open silver pot on the table.", "scene_description": "A red bowl, small black pepper shaker, red-handled fork, light brown egg, silver pot lid, two small silver pots, and a white mug are arranged on a white round table, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the small black pepper shaker on the white round table, grasps and lifts it, moves it over the open silver pot on the right section of the table, lowers it, and releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1107, "tasks": ["place food"], "length": 204, "global_instruction": "Place the orange tomato into the red bowl on the white table", "scene_description": "A white round table holds a silver metal bowl, a small red cup, a red bowl with dark contents, black utensils, and a dark lidded pot. A Franka Emika robotic base with green lights is to the left of the table.", "global_instruction_dense": "The right robotic arm moves down from above toward the table, grasps the orange tomato, moves it over the red bowl, and releases it into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1108, "tasks": ["place food"], "length": 186, "global_instruction": "Take the orange tomato out of the red bowl and place it on the white table surface.", "scene_description": "A white round table holds a stainless steel bowl, a small red cup, a red bowl with an orange tomato inside, metal utensils, white napkins, a black-handled knife, and a black cooking pot with a glass lid. A robotic arm base with green indicator lights sits to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red bowl on the white table, grasps the orange tomato inside the bowl, lifts the tomato out of the bowl, moves it left above the table, and releases it onto the table surface between the red cup and stainless steel bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1109, "tasks": ["place food"], "length": 742, "global_instruction": "Stir the silver bowl's contents, store the stirrer in the red cup, move the red cup, and place the orange tomato into the red bowl.", "scene_description": "A white round table holds a small gray rectangular object, a white cloth with two red stripes, an orange tomato, a black-handled spoon, a silver metal bowl, a red cup, a red bowl with dark contents, and a black lidded pot; a Franka Emika robotic base with green lights is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp a metal stirrer from the silver bowl, stirs the bowl's contents, places the stirrer into the red cup, lifts and moves the red cup next to the silver bowl, then grasps the orange tomato, moves it to the red bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1110, "tasks": ["place food"], "length": 175, "global_instruction": "Remove the orange tomato from the red bowl and place it on the white table surface.", "scene_description": "A white round table sits next to a robotic arm base; the table holds a red mug, a silver metal bowl, metal utensils, a black spoon, a red bowl containing an orange tomato, and a lidded black pot, with a right robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the red bowl, grasps the orange tomato inside the bowl, lifts the tomato out of the bowl, moves it to an empty spot on the white table, lowers and releases the tomato onto the table, then lifts its gripper away from the tomato.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1111, "tasks": ["place food"], "length": 349, "global_instruction": "Place the red tomato into the silver bowl, then place the green object from the red bowl onto the checkered tablecloth.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, a red tomato left of the bowl, a red bowl with a green object inside left of the tomato, several light brown eggs, a green bottle and other red bowls at the back. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves down to grasp the red tomato on the table, lifts it, moves it over the silver bowl and releases it into the bowl, then moves to the red bowl, grasps the green object inside, lifts it, moves it to the empty tablecloth area next to the red bowl and releases it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1112, "tasks": ["place food"], "length": 184, "global_instruction": "Pick the red tomato from the stainless steel bowl and place it on the table next to the leftmost red bowl.", "scene_description": "A round table covered with a red and black checkered tablecloth sits next to a Franka Emika robotic arm base on the left. On the table, there are three red bowls, three light brown eggs, a silver stainless steel bowl holding a green object and a red tomato, and several small bottles at the far right table edge.", "global_instruction_dense": "The left robotic arm extends its gripper toward the stainless steel bowl on the checkered table, grasps the red tomato inside the bowl, lifts it, moves it left toward the leftmost red bowl, and releases it onto the table next to that bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1113, "tasks": ["place food"], "length": 147, "global_instruction": "Place the orange tomato on the table into the leftmost red bowl.", "scene_description": "A round table covered with orange-black checkered tablecloth holds an orange tomato, three brown eggs, a silver bowl with a green item inside, multiple red bowls, a green bottle and small containers. A robotic arm is positioned to the left of the table with its gripper raised above the table.", "global_instruction_dense": "The right robotic gripper moves down toward the orange tomato on the table, grasps it, lifts it, moves it over the leftmost red bowl, releases the tomato into the bowl, then lifts the gripper away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1114, "tasks": ["place food"], "length": 179, "global_instruction": "Take the egg out of the silver metal bowl and place it on the checkered tabletop", "scene_description": "A round table with a red and black checkered tablecloth holds three red bowls, three light brown eggs on the tabletop, a silver metal bowl containing an egg and a small green object, a green bottle, a small white bottle, and a pink plastic bag in the right red bowl. A Franka Emika robotic arm base with green lights is to the left of the table.", "global_instruction_dense": "The right robotic arm descends toward the silver metal bowl on the table, lowers its gripper into the bowl to grasp the light brown egg inside, lifts the egg out of the bowl, moves it leftward, and places it onto the checkered tabletop left of the silver bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1115, "tasks": ["place food"], "length": 178, "global_instruction": "Take the red tomato from the left red bowl and place it on the tablecloth next to the bowl.", "scene_description": "A round table covered in an orange and black checkered tablecloth holds four light brown eggs, a silver stainless steel bowl, three red bowls (the leftmost red bowl contains a red tomato, the rightmost red bowl holds plastic items, the third red bowl is at the back of the table), plus a green bottle and small bottles, with a Franka Emika robotic arm positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the left red bowl, grasps the red tomato inside the bowl, lifts the tomato up, moves it slightly to the left, then lowers it and releases it onto the checkered tablecloth next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1116, "tasks": ["place food"], "length": 176, "global_instruction": "Place the light brown egg into the silver stainless steel bowl on the checkered table.", "scene_description": "A round table covered with orange and black checkered cloth is in a lab. On the table, there is a silver stainless steel bowl, four light brown eggs, a small red tomato, a small green broccoli, three red bowls, and small bottles at the far end. A Franka Emika robotic arm base with green lights is to the left of the table.", "global_instruction_dense": "The right robotic arm moves downward toward a light brown egg on the table, grasps the egg with its gripper, lifts the egg, moves it over the silver stainless steel bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1117, "tasks": ["place food"], "length": 148, "global_instruction": "Place the red tomato on the checkered table into the nearest red bowl.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a red tomato, green broccoli, three eggs, a silver stainless steel bowl, three red bowls, a green bottle, and small containers, with a Franka Emika robotic arm to the left of the table.", "global_instruction_dense": "The left robotic arm lowers toward the red tomato on the table, grasps it, lifts it, moves it over the nearest red bowl, lowers and releases it into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1118, "tasks": ["place food"], "length": 360, "global_instruction": "Take the two eggs out of the silver metal bowl and place them on the checkered tabletop.", "scene_description": "A round table covered with orange and black checkered tablecloth holds three red bowls, three light brown eggs on the tablecloth, and a silver metal bowl containing one light brown egg and one green egg. A white Franka robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the silver metal bowl, grasps a light brown egg inside the bowl, lifts it, places it on the checkered tablecloth, returns to the bowl, grasps a green egg, lifts it, and places it on the tablecloth next to the light brown egg.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1119, "tasks": ["place food"], "length": 177, "global_instruction": "Place the single light brown egg at the front of the table into the left red bowl containing green objects.", "scene_description": "A round table covered with a red and black checkered tablecloth holds four light brown eggs, three red bowls, a silver metal bowl, a green bottle, and small white bottles. A Franka Emika robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm extends downward toward the single light brown egg on the checkered table, grasps the egg with its gripper, lifts the egg, moves it over the left red bowl with green items inside, lowers the egg into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1120, "tasks": ["place food"], "length": 171, "global_instruction": "Place an egg from the leftmost red bowl onto the checkered table surface.", "scene_description": "A round table with an orange and black checkered tablecloth holds three red bowls, a silver metal bowl, three loose brown eggs, a green bottle, and small plastic containers. A robotic arm is positioned left of the table, with the closest red bowl containing a brown egg and a green ball.", "global_instruction_dense": "The left robotic arm moves down toward the leftmost red bowl, grasps a brown egg inside the bowl, lifts the egg, moves it over the empty table surface, and releases the egg onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1121, "tasks": ["place food"], "length": 184, "global_instruction": "Place the red tomato from the leftmost red bowl onto the table next to the single light brown egg.", "scene_description": "A round table covered with a red and black checkered tablecloth holds three red bowls, a stainless steel bowl, four light brown eggs, a green bottle, and small containers. A robotic arm base is to the left of the table, and the leftmost red bowl contains a red tomato and a green object.", "global_instruction_dense": "The left robotic arm extends toward the leftmost red bowl on the checkered table, grasps the red tomato inside the bowl, lifts the tomato, moves it to the area beside the single light brown egg on the table, lowers and releases the tomato onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1122, "tasks": ["place food"], "length": 146, "global_instruction": "Place the red tomato on the table into the silver stainless steel bowl.", "scene_description": "A round table covered with red and black checkered tablecloth holds a silver stainless steel bowl, two red bowls, four light brown eggs, one red tomato, and small bottles; a Franka robotic arm base is on the left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the red tomato on the table, grasps it, lifts it, moves it over the silver stainless steel bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1123, "tasks": ["place food"], "length": 202, "global_instruction": "Place the brown egg near the left red bowl into the silver metal bowl", "scene_description": "A round table covered with red and black checkered tablecloth holds a red bowl at the left, a single brown egg and green toy broccoli next to the red bowl, three brown eggs further right, a silver metal bowl near the center, a red bowl with a plastic bag at the far right, and small green and white bottles near the far right bowl. A robotic arm base is visible at the left edge, with no gripper in view initially.", "global_instruction_dense": "The left robotic arm moves down from above the table, grasps the brown egg next to the left red bowl, lifts the egg, moves it right over the silver metal bowl, lowers the egg, and releases it into the silver metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1124, "tasks": ["place food"], "length": 186, "global_instruction": "Take an egg from the stainless steel bowl and place it on the table next to the tray of eggs.", "scene_description": "A round table with a red and black checkered tablecloth holds a stainless steel bowl, three eggs in a clear plastic tray, a small green broccoli-shaped toy, two red bowls, and small green and white bottles. A Franka Emika robotic arm is positioned to the left of the table, with its gripper raised.", "global_instruction_dense": "The right robotic gripper lowers toward the stainless steel bowl on the table, grasps an egg inside the bowl, lifts the egg, moves it rightward to the area beside the tray of eggs, lowers it onto the table surface, releases the egg, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1125, "tasks": ["place food"], "length": 199, "global_instruction": "Take the red tomato from the silver metal bowl and place it on the checkered tabletop", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, a red empty bowl, several eggs, a small green toy broccoli, and small bottles on its far edge. A robotic arm is positioned to the left of the table, with its gripper not visible in the initial frame.", "global_instruction_dense": "The left robotic gripper moves down toward the silver metal bowl on the checkered table, enters the bowl to grasp the red tomato inside, lifts the tomato, moves it leftward over the table, lowers it, and releases it onto the table surface near the green broccoli.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1126, "tasks": ["place food"], "length": 196, "global_instruction": "Place the orange tomato on the checkered table into the silver metal bowl.", "scene_description": "A round table with a red and black checkered tablecloth holds an orange tomato, green plastic broccoli, four eggs, a silver metal bowl, two red bowls, a green bottle, and two small white bottles. A Franka Emika robotic arm base sits to the left of the table.", "global_instruction_dense": "The left robotic arm descends toward the orange tomato on the checkered table, grasps it with its gripper, lifts it, moves it over the silver metal bowl, releases it into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1127, "tasks": ["place food"], "length": 181, "global_instruction": "Place a light brown egg into the red bowl containing the green plastic broccoli.", "scene_description": "A round table covered in red and black checkered cloth holds a silver metal bowl, four light brown eggs, a red bowl with a green plastic broccoli inside, a second red bowl at the table's right edge, and a green spray bottle next to the right red bowl. A Franka Emika robotic arm base is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves downward toward a light brown egg on the table, grasps the egg, lifts it, moves it over the red bowl with the green broccoli, lowers the egg into the bowl, releases it, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1128, "tasks": ["place food"], "length": 202, "global_instruction": "Place the egg from the front red bowl onto the checkered tabletop", "scene_description": "A round table covered with a red and black checkered tablecloth holds a stainless steel bowl, three eggs in a clear tray, a green bottle, two red bowls (one containing an egg, another holding a plastic bag), and a robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the egg in the front red bowl, grasps the egg with its gripper, lifts the egg out of the bowl, moves it leftward over the table, lowers it, and releases it onto the table surface next to the stainless steel bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1129, "tasks": ["place food"], "length": 168, "global_instruction": "Place the red tomato from the silver metal bowl onto the checkered tabletop.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, four light brown eggs, two red bowls, a green bottle, and small plastic containers, with a Franka Emika robotic arm base to the left of the table.", "global_instruction_dense": "The left robotic arm moves down to the silver metal bowl, grasps the red tomato inside the bowl, lifts the tomato, moves it over the table surface, lowers and releases it onto the table, then lifts upward away from the placed tomato.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1130, "tasks": ["place food"], "length": 167, "global_instruction": "Place the red tomato on the table into the silver metal bowl.", "scene_description": "A table covered with a red and black checkered tablecloth holds a red tomato, four light brown eggs, a silver metal bowl, two red bowls, and a green bottle. A Franka Emika robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the red tomato on the checkered table, grasps the tomato with its gripper, lifts it, moves it over the silver metal bowl, and releases the tomato into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1131, "tasks": ["place food"], "length": 141, "global_instruction": "Place the light brown egg on the checkered table into the empty red bowl.", "scene_description": "A round table covered with red and black checkered tablecloth is in front of a Franka Emika robotic arm. On the table, there is a single light brown egg near the left edge, an empty red bowl in front of the egg, a stainless steel bowl further back, three light brown eggs in a clear container behind the stainless bowl, a green bottle, a small white bottle, and another red bowl with a plastic bag inside at the back right.", "global_instruction_dense": "The left robotic arm moves down toward the light brown egg on the checkered table, grasps the egg, lifts it, moves it over the empty red bowl, lowers it into the bowl, and releases the egg.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1132, "tasks": ["place food"], "length": 205, "global_instruction": "Take the red tomato from the stainless steel bowl and place it on the checkered table surface.", "scene_description": "A round table covered in orange and black checkered cloth holds a stainless steel bowl, a foreground red bowl with a single egg, a clear tray with three eggs next to the steel bowl, a green bottle, and a far-right red bowl with plastic items. A FRANKA EMIKA robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm extends toward the stainless steel bowl on the table, grasps the red tomato inside the bowl, lifts it, moves it over the checkered table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1133, "tasks": ["place food"], "length": 153, "global_instruction": "Place the red tomato on the checkered table into the silver metal bowl", "scene_description": "A table covered with a red and black checkered tablecloth holds a red tomato, a silver metal bowl, a clear tray with three eggs, a green bottle, a small white bottle, a red bowl with plastic contents, and another red bowl holding one egg. A robotic gripper is positioned above the table initially, with the robot base on the left edge of the view.", "global_instruction_dense": "The left robotic arm moves downward toward the red tomato on the table, grasps the tomato with its gripper, lifts the tomato, moves it over the silver metal bowl, lowers and releases the tomato into the bowl, then lifts its gripper back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1134, "tasks": ["place food"], "length": 200, "global_instruction": "Place the egg from the front red bowl onto the checkered tabletop.", "scene_description": "A round table covered with red and black checkered cloth holds a front red bowl with one egg, a silver metal bowl, three loose eggs next to the metal bowl, small bottles at the back right, and a second red bowl at the far right, with a robotic arm base at the left of the scene.", "global_instruction_dense": "The left robotic gripper moves toward the egg in the front red bowl, grasps the egg, lifts it out of the bowl, moves it over the open checkered table surface, lowers it, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1135, "tasks": ["place food"], "length": 143, "global_instruction": "Pick up the brown egg on the table and place it into the silver metal bowl", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, a single brown egg on the table surface, a red bowl with a green object inside, three more brown eggs next to the silver bowl, a green bottle, and a second red bowl on the far right. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the brown egg on the checkered table, grasps it, lifts it, moves it to the silver metal bowl, lowers it into the bowl, releases the egg, and lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1136, "tasks": ["place food"], "length": 163, "global_instruction": "Place the red tomato from the silver bowl onto the table next to the egg tray.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, a clear plastic tray with three brown eggs, a red bowl with a green fuzzy ball, a rear red bowl, a green bottle, and small white bottles. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves down toward the silver bowl on the checkered table, grasps the red tomato inside the bowl, lifts the tomato, moves it right to the area adjacent to the egg tray, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1137, "tasks": ["place food"], "length": 160, "global_instruction": "Place the red tomato on the table into the front red bowl holding the green object.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl with an egg, three loose eggs, a red tomato, a front red bowl with a green object inside, a far right red bowl with a plastic bag, and small bottles near the far right. A robotic gripper is positioned above the table at the top of the frame.", "global_instruction_dense": "The right robotic gripper moves downward toward the red tomato on the table, grasps it, lifts and moves it over the front red bowl with a green object inside, then lowers and releases the tomato into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1138, "tasks": ["place food"], "length": 138, "global_instruction": "Place the egg from the silver metal bowl onto the table next to the other eggs", "scene_description": "A round table covered with red and black checkered tablecloth holds a silver metal bowl with an egg inside, three eggs in a clear tray to the right of the silver bowl, a red bowl containing a green broccoli model and red tomato model further right, plus a green small bottle and another red bowl with a plastic bag at the far right. A Franka robotic arm is positioned to the left of the table, with its gripper hovering above the table initially.", "global_instruction_dense": "The right robotic gripper moves downward toward the silver bowl on the checkered table, grasps the egg inside the bowl, lifts the egg, moves it right toward the group of three eggs on the table, and releases the egg to place it next to the other eggs.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1139, "tasks": ["place food"], "length": 146, "global_instruction": "Pick the red tomato from the front red bowl and place it on the table near the eggs.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, four light brown eggs, a white mug, a front red bowl containing a green toy broccoli and red toy tomato, a rear right red bowl, and small bottles. A Franka robotic arm base is on the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the front red bowl, grasps the red tomato inside the bowl, lifts it, moves it to the table area next to the eggs and silver bowl, then releases the tomato onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1140, "tasks": ["place food"], "length": 174, "global_instruction": "Place the red tomato into the silver metal bowl on the table.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, four light brown eggs, a red tomato, an empty red bowl, a white mug, a green small bottle, and a red bowl with plastic contents at the far right. A robotic arm is positioned above the table initially.", "global_instruction_dense": "The right robotic arm moves downward toward the red tomato on the checkered table, grasps it with its gripper, lifts the tomato, moves it left over the silver metal bowl, lowers it into the bowl, releases the tomato, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1141, "tasks": ["place food"], "length": 165, "global_instruction": "Place a light brown egg into the empty red bowl on the table.", "scene_description": "A table covered with orange and black checkered tablecloth holds a silver metal bowl, four light brown eggs, an empty red bowl, a white mug, a small green bottle, and a red bowl with a pink object. A Franka robotic arm is positioned above the table at the top of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the eggs on the table, grasps a light brown egg, lifts it, moves it over the empty red bowl, lowers the egg, and releases it into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1142, "tasks": ["place food"], "length": 193, "global_instruction": "Place the egg from the nearer red bowl into the clear egg tray", "scene_description": "A round table with a red and black checkered tablecloth holds a red bowl with one egg (near the robotic arm), a metal bowl with green items, a clear egg tray with three eggs, a white mug, a small green bottle, and another red bowl with plastic items. A white Franka Emika robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves toward the egg in the nearer red bowl, grasps the egg, lifts it, moves it to the clear egg tray, and places it into an empty slot of the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1143, "tasks": ["place food"], "length": 145, "global_instruction": "Place a light brown egg into the empty red bowl on the table.", "scene_description": "A round table covered with red and black checkered tablecloth holds a silver metal bowl, an empty red bowl, several light brown eggs, a small green toy broccoli, a white mug, a green bottle, and a red bowl with a pink item in the background. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the eggs on the table, grasps a light brown egg, lifts it, moves it over the empty red bowl, and releases the egg into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1144, "tasks": ["place food"], "length": 183, "global_instruction": "Pick the red apple from the stainless steel bowl and place it on the table next to the egg tray.", "scene_description": "A table covered with red and black checkered cloth holds a stainless steel bowl, three eggs in a clear tray, a small green object, a red bowl with an egg, a white mug, a yellow bottle, and a red bowl with pink items. A Franka robotic arm is positioned to the left of the table with its gripper raised above the table.", "global_instruction_dense": "The left robotic arm lowers its gripper toward the stainless steel bowl, grasps the red apple inside the bowl, lifts the apple, moves it to the table area next to the egg tray, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1145, "tasks": ["place food"], "length": 176, "global_instruction": "Take the egg from the front red bowl and place it on the table near the other eggs.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, a front red bowl with one egg inside, a clear tray with three eggs, a green toy broccoli, a red tomato, a white mug, a green bottle, and a back red bowl with a pink object. A Franka Emika robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper lowers toward the front red bowl, grasps the egg inside the bowl, lifts the egg, moves it to the table area next to the other three eggs, then lowers and releases the egg onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1146, "tasks": ["place food"], "length": 182, "global_instruction": "Place the red tomato on the table into the silver metal bowl.", "scene_description": "A round table with orange and black checkered tablecloth holds a left silver metal bowl, front red plastic bowl, clear egg tray with three eggs, a single egg, a red tomato, a small green toy, a white mug, a green bottle, and a back-right red bowl with pink items. A FRANKA EMIKA robotic arm is positioned left of the table.", "global_instruction_dense": "The left robotic gripper moves toward the red tomato on the checkered table, grasps the tomato, lifts it, moves it over the silver metal bowl, and releases the tomato into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1147, "tasks": ["place food"], "length": 463, "global_instruction": "Place the loose brown egg, green plastic toy, and red tomato into the empty red bowl on the table.", "scene_description": "A round table with a red and black checkered tablecloth holds a silver metal bowl, a loose brown egg, a green plastic toy, an empty red bowl, a white mug, an egg carton with three brown eggs, a small green bottle, and a red bowl with a pink item. A white robotic arm is positioned to the left of the table with its gripper raised above the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the loose brown egg on the table, lifts and places it into the empty red bowl, then moves to grasp the green plastic toy on the table, lifts and places it into the same red bowl, next moves to the silver metal bowl to grasp the red tomato, lifts and places it into the red bowl before pulling away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1148, "tasks": ["place food"], "length": 160, "global_instruction": "Take the tomato from the front red bowl and place it on the checkered tablecloth", "scene_description": "A round table covered with orange and black checkered tablecloth holds a silver metal bowl, three eggs in a clear tray, a green toy broccoli, a white mug, two red bowls (one holding a tomato and an egg, the other holding a pink object), a green bottle and small containers, with a robotic arm base at the left edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the front red bowl, grasps the red tomato inside the bowl, lifts the tomato out of the bowl, moves it over the table surface, and releases it onto the checkered tablecloth next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1149, "tasks": ["place food"], "length": 164, "global_instruction": "Place the light brown egg from the front red bowl onto the table next to the silver metal bowl.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, a clear tray with three light brown eggs, a red tomato, a small green object, a white mug, a front red bowl containing a light brown egg, and a back red bowl at the far right of the table. A Franka Emika robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves toward the light brown egg inside the front red bowl, grasps the egg, lifts it out of the bowl, moves it leftward to the table area adjacent to the silver metal bowl, lowers the egg, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1150, "tasks": ["place food"], "length": 144, "global_instruction": "Place the red tomato on the checkered table into the front red bowl", "scene_description": "A round table covered with orange and black checkered tablecloth holds a silver metal bowl, two red bowls (one front, one rear), four light brown eggs (three in a clear tray, one loose), a red tomato, a green ball, a white mug, a small green bottle, and a small white bottle. A Franka robotic arm is positioned to the left of the table with its gripper initially out of view above the frame.", "global_instruction_dense": "The left robotic arm lowers its gripper toward the red tomato on the table, grasps the tomato, lifts it, moves it over the front red bowl, lowers the tomato into the bowl, releases it, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1151, "tasks": ["place food"], "length": 182, "global_instruction": "Place the light brown egg on the checkered tablecloth into the silver metal bowl.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl on its left side, a single light brown egg in front of the silver bowl, a clear plastic tray with three light brown eggs to the right of the silver bowl, a red bowl containing a tomato in front of the tray, a green plastic tool, a white mug, a green bottle, and a red bowl with a pink object at the far right of the table. A robotic arm is positioned at the left edge of the scene, above the table.", "global_instruction_dense": "The right robotic arm moves downward toward the light brown egg on the checkered tablecloth, grasps the egg with its gripper, lifts the egg, moves it over the silver metal bowl, lowers the egg, and releases it into the silver metal bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1152, "tasks": ["place food"], "length": 227, "global_instruction": "Pick a brown egg from the clear tray and place it on the checkered tablecloth.", "scene_description": "A round table covered in red and black checkered fabric holds a clear plastic tray with three brown eggs, a silver metal bowl, a red bowl with green and red toy vegetables, a white mug, a small green bottle, and a red bowl with a pink item. A Franka robotic arm base sits to the left of the table, with its end effector initially out of view above the table.", "global_instruction_dense": "The right robotic arm descends from above the table, grasps a brown egg from the clear plastic tray, lifts the egg, moves it leftward over the checkered tablecloth, lowers it, and releases it onto the tablecloth surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1153, "tasks": ["place food"], "length": 176, "global_instruction": "Pick up an egg from the table and place it into the silver metal bowl.", "scene_description": "A round table covered with red and black checkered tablecloth holds a silver metal bowl, three light brown eggs, a red bowl with green and orange toy produce, a white mug, a green bottle, and a red bowl with a pink item. A Franka Emika robotic arm is positioned at the left side of the view.", "global_instruction_dense": "The left robotic gripper lowers toward a light brown egg on the checkered table, grasps the egg, lifts it, moves it over the silver metal bowl, lowers and releases the egg into the bowl, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1154, "tasks": ["place food"], "length": 197, "global_instruction": "Take the egg out of the stainless steel bowl and place it on the table next to the two existing eggs.", "scene_description": "A round table covered with an orange and black checkered tablecloth sits in front of a Franka robotic arm. On the table, a stainless steel bowl with an egg inside is leftmost, two eggs are placed on the table to the bowl's right, a red bowl with green and orange toy produce sits further right, a white mug and green bottle are near the table's back, and another red bowl with a pink object is at the far right.", "global_instruction_dense": "The left robotic arm moves downward toward the stainless steel bowl on the table, grasps the egg inside the bowl, lifts the egg out of the bowl, moves it toward the table surface next to the two other eggs, lowers the egg, and releases it onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1155, "tasks": ["place food"], "length": 187, "global_instruction": "Take the egg from the silver metal bowl and place it on the table next to the other loose eggs.", "scene_description": "A round table covered in a red and black checkered tablecloth sits in front of a Franka Emika robotic arm. On the table: a left silver metal bowl holds an egg, three loose eggs are next to the bowl, a front red bowl holds fake red and green vegetables, a white mug is right of the eggs, and a green bottle and rear red bowl are at the far end of the table.", "global_instruction_dense": "The left robotic arm lowers toward the silver metal bowl, grasps the egg inside the bowl, lifts the egg, moves it to the area with the other loose eggs on the table, lowers it, and releases it onto the checkered tablecloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1156, "tasks": ["place food"], "length": 189, "global_instruction": "Place the green vegetable from the front red bowl onto the table near the eggs.", "scene_description": "A round table with a red and black checkered tablecloth holds a silver metal bowl, four eggs, a front red bowl with a green vegetable and red tomato, a white mug, a green bottle, and a back red bowl with a pink object. A Franka robotic arm base is to the left of the table.", "global_instruction_dense": "The left robotic arm moves down toward the front red bowl, grasps the green vegetable inside, lifts it, moves it to the table next to the eggs, releases it, and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1157, "tasks": ["place food"], "length": 131, "global_instruction": "Place a light brown egg into the silver metal bowl on the checkered table", "scene_description": "A round table covered with red and black checkered tablecloth holds a silver metal bowl on the left, four light brown eggs adjacent to the bowl, a red printed bowl at the front, a small green object, a white mug to the right of the red bowl, a yellow bottle, and another red bowl at the far right. A Franka Emika robotic arm is positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the eggs on the table, grasps a light brown egg, lifts it, moves it over the silver metal bowl, releases the egg into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1158, "tasks": ["place food"], "length": 303, "global_instruction": "Remove the pot lid, take the red tomato out of the pot, and place it on the table.", "scene_description": "A black pot with a glass lid sits on a white round table, with a red tomato inside the pot. To the pot's right are a red bowl, red mug with red spoon, clear cup, black spoon, and white cloth with red stripes. A robotic arm is positioned left of the table.", "global_instruction_dense": "The right robotic arm grasps the glass lid on the black pot, lifts and places it on the table next to the pot, then reaches into the uncovered pot, grasps the red tomato inside, lifts it out and places it on the table, then retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1159, "tasks": ["place food"], "length": 274, "global_instruction": "Take the red tomato out of the black pot and place it on the white table surface.", "scene_description": "A round white table holds a black pot with a red tomato inside, a black spoon, a glass lid, a white towel with red stripes, a red bowl, a red cup, and a clear cup. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the black pot on the white table, lowers into the pot to grasp the red tomato inside, lifts the tomato out of the pot, moves it to the empty space on the table between the pot and red bowl, lowers and releases the tomato onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1160, "tasks": ["place food"], "length": 265, "global_instruction": "Take the red tomato out of the black pot and place it on the white tabletop.", "scene_description": "A white round table holds a black pot with a red tomato inside, a clear glass, a black spoon, two red bowls, a silver spoon with a red handle, and a plate with folded white napkins, with a robotic arm base positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves above the black pot, lowers into the pot to grasp the red tomato, lifts the tomato out of the pot, moves it to an empty spot on the table near the red-handled spoon, and releases the tomato onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1161, "tasks": ["place food"], "length": 159, "global_instruction": "Place the red tomato from the black pan onto the adjacent white tabletop.", "scene_description": "A white round table holds a black pan with a red tomato inside, a red-handled spoon, two red bowls, a clear measuring cup, a plate with folded white napkins, and a black spatula, with a robotic arm station to the left of the table.", "global_instruction_dense": "The right robotic arm moves above the black pan, lowers to grasp the red tomato inside the pan, lifts the tomato, moves it to the empty table space next to the pan, lowers and releases the tomato onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1162, "tasks": ["place food"], "length": 156, "global_instruction": "Place the small orange tomato into the black dual-handle pot on the table", "scene_description": "A white round table sits next to a Franka robotic arm. On the table, a black dual-handle pot is on the left, a small orange tomato is right of the pot, a glass lid with a black knob is on the right side of the table, and two red bowls (one with a spoon), a small white seasoning shaker, and a black ladle are at the far end of the table.", "global_instruction_dense": "The right robotic arm moves over the table toward the small orange tomato, grasps the tomato with its gripper, lifts the tomato, moves it over the black pot, releases the tomato into the pot, then lifts away from the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1163, "tasks": ["place food"], "length": 176, "global_instruction": "Take the red tomato out of the black pot and place it on the white tabletop.", "scene_description": "A white round table holds a black pot with a red tomato inside, a clear glass lid, a black cooking spoon, two red bowls, and a small clear measuring cup. A Franka robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves above the black pot, lowers its gripper to grasp the red tomato inside the pot, lifts the tomato out of the pot, moves it to an empty spot on the white table, lowers it, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1164, "tasks": ["place food"], "length": 194, "global_instruction": "Place the orange tomato on the table into the black pot.", "scene_description": "A white round table holds a black two-handled pot, an orange tomato, a red-handled metal spoon, a transparent plastic cup, a black ladle, two red bowls, and a glass pot lid. A robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the orange tomato on the table, grasps it with its gripper, lifts and moves it over the black pot, then releases it into the pot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1165, "tasks": ["place food"], "length": 206, "global_instruction": "Remove the red tomato from the black pot and place it on the white tabletop.", "scene_description": "A white round table holds a black pot containing a red tomato and a small green vegetable, a black serving spoon, a small light-colored wooden spoon, three red bowls, a small red cup with a white spoon, a clear glass pitcher, a white salt shaker, and a glass pot lid. A Franka robotic arm is positioned adjacent to the left side of the table.", "global_instruction_dense": "The right robotic gripper moves downward toward the black pot, grasps the red tomato inside the pot, lifts the tomato out, moves it to an open area of the white table, lowers and releases the tomato onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1166, "tasks": ["place food"], "length": 586, "global_instruction": "Place the green vegetable and red tomato from the red bowl into the black pot, then cover the pot with the glass lid.", "scene_description": "A white round table holds a black cooking pot, two red bowls, a clear glass pot lid, a red-handled metal spoon, a black ladle, a small wooden spoon, a green bottle, a clear cup, and a red cup. One red bowl contains a green vegetable and a red tomato, the pot is left of the bowls, and the lid sits in front of the pot.", "global_instruction_dense": "The right robotic arm moves to the red bowl holding a green vegetable and red tomato, grasps the green vegetable, lifts and places it into the black pot, then grasps the red tomato, lifts and places it into the pot, then grasps the glass pot lid, lifts it, and places it on top of the pot to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1167, "tasks": ["place food"], "length": 544, "global_instruction": "Remove the lid from the black pot, then place the vegetables inside the pot into the red bowl.", "scene_description": "A white round table holds a black pot with a glass lid, a red cup, a red bowl with a red spoon, and a small double-handled stainless steel pot. A white desk with a laptop and silver can sits to the left of the table, and cardboard boxes are to the right of the table.", "global_instruction_dense": "The left robotic arm grasps and lifts the glass lid off the black pot, places the lid on the table, then takes the green vegetable and red vegetable from inside the pot one by one, and places both vegetables into the red bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1168, "tasks": ["place food"], "length": 465, "global_instruction": "Place the items from the red bowl and the table into the silver metal bowl.", "scene_description": "A round table covered in red and black checkered fabric holds a silver metal bowl, a red bowl containing a green item and an orange item, multiple light beige oval fruits, a small red bowl, and two small white bottles, with a robotic arm base positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper moves to the red bowl, grasps the green item, transfers and places it into the silver bowl, then grasps the orange item from the red bowl, transfers and places it into the silver bowl, then grasps a light beige oval fruit from the table, transfers and places it into the silver bowl, before moving back to its initial upper position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1169, "tasks": ["place food"], "length": 454, "global_instruction": "Place the orange fruit, green fruit, and an egg into the large silver bowl on the table.", "scene_description": "A round table covered with red and black checkered cloth holds a large silver metal bowl in the foreground, a small red bowl with an orange fruit and green fruit inside behind it, another red bowl further back, and several eggs to the right of the silver bowl. A robotic arm is positioned on the left of the frame.", "global_instruction_dense": "The right robotic arm moves toward the small red bowl, grasps the orange fruit inside, lifts and moves it to release into the large silver bowl, then grasps the green fruit inside the small red bowl, lifts and moves it to release into the silver bowl, then moves to the eggs on the table, grasps an egg, lifts and moves it to release into the silver bowl before moving upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1170, "tasks": ["place food"], "length": 508, "global_instruction": "Place an egg, a green object, and an orange object into the silver metal bowl on the checkered table.", "scene_description": "A round table covered with a red and black checkered tablecloth holds a silver metal bowl, two red bowls (one at the front containing green and orange items, one empty at the back), several light brown eggs beside the silver bowl, and small white and grey bottles at the table's rear. A FRANKA EMIKA robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic arm moves toward a light brown egg beside the silver bowl, grasps it, lifts and places it into the silver bowl, then moves to the front red bowl, grasps the green object, lifts and places it into the silver bowl, then grasps the orange object from the same red bowl, lifts and places it into the silver bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1171, "tasks": ["place food"], "length": 249, "global_instruction": "Place a brown egg from the tray into the red mug on the tray", "scene_description": "A white table holds a white tray with a red mug, two brown eggs, and a small white egg. To the tray's right are a white mug, metal strainer, green bottle, metal container, and red bowl of tomatoes; a desk with a monitor and boxes sits to the left.", "global_instruction_dense": "The right robotic arm descends toward the brown eggs on the white tray, grasps one brown egg with its gripper, lifts the egg, moves it over the red mug, and releases the egg into the red mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1172, "tasks": ["place food"], "length": 193, "global_instruction": "Place the light brown egg on the tray into the red mug.", "scene_description": "A white table with a white tray is in the center, a light brown egg, small white ball, and red mug are placed on the tray, with kitchen items like a white mug, green bottle, and red bowl at the far end of the table, and a desk with electronics on the left side.", "global_instruction_dense": "The left robotic arm moves downward toward the light brown egg on the white tray, grasps the egg, lifts it up, moves it over the red mug, and releases the egg into the red mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1173, "tasks": ["place food"], "length": 238, "global_instruction": "Place a light brown egg into the red cup on the white tray.", "scene_description": "A white table holds a white tray with three light brown eggs, a red cylindrical cup, a white mug, and assorted kitchen items; a work desk with electronics is to the left of the table.", "global_instruction_dense": "The right robotic gripper descends from above the table toward a light brown egg on the right side of the white tray, grasps the egg, lifts it, moves it over the red cup at the center of the tray, and releases the egg into the red cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1174, "tasks": ["place food"], "length": 220, "global_instruction": "Place the light brown egg on the left side of the white tray into the red cup on the tray.", "scene_description": "A white tray on a table holds a light brown egg on its left side, a red cup with an egg inside to the right of the brown egg, and a small silver pot at the back of the tray; scissors, a green bottle, a white mug, a red bowl, and another egg on a metal strainer sit on the table behind the tray, with a desk holding a monitor and stacked boxes to the left, and two white chairs against the back wall.", "global_instruction_dense": "The right robotic gripper moves downward toward the light brown egg on the left of the tray, grasps and lifts the egg, moves it rightward over the red cup, then lowers and releases the egg into the red cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1175, "tasks": ["place food"], "length": 180, "global_instruction": "Place an egg from the white tray into the red mug on the tray", "scene_description": "A white table holds a white tray with three light brown eggs, a small silver metal pot, and a red mug. Behind the tray, there are items including a small green bottle, red tongs, clear glasses, a white mug, a red bowl with tomatoes, and a silver strainer holding an egg. To the left of the table is a desk with a black monitor, stacked brown boxes, and a pink plastic bag, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm moves down from outside the top of the frame toward an egg on the white tray, grasps the egg, lifts it, moves it over the adjacent red mug, and releases the egg into the mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1176, "tasks": ["place food"], "length": 595, "global_instruction": "Place the light brown egg into the red cup", "scene_description": "A white tray on a table holds a light brown egg on its left side, a red cup to the right of the egg, plus background items including a small metal pot, green bottle, white mug, and red bowl with tomatoes; a robotic arm is positioned above the tray.", "global_instruction_dense": "The right robotic gripper moves toward the light brown egg on the left of the white tray, grasps and lifts the egg, moves it rightward over the red cup, and releases the egg into the red cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1177, "tasks": ["place food"], "length": 154, "global_instruction": "Place a light brown egg into the red mug on the white tray.", "scene_description": "A white table holds a white tray with a red mug (black handle) and three light brown eggs. Around the tray are a small metal pot, green bottle, white mug, red bowl with tomatoes, and metal strainer with an egg. Two white chairs are behind the table, and a desk with a monitor, boxes, and equipment is to the left.", "global_instruction_dense": "The right robotic arm moves down toward a light brown egg on the white tray, grasps the egg with its gripper, lifts it, moves it over the red mug, and lowers the egg into the red mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1178, "tasks": ["place food"], "length": 200, "global_instruction": "Place the light brown egg on the white tray into the red mug", "scene_description": "A white table with a white tray holds a red mug, light brown egg, small silver pot, green spray bottle, white mug, red bowl, and an egg in a small silver strainer. Two white chairs are behind the table, and a desk with a black monitor and stacked boxes is on the left.", "global_instruction_dense": "The right robotic arm moves down toward the light brown egg on the white tray, grasps the egg, lifts it, moves it over the red mug, then releases the egg into the red mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1179, "tasks": ["place food"], "length": 154, "global_instruction": "Place a white egg from the tray near the yellow pastries on the table.", "scene_description": "A white table holds a white tray with two white eggs, a red mug, and a small silver cylindrical container. To the tray's right on the table are a green small bottle, yellow pastries, a white mug, a red bowl, and a metal strainer with a brown egg. A desk with a monitor and stacked boxes sits to the left, two white chairs are against the back wall, and a robotic gripper is positioned above the scene.", "global_instruction_dense": "The left robotic gripper descends toward a white egg on the white tray, grasps the egg, lifts it, moves rightward past the red mug, and places it near the yellow pastries on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1180, "tasks": ["place food"], "length": 170, "global_instruction": "Place the white egg on the white tray into the adjacent red cup.", "scene_description": "A white table holds a white tray with a white egg, a red cup, and a small silver metal container; additional items including a green bottle, baked goods, a white mug, and a red bowl are on the table to the right of the tray, with a workbench and monitor visible to the left.", "global_instruction_dense": "The right robotic gripper moves down toward the white egg on the white tray, grasps it, lifts it, moves it over the nearby red cup, and releases the egg into the red cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1181, "tasks": ["place food"], "length": 176, "global_instruction": "Place a white egg into the red measuring cup on the white tray.", "scene_description": "A white table holds a white tray with a red measuring cup, small silver container, bread pieces, green bottle, white mug, red bowl, and eggs. A desk with a monitor and stacked boxes is to the left of the table, with the robotic arm out of view.", "global_instruction_dense": "The right robotic arm moves downward from above the frame, grasps a white egg on the table, lifts it, moves it over the red measuring cup on the white tray, and releases the egg into the red cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1182, "tasks": ["place food"], "length": 212, "global_instruction": "Pick up the orange package from the upper shelf and place it on the countertop below.", "scene_description": "White open shelves mounted on a gray wall hold various jars, bottles, and an orange package; a white countertop below holds bags, oil bottles, and other containers, with a white robotic arm on the left side of the frame.", "global_instruction_dense": "The left robotic arm extends toward the orange package on the upper shelf, grasps it, pulls it off the shelf, lowers it to the countertop, releases the package, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1183, "tasks": ["place food"], "length": 144, "global_instruction": "Pick the orange package from the middle shelf and place it on the counter below.", "scene_description": "Multiple white open shelves holding assorted jars, containers, and packages are mounted on a gray wall above a counter with various food items and bottles. A left robotic arm with a black gripper is positioned in front of the middle shelf near an orange package.", "global_instruction_dense": "The left robotic arm moves upward toward the orange package on the middle shelf, grasps the package, pulls it out of the shelf, lowers it to the counter below, releases the package onto the counter, and then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1184, "tasks": ["place food"], "length": 196, "global_instruction": "Place the red snack package from the counter onto the upper white wall shelf", "scene_description": "A white countertop holds assorted food items including a red snack package, gold foil bag, clear oil bottle, and glass jars. Built-in white wall shelves holding spice containers and cans are above the counter, with a white robotic arm at the left of the view.", "global_instruction_dense": "The left robotic arm moves downward toward the red snack package on the counter, grasps the package, lifts it upward to the upper white wall shelf, places the package onto the shelf, then releases the gripper and retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1185, "tasks": ["place food"], "length": 162, "global_instruction": "Place the red food package from the kitchen counter onto the middle wall shelf.", "scene_description": "White open wall-mounted shelves with various jars and food items are above a white kitchen counter holding multiple food containers, bottles, and a red food package. A robotic arm is at the left of the frame.", "global_instruction_dense": "The left robotic arm moves toward the red food package on the kitchen counter, grasps it, lifts it upward to the middle open wall shelf, positions the package on the shelf, releases it, then moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1186, "tasks": ["place food"], "length": 239, "global_instruction": "Take the red snack bag from the middle shelf and place it on the countertop below.", "scene_description": "White open upper shelves holding various containers, jars, and a red snack bag are mounted on a grey wall, with a white countertop below holding packaged goods, oil bottles, and red cups, and a white robotic arm positioned near the bottom of the shelves.", "global_instruction_dense": "The left robotic gripper extends upward toward the red snack bag on the middle shelf, grasps the bag, pulls it out of the shelf, lowers it to the countertop below, releases the bag onto the counter, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1187, "tasks": ["place food"], "length": 197, "global_instruction": "Pick up the red food package from the counter and place it on the middle wall-mounted shelf.", "scene_description": "Wall-mounted white shelves filled with cans, spice containers and food packages are above a white counter holding a red bottle, red plates, oil containers and other food items, with a white robotic arm near the upper counter area.", "global_instruction_dense": "The left robotic arm moves downward to the counter, grasps the red food package, lifts it upward to the middle wall shelf, places the package on the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1188, "tasks": ["place food"], "length": 84, "global_instruction": "Place the coffee pod held by the left robotic arm into the coffee maker.", "scene_description": "A white mini fridge sits in the center background, topped with a silver and black coffee maker and a beige cloth. A white water filter pitcher and white electric kettle rest on the foreground counter, a black clamp-equipped equipment stand is to the left, a wall heater and window are to the right, and a small desk and white wall are in the far background.", "global_instruction_dense": "The left robotic gripper holding a coffee pod moves diagonally downward and rightward from the top left of the frame to position itself above the silver and black coffee maker on the white mini fridge to prepare for insertion.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1189, "tasks": ["place food"], "length": 215, "global_instruction": "Pick up the blue snack packet and place it into the clear plastic bowl", "scene_description": "A white kitchen countertop holds a silver coffee maker on the far left, a blue snack packet, a clear round plastic bowl, and a stainless steel double sink on the right. Blue upper cabinets are above a white tiled backsplash, with a white soap dispenser mounted on the tile wall.", "global_instruction_dense": "The right robotic arm moves downward toward the blue snack packet on the counter, grasps it with its gripper, lifts it, moves it rightward over the clear plastic bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1190, "tasks": ["place food"], "length": 166, "global_instruction": "Place the blue packaged snack into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen countertop holds a coffee maker with a silver kettle on the far left, a clear plastic bowl to the kettle's right, a blue packaged snack next to the bowl, a small red and brown candy bar next to the snack, and a double stainless steel sink on the far right. Tiled backsplash and blue upper cabinets are above the counter, with a soap dispenser mounted on the wall next to the sink.", "global_instruction_dense": "The left robotic arm moves down toward the blue packaged snack on the counter, grasps it with its gripper, lifts it, moves it left over the clear plastic bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1191, "tasks": ["place food"], "length": 151, "global_instruction": "Place the blue snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter has a black coffee maker with a silver carafe on the far left, a blue snack packet, a clear empty plastic bowl, a small orange packet to the right of the bowl, adjacent to a double stainless steel sink, with a white tile backsplash and blue upper cabinets above the counter.", "global_instruction_dense": "The left robotic arm moves down to grasp the blue snack packet on the counter, lifts it, moves it over the clear plastic bowl, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1192, "tasks": ["place food"], "length": 219, "global_instruction": "Pick up the blue snack packet and place it into the clear plastic bowl.", "scene_description": "A white kitchen countertop holds a black coffee maker with a silver carafe (far left), a silver soda can, a clear water-filled plastic bowl, and a blue snack packet from left to right. A double stainless steel sink is to the right of the packet, a white soap dispenser is mounted on the tiled wall behind the counter, and a left robotic gripper is positioned above the counter near the wall.", "global_instruction_dense": "The left robotic gripper moves downward toward the blue snack packet on the counter, grasps it, lifts it, moves it over the clear water-filled plastic bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1193, "tasks": ["place food"], "length": 174, "global_instruction": "Place the blue snack packet into the clear plastic bowl on the countertop.", "scene_description": "A white kitchen countertop holds a blue snack packet, clear plastic bowl, and blue plastic cup from left to right, with a coffee maker on the far left, double stainless steel sink on the far right, and blue cabinets above a white tiled backsplash.", "global_instruction_dense": "The left robotic gripper moves down to grasp the blue snack packet, lifts it, moves right over the clear plastic bowl, releases the packet into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1194, "tasks": ["place food"], "length": 211, "global_instruction": "Pick up the blue packaged snack and place it into the clear plastic bowl", "scene_description": "A white kitchen counter holds a black coffee maker with a silver carafe on the far left, followed by a clear plastic bowl, a blue disposable cup, and a blue packaged snack, with a double stainless steel sink on the right, a soap dispenser on the tiled wall, and a white robotic gripper mounted above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the blue packaged snack on the kitchen counter, grasps it, lifts it, moves it over the adjacent clear plastic bowl, then releases the snack package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1195, "tasks": ["place food"], "length": 159, "global_instruction": "Place the blue snack packet into the transparent plastic bowl on the kitchen counter.", "scene_description": "A transparent plastic bowl, a blue snack packet, and a double stainless steel sink are on a white kitchen countertop. The bowl is left of the snack packet, the sink is right of the snack packet, a coffee maker is on the far left of the counter, and blue upper cabinets are above the white tiled backsplash.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack packet on the counter, grasps the packet with its gripper, lifts the packet, moves it over the adjacent transparent plastic bowl, and releases the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1196, "tasks": ["place food"], "length": 170, "global_instruction": "Place the blue snack packet into the clear plastic bowl on the kitchen countertop.", "scene_description": "A blue snack packet, a clear plastic bowl, and a pink plastic cup are arranged left to right on a white kitchen countertop, with a double stainless steel sink to the right of the cup, a coffee maker on the far left of the counter, a white tiled backsplash, and blue upper cabinets mounted above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the blue snack packet on the left side of the counter, grasps the packet, lifts it, moves rightward over the clear plastic bowl, and releases the packet to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1197, "tasks": ["place food"], "length": 202, "global_instruction": "Place the blue snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver and black coffee maker on its left, a magenta plastic cup, a blue snack packet, and a clear plastic bowl arranged sequentially to the right, with a double stainless steel sink at the far right, set against a white tiled backsplash below glossy blue upper cabinets.", "global_instruction_dense": "The left robotic arm moves downward to grasp the blue snack packet on the counter, lifts it, moves it over the adjacent clear plastic bowl, and releases the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1198, "tasks": ["place food"], "length": 176, "global_instruction": "Place the blue snack packet into the clear plastic bowl.", "scene_description": "A kitchen counter holds a silver and black coffee maker on the far left, a clear round plastic lid, a blue snack packet, and an orange cup from left to right, with a double stainless steel sink on the right, a white soap dispenser on the tiled wall above the sink, and a robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack packet on the counter, grasps the packet, lifts it, moves it over the clear plastic bowl, lowers and releases it into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1199, "tasks": ["place food"], "length": 186, "global_instruction": "Place the blue snack packet into the clear plastic bowl on the counter.", "scene_description": "A white kitchen counter has a black coffee maker with a silver carafe on the left, a blue snack packet, a clear plastic bowl, an orange cup, a blue cup, and a double stainless steel sink on the right, with white tile backsplash and blue upper cabinets above.", "global_instruction_dense": "The left robotic arm moves down toward the blue snack packet on the counter, grasps it, lifts and moves it over the clear plastic bowl, releases the packet into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1200, "tasks": ["place food"], "length": 147, "global_instruction": "Place the orange packaged snack into the clear water-filled bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a black and silver coffee maker on the far left, a clear water-filled bowl, an orange packaged snack, an orange plastic cup, and a blue plastic cup arranged left to right, with a double stainless steel sink on the counter's right and a robotic gripper above the left side of the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the orange packaged snack on the counter, grasps it, lifts and moves it over the clear water-filled bowl, then releases the snack package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1201, "tasks": ["place food"], "length": 141, "global_instruction": "Pick up the orange snack package and place it into the clear plastic bowl on the counter.", "scene_description": "A white kitchen counter holds a clear plastic bowl, an orange snack package, and a small yellow box; a double stainless steel sink is on the right, a coffee maker on the left, against a white tiled backsplash with a soap dispenser mounted on it.", "global_instruction_dense": "The left robotic arm moves down toward the orange snack package on the kitchen counter, grasps it, lifts it, moves it over the clear plastic bowl, and releases the package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1202, "tasks": ["place food"], "length": 214, "global_instruction": "Place the orange snack packages on the left of the counter into the clear plastic bowl.", "scene_description": "A white kitchen counter has a stainless steel coffee maker on its far left, orange snack packages on the left counter area, a clear empty plastic bowl near the double stainless steel sink on the right, a white soap dispenser on the tiled backsplash, and blue upper cabinets above, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the orange snack packages on the counter, grasps them, lifts and moves them right over the clear plastic bowl, then releases the packages into the bowl before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1203, "tasks": ["place food"], "length": 181, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a black coffee maker with silver carafe on the far left, a clear plastic bowl, a dark gray cloth, and an orange snack packet near the right double stainless steel sink, with blue upper cabinets, white tile backsplash, and a wall-mounted soap dispenser above the sink.", "global_instruction_dense": "The left robotic arm moves down toward the orange snack packet on the kitchen counter, grasps it, lifts it, moves left over the clear plastic bowl, and releases the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1204, "tasks": ["place food"], "length": 146, "global_instruction": "Pick up the orange snack package and place it into the clear plastic bowl.", "scene_description": "A white kitchen counter holds a black coffee maker with silver carafe on the left, followed by a brown oven mitt, an orange snack package, a dark grey cloth, and a clear plastic bowl; a double stainless steel sink sits on the counter's right, with blue upper cabinets and a white tiled backsplash behind.", "global_instruction_dense": "The left robotic arm moves down toward the orange snack package on the counter, grasps it, lifts it, moves it over the clear plastic bowl, releases the package into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1205, "tasks": ["place food"], "length": 183, "global_instruction": "Pick up the orange snack packet and place it into the transparent plastic bowl.", "scene_description": "A transparent plastic bowl, an orange snack packet, and a purple plastic cup are arranged left to right on a white kitchen counter, with a double stainless steel sink to the right of the cup, a coffee maker on the far left of the counter, and blue cabinets above the tiled backsplash.", "global_instruction_dense": "The left robotic arm moves toward the orange snack packet placed between the transparent bowl and purple cup on the counter, grasps it with its gripper, lifts it, moves it over the transparent bowl, and releases it to drop the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1206, "tasks": ["place food"], "length": 139, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter has a silver coffee maker on the far left, followed by a clear plastic bowl, a purple cup, an orange snack packet, and a double stainless steel sink on the far right. Blue upper cabinets and a white tiled backsplash are above the counter, with a soap dispenser mounted on the wall above the sink.", "global_instruction_dense": "The right robotic arm moves down toward the orange snack packet on the counter, grasps it, lifts it, moves it left over the clear plastic bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1207, "tasks": ["place food"], "length": 255, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "An orange snack packet, a magenta plastic cup, and a clear plastic bowl are arranged left to right on a white kitchen counter, with a coffee maker on the far left, a double stainless steel sink on the far right, white tiled walls, and blue overhead cabinets.", "global_instruction_dense": "The left robotic gripper moves down from the upper left of the frame, grasps the orange snack packet on the left of the counter, lifts it, moves it right over the clear plastic bowl, and releases it to drop the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1208, "tasks": ["place food"], "length": 193, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver-and-black coffee maker, an orange snack packet, a magenta plastic cup, and a clear lidded plastic bowl to the left of a double stainless steel sink, with a white tiled backsplash and blue upper cabinets behind the counter.", "global_instruction_dense": "The left robotic arm moves toward the orange snack packet on the kitchen counter, grasps it, lifts it, moves it over the clear plastic bowl, lowers it into the bowl, releases the packet, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1209, "tasks": ["place food"], "length": 164, "global_instruction": "Place the orange snack packet into the clear plastic bowl with a yellow handle.", "scene_description": "A white kitchen counter holds a black coffee maker with a silver carafe, a clear plastic bowl with a yellow handle, and an orange snack packet, adjacent to a double stainless steel sink, with white tiled backsplash and blue upper cabinets.", "global_instruction_dense": "The left robotic gripper moves downward toward the orange snack packet on the kitchen counter, grasps it, lifts it, moves it leftward over the clear plastic bowl with a yellow handle, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1210, "tasks": ["place food"], "length": 168, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "On a white kitchen counter, an orange snack packet, small yellow item, clear plastic bowl, and dark blue cloth are arranged left to right. A double stainless steel sink is on the counter's right end, a coffee maker with a silver carafe sits on the left end, blue upper cabinets are above the white tiled backsplash, and a robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the orange snack packet, grasps it, lifts and moves it rightward over the clear plastic bowl, lowers and releases the packet into the bowl, then lifts back up away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1211, "tasks": ["place food"], "length": 168, "global_instruction": "Place the red snack package into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a dark gray cloth, clear plastic bowl, green-and-yellow sponge, and red snack package arranged left to right; a coffee maker sits at the far left of the counter, a double stainless steel sink is at the far right, and a white soap dispenser is mounted on the tiled wall behind the counter, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the red snack package on the counter, lifts the package, moves it over the clear plastic bowl, lowers and releases the package into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1212, "tasks": ["place food"], "length": 144, "global_instruction": "Pick up the red snack package and place it into the clear plastic bowl", "scene_description": "A kitchen counter holds a black and silver coffee maker on the far left, a clear plastic bowl to its right, a red snack package beside the bowl, an orange soda can next to the package, and a double stainless steel sink on the far right. A left robotic arm is positioned above the left side of the counter, with a white tiled backsplash and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves right and down toward the red snack package on the kitchen counter, grasps it with its gripper, lifts the package, moves it over the clear plastic bowl, then lowers and releases the package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1213, "tasks": ["place food"], "length": 181, "global_instruction": "Place the red snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "On a white kitchen counter, a red snack packet sits leftmost, next to a clear plastic bowl, with a green plastic cup to the bowl's right. A double stainless steel sink is at the far right of the counter, a robotic arm is positioned at the upper left above the counter, and blue upper cabinets line the wall above the tiled backsplash.", "global_instruction_dense": "The left robotic gripper moves downward toward the red snack packet, grasps it, lifts and moves it right over the clear plastic bowl, releases the packet into the bowl, then retracts upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1214, "tasks": ["place food"], "length": 167, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds an orange snack packet, a silver soda can, a green plastic cup, and a clear plastic bowl from left to right. A double stainless steel sink is on the far right of the counter, a coffee maker is on the far left, with blue upper cabinets and a white tiled backsplash in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the orange snack packet on the left side of the kitchen counter, grasps the packet, lifts it, moves right over the clear plastic bowl, and releases the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1215, "tasks": ["place food"], "length": 197, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A kitchen countertop has a black coffee maker with a silver kettle on the left, followed by a brown cloth, a clear plastic bowl, an orange snack packet, a silver soda can, and a double stainless steel sink on the right, with light gray tiled backsplash and blue upper cabinets above the counter.", "global_instruction_dense": "The left robotic arm moves toward the orange snack packet on the kitchen counter, grasps it with its gripper, lifts it, moves it over the clear plastic bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1216, "tasks": ["place food"], "length": 169, "global_instruction": "Pick up the red snack packet and place it into the clear plastic bowl.", "scene_description": "A white kitchen countertop holds a clear plastic bowl on the left, a red snack packet in the middle, and a blue plastic cup on the right next to a double stainless steel sink. A coffee maker sits on the far left of the counter, with blue upper cabinets, a white tiled backsplash, and a soap dispenser mounted on the tile next to the sink. A robotic gripper is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the red snack packet on the counter, grasps it with its gripper, lifts the packet, moves it leftward over the clear plastic bowl, lowers the packet, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1217, "tasks": ["place food"], "length": 176, "global_instruction": "Place the orange snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds an orange snack packet, clear plastic bowl, green soda can, and blue plastic cup from left to right, with a double stainless steel sink on the right, blue upper cabinets, tiled white backsplash, and a coffee maker on the far left.", "global_instruction_dense": "The right robotic arm moves down toward the orange snack packet, grasps it, lifts it and moves it over the clear plastic bowl, then releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1218, "tasks": ["place food"], "length": 217, "global_instruction": "Place the red snack bag into the clear plastic bowl.", "scene_description": "A white kitchen countertop has a black coffee maker at the left, a clear plastic bowl, a yellow object on a green soda can, a red snack bag, and a double stainless steel sink at the right, with white tiled walls and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the red snack bag next to the sink, grasps it, lifts it, moves leftward over the clear plastic bowl, and releases the snack bag into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1219, "tasks": ["place food"], "length": 185, "global_instruction": "Place the brown-yellow snack packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A clear plastic bowl, dark blue cloth, and brown-yellow snack packet are on a white kitchen countertop. A black and silver coffee maker is on the counter's left, a double stainless steel sink is on the counter's right, with a white soap dispenser on the white tiled backsplash, and blue upper cabinets above the backsplash.", "global_instruction_dense": "The left robotic gripper moves downward toward the brown-yellow snack packet on the counter, grasps it, lifts the packet, moves it over the clear plastic bowl, releases the packet into the bowl, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1220, "tasks": ["place food"], "length": 178, "global_instruction": "Place the yellow and brown snack packet into the clear empty bowl on the counter.", "scene_description": "A white kitchen counter holds a silver and black coffee maker on the left, a small purple candy, a clear empty bowl, a red soda can, a yellow and brown snack packet, and a double stainless steel sink on the right, with a robotic gripper mounted above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow and brown snack packet on the kitchen counter, grasps the packet with its gripper, lifts it, moves it over the adjacent clear bowl, releases the packet into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1221, "tasks": ["place food"], "length": 189, "global_instruction": "Place the two snack packages on the counter into the clear plastic bowl.", "scene_description": "A white kitchen counter holds a silver and black coffee maker on its left, a purple candy bar, a clear plastic bowl, a green cup, and two small snack packages near a double stainless steel sink, with white tiled walls and blue upper cabinets in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the snack packages near the green cup, grasps both packages, lifts them, moves left over the clear plastic bowl, releases the packages into the bowl, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1222, "tasks": ["place food"], "length": 179, "global_instruction": "Place the brown food packet into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter has a silver and black coffee maker on its left end, with a brown food packet, green-and-black sponge, clear plastic bowl, and green plastic cup arranged left to right on the counter. A double stainless steel sink is on the counter's right end, a white soap dispenser is mounted on the tiled wall behind, blue upper cabinets are above, and a left robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the brown food packet on the counter, grasps it, lifts and moves it over the clear plastic bowl, lowers it into the bowl, then releases the packet and moves upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1223, "tasks": ["place food"], "length": 185, "global_instruction": "Place the packaged snack on the kitchen counter into the clear plastic bowl", "scene_description": "A white kitchen countertop holds a black coffee maker with a silver carafe at the far left, followed by a clear plastic bowl, a green sponge with a yellow edge, a small packaged snack, an orange soda can, and a double stainless steel sink at the right. A white tiled backsplash, wall-mounted soap dispenser, and blue upper cabinets are above the counter, with a left robotic arm positioned above the counter surface.", "global_instruction_dense": "The left robotic arm moves downward to the packaged snack on the counter, grasps it with its gripper, lifts and moves it over the clear plastic bowl, then releases the snack into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1224, "tasks": ["place food"], "length": 170, "global_instruction": "Place the packaged snack into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a coffee maker on the far left, followed by a packaged snack, a clear plastic bowl, a purple plastic cup, and an orange soda can, with a double stainless steel sink on the far right. White tiled walls and blue upper cabinets are in the background, with a robotic arm positioned at the left side of the counter.", "global_instruction_dense": "Left robotic arm moves downward toward the packaged snack on the kitchen counter, grasps the snack, lifts it, moves it over the clear plastic bowl, lowers it into the bowl, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1225, "tasks": ["place food"], "length": 174, "global_instruction": "Place the two snack packages on the kitchen counter into the translucent white bowl.", "scene_description": "A white kitchen counter holds a translucent white bowl, two snack packages, and a brown cloth next to a double stainless steel sink. A coffee maker sits at the counter's left end, blue upper cabinets are above the white tiled backsplash, and a robotic arm is positioned in the upper left area.", "global_instruction_dense": "The left robotic arm moves downward toward the snack packages on the counter, grasps both packages, lifts them, moves over the translucent white bowl, and releases the packages into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1226, "tasks": ["place food"], "length": 194, "global_instruction": "Pick up the Fritos snack package and place it into the clear plastic bowl.", "scene_description": "A yellow and brown Fritos snack package, a blue cloth, a clear plastic bowl, and a brown cloth are placed on a white kitchen counter, with a double stainless steel sink to the right of the bowl, a coffee maker to the left of the snack package, white tiled backsplash and blue upper cabinets in the background.", "global_instruction_dense": "The right robotic arm moves down toward the Fritos snack package on the kitchen counter, grasps the package with its gripper, lifts it, moves it rightward over the clear plastic bowl, and releases the package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1227, "tasks": ["place food"], "length": 332, "global_instruction": "Place the small dark object and yellow packaged snack onto the silver tray.", "scene_description": "A white kitchen counter holds a centered silver square tray, a small dark object left of the tray, a yellow packaged snack right of the tray, a stainless steel sink to the counter's right, and a coffee maker with a metal carafe to the counter's left, in front of a white tiled backsplash.", "global_instruction_dense": "The left robotic arm moves down to grasp the small dark object left of the tray, lifts and places it onto the tray, then moves down to grasp the yellow packaged snack right of the tray, lifts and places it onto the tray, then moves upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1228, "tasks": ["place food"], "length": 648, "global_instruction": "Place all four small items between the gray tray and the sink onto the gray tray.", "scene_description": "A white kitchen counter has a centered rectangular gray tray, a stainless steel kettle on the tray's left, a stainless steel sink on the tray's right, four small items (a dark small object, an orange snack packet, a white-orange snack packet, a green-white snack packet) between the tray and sink, a green Sprite can against the white tiled backsplash, and a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper sequentially grasps each small item from the counter area between the gray tray and sink, lifts each item, moves it over the gray tray, releases it onto the tray, until all four items are placed on the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1229, "tasks": ["place food"], "length": 638, "global_instruction": "Place all small loose objects from the kitchen counter into the central gray tray.", "scene_description": "A white kitchen counter has a centered gray tray holding red and white snack packets. To the left of the tray are a dark brown object and a small orange package, to the right of the tray is another orange package, and a green and white package sits near the stainless steel sink at the counter's right end. A coffee maker is positioned at the left end of the counter, with white tiled walls in the background.", "global_instruction_dense": "The right robotic gripper sequentially grasps the dark brown object, the left orange package, the right orange package, and the green-white package from the kitchen counter, moves each item over the central gray tray, and releases each item into the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1230, "tasks": ["place food"], "length": 813, "global_instruction": "Place all snack bars scattered on the kitchen counter onto the gray rectangular tray.", "scene_description": "A kitchen counter has a gray rectangular tray at its center with a yellow snack bar on the tray. To the right of the tray near a stainless steel sink are a white-green snack bar and a dark green snack bar. To the left of the tray are an orange snack bar, a small dark brown snack bar, and red-white packaged snacks. A black coffee maker with a silver carafe sits on the far left of the counter, and a white soap dispenser is mounted on the tiled wall above the counter.", "global_instruction_dense": "The right robotic gripper sequentially moves to each snack bar positioned outside the gray tray on the kitchen counter, grasps each snack bar, lifts it, moves it onto the gray tray, and releases it until all scattered snack bars are placed on the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1231, "tasks": ["place food"], "length": 833, "global_instruction": "Place all packaged snacks surrounding the gray tray onto the gray tray.", "scene_description": "A gray tray is centered on a white kitchen countertop. Left of the tray: a red soda can, a dark red packaged snack, a yellow packaged snack with a green marking. Right of the tray: an orange soda can, two green packaged snacks, a yellow-white packaged snack. A coffee maker sits on the far left counter, a soap dispenser is mounted on the tiled back wall, and a stainless steel sink is on the far right. A robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic gripper sequentially grasps each packaged snack from the areas left and right of the gray tray, lifts each snack, moves it over the tray, and releases it onto the tray until all snacks are placed on the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1232, "tasks": ["place food"], "length": 699, "global_instruction": "Place all small packaged items on the kitchen counter onto the gray tray.", "scene_description": "A white kitchen countertop has a gray tray centered on it, two orange snack bars to the tray's right, a blue plastic cup behind the tray to the right, a small green pack and a blue pack to the tray's left, a coffee maker on the far left, and a sink on the far right, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the lower orange snack bar right of the tray, places it on the tray, then grasps the upper orange snack bar right of the tray, places it on the tray, then moves left to grasp the small green pack left of the tray, places it on the tray, then grasps the blue pack left of the tray, places it on the tray, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1233, "tasks": ["place food"], "length": 560, "global_instruction": "Place all packaged snacks from the counter onto the gray tray", "scene_description": "A white kitchen counter with a tiled light gray backsplash, stainless steel sink on the right, and coffee maker on the left. A gray rectangular tray sits in the center, holding one layered orange-red packaged snack and an orange plastic cup. Left of the tray is a yellow packaged snack; behind the tray are two green packaged snacks and a blue plastic cup behind the orange cup, with a white robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm sequentially grasps the yellow, dark green, and light green packaged snacks from the countertop, places each one individually onto the gray tray, then returns to a raised position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1234, "tasks": ["place food"], "length": 970, "global_instruction": "Place all scattered snack packages from the kitchen counter onto the gray tray.", "scene_description": "A gray tray is centered on a white kitchen counter. Five snack packages (two orange, three green) are scattered around the tray: two orange snacks are left of the tray, one green snack is between the tray and the stainless steel sink to the right, one green snack is between the first green and the tray, one green snack is near a blue cup with a pink rim at the back left of the tray. A black coffee maker with a silver kettle sits on the far left of the counter, and a white soap dispenser is mounted on the tiled wall above the sink.", "global_instruction_dense": "The right robotic arm moves to each scattered snack package on the kitchen counter, grasps each package with its gripper, lifts it, moves over the gray tray, lowers the package, and releases it onto the tray until all snacks are placed on the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1235, "tasks": ["place food"], "length": 523, "global_instruction": "Place all packaged snacks on the kitchen counter onto the gray tray.", "scene_description": "A white kitchen counter features a centered gray rectangular tray holding an orange canned drink and a green packaged snack. To the left of the tray is another green packaged snack, to the right of the tray are a silver Diet Coke can and a purple packaged snack, in front of the tray is an orange packaged snack. A coffee maker with a silver carafe sits to the left of the tray, a soap dispenser is mounted on the tiled wall above the counter, and a stainless steel sink is at the far right of the counter.", "global_instruction_dense": "The right robotic arm first grasps the green packaged snack left of the gray tray, lifts and places it on the tray, then grasps the orange packaged snack in front of the tray, lifts and places it on the tray, next grasps the purple packaged snack right of the tray, lifts and places it on the tray, before retracting upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1236, "tasks": ["place food"], "length": 387, "global_instruction": "Place the small green and orange packaged snacks onto the gray tray.", "scene_description": "A gray tray sits centered on a white kitchen countertop. To the tray's left are two orange snack bags and a small orange packaged item; to its right are a red snack bag, a small green packaged item, and a silver soda can. A coffee maker is at the counter's back left, a sink is to the right, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the small green package next to the soda can, places it on the gray tray, then moves left to grasp the small orange package to the left of the tray, places it on the gray tray, then lifts upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1237, "tasks": ["place food"], "length": 219, "global_instruction": "Place the purple snack bar onto the gray cutting board on the kitchen counter.", "scene_description": "A white kitchen counter has a gray cutting board at its center, an orange snack packet left of the board, a red snack packet, silver soda can, and purple snack bar right of the board, plus a coffee maker with a silver carafe on the far left, with a tiled wall, soap dispenser, and stainless steel sink in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the purple snack bar on the counter, grasps it, lifts it, moves it left over the gray cutting board, lowers and releases it onto the board, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1238, "tasks": ["place food"], "length": 606, "global_instruction": "Place all small snack items from around the gray tray onto the gray tray", "scene_description": "A white kitchen counter holds a central gray tray. Left of the tray are two orange snack bags; right of the tray are a silver soda can, a small dark blue snack package, and a brown chocolate bar. On the initial tray are a red snack bag, with a small purple snack package behind the tray. A coffee maker sits on the far left of the counter, a stainless steel sink on the far right, with white tiled walls as the background.", "global_instruction_dense": "The left robotic arm grasps the small purple snack package behind the tray, places it on the left portion of the tray, then grasps the small dark blue snack package to the right of the tray, places it on the tray next to the red snack bag, then grasps the brown chocolate bar to the right of the tray, and places it on the lower portion of the gray tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1239, "tasks": ["place food"], "length": 594, "global_instruction": "Place all loose packaged snacks on the kitchen counter onto the silver tray.", "scene_description": "A white kitchen counter has a silver tray centered on its surface, with a purple cloth resting on the tray, a brown packaged snack to the left of the tray, a purple packaged snack to the right of the tray, a silver soda can to the right of the purple snack, a stainless steel sink on the far right of the counter, a coffee maker on the far left, and a soap dispenser mounted on the tiled wall behind the counter, with a left robotic gripper positioned above the counter.", "global_instruction_dense": "The left robotic gripper first moves toward the purple packaged snack to the right of the silver tray, grasps it, lifts it, moves it over the tray and releases it onto the tray, then moves toward the brown packaged snack to the left of the tray, grasps it, lifts it, moves it over the tray and releases it onto the tray, then moves toward the small dark packaged item behind the tray against the tiled wall, grasps it, lifts it, moves it over the tray and releases it onto the tray, before moving to a resting position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1240, "tasks": ["place food"], "length": 658, "global_instruction": "Move all snack bars from the gray tray onto the adjacent counter surface.", "scene_description": "A white kitchen counter holds a gray tray with a dark gray snack bar, a brown snack bar, a purple snack bar, and a blue cloth; a silver soda can sits to the right of the tray, a coffee maker is left of the tray, and a stainless steel sink is on the far right, with white tiled walls in the background.", "global_instruction_dense": "The right robotic arm lowers to the gray tray, grasps the dark gray snack bar, moves it left and places it on the counter left of the tray, then returns to the tray to grasp the purple snack bar, moves it right and places it on the counter right of the tray, then returns to the tray to grasp the brown snack bar, moves it right and places it on the counter right of the tray near the purple snack bar, before lifting back to a raised position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1241, "tasks": ["place food"], "length": 480, "global_instruction": "Move the three snack packets from the gray tray onto the adjacent kitchen counter.", "scene_description": "A white kitchen counter holds a gray rectangular tray with three snack packets (light-colored, dark-colored, green) on it. To the right of the tray are a small black bowl and a stainless steel sink, to the left of the tray is a stainless steel coffee maker. A white soap dispenser is mounted on the tiled wall above the counter, and a robotic arm is positioned above the counter on the left.", "global_instruction_dense": "The right robotic gripper descends to the gray tray, grasps the light-colored snack packet, moves it left and places it on the counter next to the tray, then returns to grasp the dark-colored snack packet, moves it right and places it next to the black bowl, then returns to grasp the green snack packet, moves it right and places it next to the dark-colored packet on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1242, "tasks": ["place food"], "length": 557, "global_instruction": "Pick up the green snack bar from the grey tray and place it on the kitchen counter to the left of the tray.", "scene_description": "A grey tray sits on a white kitchen counter, holding a green plastic cup, a green snack bar, and a small dark object behind the cup. An orange can is against the tiled wall behind the tray, a coffee maker with a metal carafe is to the left of the tray, a white soap dispenser is mounted on the wall to the right, a stainless steel sink is at the far right of the counter, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm first pushes the small dark object behind the green cup off the tray onto the counter, then moves to the green snack bar on the tray, grasps it, lifts it, moves left, and places it on the white counter to the left of the grey tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1243, "tasks": ["place food"], "length": 499, "global_instruction": "Move all snack bars from the gray tray onto the surrounding countertop.", "scene_description": "A white kitchen countertop holds a gray tray with three snack bars (one green, two orange) at its center, a blue plastic cup to the right of the tray, a green plastic cup further right, a small orange can behind the cups, a coffee maker with a silver kettle to the left of the tray, a wall-mounted soap dispenser on the tiled back wall, and a stainless steel sink on the far right, with a robotic arm positioned above the tray.", "global_instruction_dense": "The right robotic arm sequentially grasps each of the three snack bars from the gray tray, moves each to a spot on the countertop outside the tray, releases them, and places the final green snack bar on the left side of the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1244, "tasks": ["place food"], "length": 619, "global_instruction": "Move all snack packages from the gray tray onto the surrounding kitchen counter.", "scene_description": "A white kitchen counter has a gray tray at its center, holding a blue plastic cup, green snack packet, dark blue snack bar, and orange snack packet. To the tray's right on the counter are a green plastic cup, orange aluminum can, and small orange snack packet, with a stainless steel sink at the far right and a coffee maker to the tray's left. A robotic arm is positioned above the tray.", "global_instruction_dense": "The left robotic gripper moves down to grasp the green snack packet on the gray tray, moves it left off the tray and places it on the counter, returns to the tray to grasp the dark blue snack bar, moves it right off the tray and places it on the counter, then returns to the tray to grasp the orange snack packet, moves it right off the tray and places it on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1245, "tasks": ["place food"], "length": 390, "global_instruction": "Move the snack packages from the gray tray onto the adjacent kitchen countertop.", "scene_description": "A white kitchen countertop holds a gray tray with three snack packages (orange, yellow-brown, colorful green-yellow) on it, a dark blue snack bar to the right of the tray, a stainless steel sink on the far right, a silver coffee maker to the left of the tray, and a white robotic arm positioned above the tray, with a white tiled wall and soap dispenser in the background.", "global_instruction_dense": "The right robotic gripper descends to grasp an orange snack package from the gray tray, moves it right to place it on the counter next to the tray, releases it, returns to the tray to grasp a colorful green-yellow snack package, moves it left to place it on the counter to the left of the tray, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1246, "tasks": ["place food"], "length": 695, "global_instruction": "Move each snack bar from the gray tray onto the counter next to the pink paper cup.", "scene_description": "A white kitchen counter holds a gray tray with three snack bars (orange, green, dark blue), a pink paper cup sits to the left of the tray, and a stainless steel coffee maker is on the far left of the counter, with a wall soap dispenser and sink to the right.", "global_instruction_dense": "The right robotic gripper sequentially grasps the orange, green, and dark blue snack bars from the gray tray, moves each bar over to the counter next to the pink paper cup, and releases them onto the counter, slightly displacing the pink cup when placing the dark blue bar.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1247, "tasks": ["place food"], "length": 1002, "global_instruction": "Move all packaged snacks from the gray tray onto the adjacent white countertop.", "scene_description": "A white kitchen counter holds a gray tray on its left side, with four packaged snacks on the tray: one purple-silver, two green, one orange. A stainless steel sink is to the right of the tray, a white soap dispenser is mounted on the tiled wall above the sink, and a coffee maker sits behind the tray.", "global_instruction_dense": "The right robotic arm descends toward the gray tray on the counter, grasps each packaged snack from the tray one by one, lifts each snack, moves it rightward, and places it on the white counter surface to the right of the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1248, "tasks": ["place food"], "length": 832, "global_instruction": "Move all four packaged snack bars from the grey tray onto the adjacent white kitchen counter.", "scene_description": "A white kitchen counter has a grey rectangular tray at its center holding four packaged snack bars, a yellow packaged snack to the left of the tray, a blue packaged snack to the right of the tray near a stainless steel sink, with a white tiled backsplash in the background.", "global_instruction_dense": "The left robotic arm sequentially moves to each packaged snack bar on the grey tray, grasps each bar, lifts it, moves it onto the counter outside the tray, releases it, returns to the tray to repeat until all bars from the tray are placed on the counter, then moves back to rest above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1249, "tasks": ["place food"], "length": 380, "global_instruction": "Place the purple and brown snack packets from the gray tray onto the adjacent kitchen counter.", "scene_description": "A white kitchen counter holds a black coffee maker with a silver carafe on its left, a gray tray in the center holding a purple snack packet, a dark blue cloth, and a brown snack packet, and a stainless steel sink on its right. A white robotic arm is positioned above the counter near the coffee maker, with a white tiled wall and soap dispenser in the background.", "global_instruction_dense": "The right robotic arm lowers to the gray tray, grasps the purple snack packet, moves it left to place it on the counter outside the tray, releases it, then returns to the tray, grasps the brown snack packet, moves it right to place it on the counter near the sink, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1250, "tasks": ["place food"], "length": 904, "global_instruction": "Move all snack bars from the gray tray onto the adjacent white kitchen countertop.", "scene_description": "A white kitchen counter holds a gray tray with five snack bars (purple, dark purple, green, one orange with silver packaging, one plain orange), a blue plastic cup behind the left side of the tray, a green plastic cup behind the right side of the tray, a stainless steel sink to the tray's right, and a coffee maker to the tray's left, with white tiled walls and blue upper cabinets in the background, and a robotic arm positioned at the left edge of the frame.", "global_instruction_dense": "The right robotic arm sequentially grasps each snack bar from the gray tray on the kitchen counter, moves each snack bar away from the tray onto the white countertop, releases it, and repeats until all snack bars are moved off the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1251, "tasks": ["place food"], "length": 1006, "global_instruction": "Move all snack items from the gray tray to the adjacent counter space.", "scene_description": "A white kitchen counter with gray tiled backsplash holds a gray tray with a purple candy bar, two orange candy bars, a green candy bar, and a dark brown snack bar. A coffee maker sits left of the tray, a plastic bowl with a blue cloth and stainless steel sink sit right of the tray. A left robotic arm is positioned above the tray.", "global_instruction_dense": "The left robotic arm sequentially grasps each snack item from the gray tray, lifts each item, moves it to the counter next to the tray, and releases it, until all items are removed from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1252, "tasks": ["place food"], "length": 605, "global_instruction": "Remove snack packages from the gray tray and place them on the adjacent countertop.", "scene_description": "A white kitchen countertop holds a gray rectangular tray with a green snack bar, orange snack bar, yellow crinkled snack bag, and purple snack bar on it. A blue snack pack rests on the counter left of the tray, a stainless steel coffee maker is behind the tray, a white soap dispenser is mounted on the white tiled backsplash, a stainless steel sink is to the right of the tray, and a white robotic arm is at the left of the view.", "global_instruction_dense": "The right robotic arm first grasps the green snack bar from the tray, moves it to the counter left of the tray and places it down, next grasps the orange snack bar from the tray, moves it to the same left counter area and places it, then grasps the purple snack bar from the tray, moves it to the counter near the sink and places it down.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1253, "tasks": ["place food"], "length": 522, "global_instruction": "Move all three packaged snack bars from the gray tray onto the adjacent kitchen countertop.", "scene_description": "A white kitchen countertop holds a gray tray with three packaged snack bars (orange, green, blue-purple), a black small bowl, a yellow packet, and a silver-and-black coffee maker to the left of the tray, with a stainless steel sink to the right of the tray and a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm descends toward the gray tray, grasps the blue-purple packaged snack bar, moves it right to place it on the countertop, returns to grasp the green snack bar, places it on the counter next to the first snack, then grasps the orange snack bar and places it on the counter next to the green snack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1254, "tasks": ["place food"], "length": 737, "global_instruction": "Move all four snack bars from the gray tray onto the adjacent countertop.", "scene_description": "A gray tray holding two orange snack bars and two green snack bars rests on a white kitchen counter. A coffee maker is positioned to the left of the tray, a stainless steel sink is to the right, blue upper cabinets are above, and a white tiled backsplash lines the wall, with a robotic arm positioned above the tray.", "global_instruction_dense": "The right robotic arm sequentially grasps each of the four snack bars (two green, two orange) from the gray tray, lifts each, and places them on the countertop surrounding the tray, moving the green bars to the right of the tray and the orange bars to the left of the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1255, "tasks": ["place food"], "length": 222, "global_instruction": "Move the green-orange snack bar from the gray tray to the counter left of the tray", "scene_description": "A white kitchen counter holds a gray tray with a green-orange snack bar and a magenta plastic cup on it. To the right of the tray is a green soda can, to the left is a black coffee maker with a silver carafe, a stainless steel sink is on the far right, and a white tiled wall with a soap dispenser is behind the counter.", "global_instruction_dense": "The right robotic arm moves down toward the green-orange snack bar on the gray tray, grasps it, lifts and moves it left to the open counter area beside the coffee maker, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1256, "tasks": ["place food"], "length": 603, "global_instruction": "Move all snack bars from the gray tray onto the adjacent kitchen counter surface.", "scene_description": "A gray tray holding three snack bars (green-brown, green, and dark blue) rests on a white kitchen counter. A red Doritos packet sits to the tray's right, a coffee maker with a silver kettle to the tray's left, a stainless steel sink at the far right of the counter, and a white soap dispenser is mounted on the tiled back wall, with a robotic gripper positioned above the tray.", "global_instruction_dense": "The right robotic gripper moves down to the gray tray, sequentially grasps each snack bar on the tray, moves each bar to the adjacent kitchen counter, releases each bar, and lifts away after the tray is empty.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1257, "tasks": ["place food"], "length": 1042, "global_instruction": "Move all snack bars from the gray tray onto the adjacent white kitchen counter.", "scene_description": "A gray tray holding a silver soda can, a green Sprite can, a dark blue snack bar, a green snack bar, and an orange-green snack bar sits on a white kitchen counter, with a sink to the tray's right and a coffee maker to its left, a robotic arm is positioned above the tray.", "global_instruction_dense": "The right robotic arm first grasps the dark blue snack bar on the tray, lifts it, and places it on the counter to the left of the tray, then moves back to the tray, grasps the orange-green snack bar, lifts it, and places it on the counter to the right of the tray near the sink, then moves back to the tray, grasps the remaining green snack bar, lifts it, and places it on the counter to the right of the tray next to the previously placed orange-green snack bar, before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1258, "tasks": ["place food"], "length": 706, "global_instruction": "Move the silver soda can off the gray plate, then place all three packaged snacks onto the gray plate.", "scene_description": "A white kitchen countertop has a centered gray plate with a silver Diet Coke can on it, three packaged snacks (small green-white, green, orange) around the plate, a microwave and coffee maker on the left, a soap dispenser and sink on the right, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm first grasps the silver soda can from the gray plate, moves it rightward to set it down on the counter next to the sink, then sequentially grasps the orange, green, and small green-white packaged snacks from the counter, moves each onto the gray plate and releases them, then lifts away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1259, "tasks": ["place food"], "length": 660, "global_instruction": "Move red packages off the gray plate and place the green and orange snack bars from the counter onto the plate.", "scene_description": "A gray plate holding red snack packages is centered on a white kitchen countertop. Two green-white snack bars sit to the left and below the plate, an orange snack bar is to the right of the plate, and additional red snack packages are near the sink on the right. A microwave and coffee maker are on the left side of the counter, with a soap dispenser on the tiled wall behind.", "global_instruction_dense": "The left robotic arm first grasps the red packages on the gray plate, moves and releases them on the counter near the sink, then sequentially grasps the orange and two green snack bars from the counter, and places each onto the gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1260, "tasks": ["place food"], "length": 854, "global_instruction": "Replace the drinks and red snacks on the grey plate with the two packaged snack bars from the countertop.", "scene_description": "A white kitchen countertop holds a grey plate with a green Sprite can, an orange soda can, and red packaged snacks, plus an orange snack bar and a green snack bar on the counter near the plate, alongside a microwave, coffee maker, and stainless steel sink, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm first removes the green Sprite can, orange soda can, and red snack packages from the grey plate, placing each on the nearby countertop, then picks up the green and orange packaged snack bars from the countertop and places them onto the now-empty grey plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1261, "tasks": ["place food"], "length": 825, "global_instruction": "Clear the orange can and cup from the gray tray, then place all three loose snack bars onto the tray.", "scene_description": "A gray round tray sits on a white kitchen counter, holding an orange soda can and an orange plastic cup. An orange snack bar is to the left of the tray, a dark brown snack bar and a green snack bar are to the right of the tray. A black microwave and silver coffee maker are on the left side of the counter, a stainless steel sink is on the right, and a white soap dispenser is mounted on the tiled wall behind the counter.", "global_instruction_dense": "The left robotic gripper first grasps the orange can on the tray, moves it right and places it on the counter near the sink, then grasps the orange cup on the tray, moves it left and places it on the counter left of the tray, next grasps the orange snack bar left of the tray and places it on the tray, then grasps the dark brown snack bar right of the tray and places it on the tray, finally grasps the green snack bar further right of the tray and places it on the tray with the other snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1262, "tasks": ["place food"], "length": 1049, "global_instruction": "Clear the gray plate of the bowl and cloth, then place all scattered snack bars onto the gray plate.", "scene_description": "A white kitchen counter holds a gray plate with a black bowl and brown cloth on top; four snack bars (brown with blue label, green, orange, dark blue) are scattered around the plate, with a microwave, coffee maker, wall soap dispenser, and sink in the background.", "global_instruction_dense": "The left robotic gripper first grasps the black bowl on the gray plate and places it on the adjacent counter, then grasps the brown cloth on the plate and moves it to the counter near the sink, then sequentially grasps the dark blue, green, orange, and brown snack bars from the counter and places each onto the now-empty gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1263, "tasks": ["place food"], "length": 1064, "global_instruction": "Remove the cloths from the gray plate, then place all scattered snack packages onto the gray plate.", "scene_description": "A white kitchen counter has a centered gray plate, with a light beige cloth and darker brown cloth stacked on the plate. A dark blue snack package sits left of the plate, an orange snack package sits left of the cloths, a green snack package sits right of the cloths, and a purple-brown snack package sits near the stainless steel sink on the counter's right side. A microwave and coffee maker are on the far left counter, and a soap dispenser is mounted on the tiled wall above the sink.", "global_instruction_dense": "The robotic gripper first grasps the light beige cloth on the gray plate, moves it left onto the counter, then grasps the darker brown cloth on the plate, moves it left onto the light beige cloth, then sequentially grasps the orange, dark blue, green, and purple-brown snack packages from the counter and places each onto the now-empty gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1264, "tasks": ["place food"], "length": 1231, "global_instruction": "Move the cup and soda can off the gray plate, then place the four loose snack bars onto the gray plate.", "scene_description": "A white kitchen countertop has a gray plate at its center. On the plate are an orange plastic cup, a silver soda can, and a yellow snack packet. Surrounding the plate on the counter are an orange snack bar, a green snack bar, a brown Snickers bar, and a dark blue snack bar. Background elements include a black microwave, silver coffee maker, wall-mounted soap dispenser, and stainless steel sink, with a single robotic arm positioned above the counter.", "global_instruction_dense": "The single robotic arm first moves the orange cup and silver soda can from the gray plate to the right countertop, then moves the yellow snack packet from the plate to the left countertop, and sequentially picks up the orange, green, brown Snickers, and dark blue snack bars from the counter and places each onto the gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1265, "tasks": ["place food"], "length": 944, "global_instruction": "Gather all loose snack items and the bottled drink onto the gray kitchen plate.", "scene_description": "A white kitchen counter has a gray plate at its center, holding a red Dr Pepper can, yellow chip bag, and orange wrapped snack. A green wrapped snack rests left of the plate, a purple wrapped snack rests right of the plate, and a clear bottle with a blue cap sits near the stainless steel sink on the far right. A microwave and coffee maker are on the left background of the counter, with a white soap dispenser mounted on the tiled wall.", "global_instruction_dense": "The left robotic arm first grasps the red Dr Pepper can on the gray plate, moves it to the counter left of the plate and releases it, then grasps the yellow chip bag on the plate, moves it next to the red can and releases it, then grasps the green wrapped snack left of the plate, moves it onto the plate and releases it, then grasps the purple wrapped snack right of the plate, moves it onto the plate and releases it, then grasps the clear bottle with blue cap near the sink, moves it onto the plate and releases it before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1266, "tasks": ["place food"], "length": 759, "global_instruction": "Clear the orange can and black bowl from the gray plate, then place all snack bars onto the gray plate.", "scene_description": "A white kitchen counter holds a gray plate with an orange soda can and black bowl on it, a dark snack bar to the plate's right, a long orange snack bar in front of the plate, a microwave and coffee maker to the left, and a soap dispenser on the tiled wall above the sink to the right.", "global_instruction_dense": "The left robotic arm first moves the orange soda can from the gray plate to the left side of the counter, then lifts the black bowl from the plate and places it next to the soda can, next moves the dark snack bar from the right of the plate onto the plate, then moves the long orange snack bar from the front of the plate onto the plate, and finally retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1267, "tasks": ["place food"], "length": 1169, "global_instruction": "Move the black bowl off the gray plate, then place all the snack bars from the counter onto the gray plate.", "scene_description": "A black small bowl rests on a gray round plate on a white kitchen countertop. Five snack bars (green, purple, orange, dark blue, dark brown) are on the counter to the right of the plate. A left robotic arm is at the top left, with a microwave and coffee maker behind the left counter, a soap dispenser on the right tiled wall, and a stainless steel sink at the far right of the counter.", "global_instruction_dense": "The left robotic arm first grasps the black bowl on the gray round plate, lifts and moves it left to place it on the countertop, then sequentially grasps each of the five snack bars from the counter, moves them over the gray plate, and releases them onto the plate one by one.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1268, "tasks": ["place food"], "length": 748, "global_instruction": "Place all the snack bars from the kitchen counter onto the light gray round plate.", "scene_description": "A white kitchen counter holds a light gray round plate at its center, two dark brown snack bars and two green snack bars sit on the counter to the right of the plate, a microwave and coffee maker are positioned to the left of the plate, a white soap dispenser is mounted on the tiled wall to the right, and a stainless steel sink is at the far right edge of the counter.", "global_instruction_dense": "The right robotic gripper sequentially moves down to grasp each dark brown and green snack bar from the counter, lifts each snack bar, moves it over the light gray round plate, releases it onto the plate, and lifts away until all snack bars are placed on the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1269, "tasks": ["place food"], "length": 1152, "global_instruction": "Remove the large chip bags from the gray plate and place the countertop snack bars and utility knife onto the plate.", "scene_description": "A white kitchen counter has a gray plate on its left section holding a blue snack bag and an orange snack bag; to the right of the plate, two small rectangular snack bars and a dark utility knife rest on the counter, with a stainless steel sink on the far right, a microwave and coffee maker on the left rear counter, and a white tiled wall with a soap dispenser behind the counter.", "global_instruction_dense": "The left robotic gripper first grasps the orange chip bag on the gray plate, moves and places it on the counter to the right of the plate, then grasps the blue chip bag on the plate, moves and places it on the counter to the left of the plate, next grasps each of the two small snack bars on the counter one by one and places them onto the plate, finally grasps the dark utility knife on the counter and places it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1270, "tasks": ["place food"], "length": 782, "global_instruction": "Remove the red soda can and purple cup from the grey plate, then place the green packet and dark snack bar onto the plate.", "scene_description": "A white kitchen counter holds a grey plate with a red soda can and purple plastic cup, a green small packet, a dark brown snack bar, a microwave, and a coffee maker with a silver carafe. A stainless steel sink is to the right of the plate, with a white soap dispenser on the tiled wall above the counter.", "global_instruction_dense": "The left robotic arm first grasps the red soda can on the grey plate, lifts and places it on the counter next to the plate, then grasps the purple plastic cup on the plate, lifts and places it on the counter beside the can, then grasps the green small packet on the counter, lifts and places it on the empty plate, then grasps the dark brown snack bar on the counter, lifts and places it on the plate next to the green packet, before moving away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1271, "tasks": ["place food"], "length": 1004, "global_instruction": "Clear the light grey plate of the orange soda can and brown cloth, then place the three snack bars onto the plate.", "scene_description": "A white kitchen counter holds an orange soda can, a brown cloth, a dark brown snack bar, an orange snack bar, and a dark blue snack bar, alongside a light grey round plate. A microwave and coffee maker sit on the left end of the counter, a stainless steel sink is on the right, with a white tiled wall as the background.", "global_instruction_dense": "The right robotic gripper first grasps the orange soda can on the edge of the light grey plate, moves it to the left counter area and releases it, then grasps the brown cloth on the plate, moves it to the left counter near the dark brown snack bar and releases it, then sequentially grasps the dark brown, orange, and dark blue snack bars from the counter, moves each to the light grey plate, and releases them onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1272, "tasks": ["place food"], "length": 1076, "global_instruction": "Clear the grey plate of the napkin and red snack packet, then place the three loose snack bars onto the plate.", "scene_description": "A white kitchen countertop holds a grey plate with a red snack packet and a dark blue napkin, three snack bars (green, dark blue-packaged, orange) on the counter around the plate, a microwave and coffee maker to the plate's left, a stainless steel sink to the plate's right, and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm first grasps the dark blue napkin on the grey plate, moves it to the left of the plate and places it down, then grasps the red snack packet on the plate, moves it to the left next to the napkin and places it down, then sequentially grasps the green, dark blue-packaged, and orange snack bars from the counter and places each onto the grey plate before moving upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1273, "tasks": ["place food"], "length": 584, "global_instruction": "Move the green cup to the area near the sink, then place the green and gold snack packages onto the gray round plate.", "scene_description": "A white kitchen counter holds a green plastic cup on a gray round plate, a gold snack package, a green snack package, and a sponge. A microwave and coffee maker are on the left of the counter, a stainless steel sink is on the right, and a tiled wall with a soap dispenser is behind the counter. A robotic gripper is positioned above the counter.", "global_instruction_dense": "The left robotic gripper first moves down to grasp the green cup on the gray plate, lifts and moves it right to place it near the sink, then moves to grasp the green snack package, lifts and places it on the gray plate, next moves to grasp the gold snack package, lifts and places it on the gray plate beside the green package, before lifting away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1274, "tasks": ["place food"], "length": 1040, "global_instruction": "Remove the two cups from the gray tray, then place all four snack bars onto the gray tray.", "scene_description": "A white kitchen counter has a round gray tray at its center holding a green plastic cup and a purple plastic cup. Four snack bars (orange, dark brown, silver-white, and green wrappers) are placed on the counter around the tray, with a microwave, coffee maker, and soap dispenser in the background, and a sink at the right edge of the counter. A single robotic arm is positioned above the counter.", "global_instruction_dense": "The robotic arm first grasps the green cup on the gray tray, lifts it, and places it on the counter left of the tray; it then grasps the purple cup on the tray, lifts it, and places it on the counter right of the tray; next it sequentially grasps the silver-white, green, dark brown, and orange wrapped snack bars from the counter, placing each onto the now-empty gray tray to complete the arrangement.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1275, "tasks": ["place food"], "length": 880, "global_instruction": "Remove the cloth and cup from the grey plate, then place the three packaged snacks onto the plate.", "scene_description": "A grey plate is centered on a white kitchen counter, holding a dark blue cloth and a green plastic cup. An orange packaged snack sits left of the plate, a green packaged snack sits right of the plate, a dark brown packaged snack sits below the plate. A microwave and coffee maker are on the left back counter, a soap dispenser is mounted on the right tiled wall, and a stainless steel sink is on the far right.", "global_instruction_dense": "The left robotic arm first grasps the dark blue cloth on the grey plate, lifts it, places it on the counter to the left of the plate, then grasps the green cup on the plate, lifts it, places it on the counter between the cloth and the plate, then grasps the green packaged snack to the right of the plate, lifts it, places it on the plate, then grasps the dark brown packaged snack below the plate, lifts it, places it on the plate, then grasps the orange packaged snack to the left of the plate, lifts it, places it on the plate before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1276, "tasks": ["place food"], "length": 842, "global_instruction": "Clear the silver can and blue napkin off the gray plate, then place the three snack bars onto the plate.", "scene_description": "A white kitchen counter features a gray plate holding a silver Coca-Cola can and a dark blue napkin, with brown, orange, and green snack bars resting on the counter next to the plate; a microwave, coffee maker, and wall-mounted soap dispenser are in the background, and a stainless steel sink is to the right of the plate.", "global_instruction_dense": "The right robotic arm first grasps the silver Coca-Cola can on the gray plate, moves it left onto the counter, then grasps the dark blue napkin on the plate, moves it left onto the counter, then sequentially grasps the brown, orange, and green snack bars from the counter and places each onto the now-empty gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1277, "tasks": ["place food"], "length": 1227, "global_instruction": "Remove the two cans from the gray plate onto the counter, then place all countertop snack bars onto the empty gray plate.", "scene_description": "A kitchen counter holds a gray plate with a red Dr Pepper can and a silver Coke can, a dark blue cloth left of the plate, four snack bars (dark purple, two green, orange, orange-and-white) right of the plate, a microwave and coffee maker in the background, and a sink with a soap dispenser on the right.", "global_instruction_dense": "The robotic arm first grasps the red can on the gray plate, moves left to place it on the counter next to the blue cloth, then grasps the silver can on the plate, moves left to place it next to the red can, then sequentially grasps each of the four snack bars from the right of the plate, moves each left to place it onto the gray plate, then retracts upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1278, "tasks": ["place food"], "length": 771, "global_instruction": "Remove the dark blue cloth from the grey plate, then place all scattered snack packages onto the grey plate.", "scene_description": "A white kitchen counter has a grey plate with a dark blue folded cloth on it, four snack packages (green, orange, silver, dark brown) scattered on the counter around the plate, a stainless steel sink on the right end of the counter, a black and silver coffee maker on the left end of the counter, white tiled walls behind the counter, and blue upper cabinets above.", "global_instruction_dense": "The left robotic arm grasps the dark blue cloth on the grey plate, lifts and places it on the counter left of the plate, then sequentially grasps the orange, dark brown, silver, and green snack packages from the counter, places each onto the grey plate, and finally moves away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1279, "tasks": ["place food"], "length": 827, "global_instruction": "Move all the packaged snacks scattered on the kitchen counter onto the gray plate.", "scene_description": "A white kitchen counter holds a gray plate at its center, with a yellow packaged snack resting on the plate, plus a green packaged snack, a silver-orange packaged snack, and an orange packaged snack scattered on the counter around the plate. A stainless steel sink is on the right side of the counter, with a white tiled wall, blue upper cabinets, and a coffee machine on the left side of the counter in the background, and a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm first moves the yellow packaged snack from the gray plate onto the counter to the right of the plate, then sequentially grasps the silver-orange, orange, dark brown, and green packaged snacks from the counter around the plate and places each onto the gray plate, before lifting away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1280, "tasks": ["place food"], "length": 872, "global_instruction": "Place the orange sausage snacks and small green snack packet onto the grey round plate after moving the green Sprite can off the plate.", "scene_description": "A white kitchen counter with a stainless steel sink on the right, white tiled wall behind. On the counter: a grey round plate is centered, a green Sprite can rests on the plate, a silver soda can sits right of the plate, two orange sausage-shaped snacks are behind the plate's left side, a yellow crumpled snack packet is front left of the plate, a small green snack packet is left of the yellow packet, a small black object is right of the plate, and a coffee maker is on the far left of the counter.", "global_instruction_dense": "The right robotic arm first grasps the green Sprite can on the grey plate, moves it right onto the counter, adjusts the small black object near the plate, then grasps each orange sausage snack and places them onto the plate, then grasps the small green snack packet and places it onto the plate before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1281, "tasks": ["place food"], "length": 1549, "global_instruction": "Remove the soda cans and yellow snack from the gray plate, then place all scattered snack packs onto the plate.", "scene_description": "A white kitchen counter holds a gray central plate with a green soda can, orange soda can, and yellow snack pack on it. Loose snack items (green, silver-green, black, orange, purple packs) are scattered to the right and front of the plate, with a stainless steel sink on the right, blue upper cabinets, and a coffee maker to the left of the plate.", "global_instruction_dense": "The right robotic arm first moves the yellow snack pack, green soda can, and orange soda can off the gray plate onto the surrounding counter to clear space, then sequentially picks each scattered orange, purple, black, green, and silver-green snack pack from the counter and places them onto the plate, before lifting away from the completed plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1282, "tasks": ["place food"], "length": 1281, "global_instruction": "Remove non-snack items from the gray plate and place all small countertop snack items onto the plate.", "scene_description": "A white kitchen counter has a gray plate at its center, holding an orange soda can, yellow chip bag, and dark purple cloth. To the left of the plate are a green soda can, two small snack packets, an orange snack bar, and a purple snack bar; a stainless steel sink sits to the plate's right, with blue upper cabinets and a white tiled backsplash in the background.", "global_instruction_dense": "The left robotic gripper first moves the orange soda can, purple cloth, and yellow chip bag from the gray plate to the adjacent countertop, then sequentially picks up each small snack item from the left of the plate and places them onto the empty gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1283, "tasks": ["place food"], "length": 1106, "global_instruction": "Place the snack packets scattered around the gray plate onto the plate.", "scene_description": "A white kitchen countertop holds a central gray plate with yellow and red snack packets on it; additional snack packets (small green, silver, purple, long green) are scattered around the plate, a stainless steel sink is on the counter's right, and a coffee maker and microwave are on the counter's left, with a robotic arm positioned above the plate.", "global_instruction_dense": "The left robotic gripper first moves the yellow and red snack packets from the gray plate to the left side of the counter to clear space, then sequentially grasps each snack packet scattered on the counter, moves each over the gray plate, and releases it onto the plate before retracting away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1284, "tasks": ["place food"], "length": 957, "global_instruction": "Place the small scattered snack packets on the kitchen counter onto the grey plate.", "scene_description": "A white kitchen counter holds a grey round plate at its center, with a large red snack bag resting on the plate. Five small individual snack packets (orange, purple, blue-white, yellow-orange, green) are scattered on the counter around the plate. A stainless steel sink sits to the right of the plate, a white soap dispenser is mounted on the white tiled wall above the counter, a black coffee maker with a silver kettle is positioned to the left of the plate, and a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm first moves the large red snack bag from the grey plate onto the kitchen counter to clear space, then sequentially grasps each small scattered snack packet from the counter, moves each to the grey plate, and releases it until all small snacks are placed on the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1285, "tasks": ["place food"], "length": 1003, "global_instruction": "Relocate the orange cup and black bowl off the gray tray, then place all four snack packages onto the gray tray.", "scene_description": "A white kitchen counter has a gray round tray at its center, with an orange plastic cup and a small black bowl on the tray. Four snack packages (dark blue, purple, green, yellow) lie on the counter to the right of the tray, a stainless steel sink is on the far right, a coffee maker is on the far left, and a left robotic arm is positioned above the counter. A white soap dispenser is mounted on the tiled wall behind the counter.", "global_instruction_dense": "The left robotic arm first grasps the orange cup from the gray tray, moves it left, and places it on the counter left of the tray; next, it grasps the black bowl from the tray, moves it right, and places it on the counter near the sink; then it sequentially grasps the green, purple, yellow, and dark blue snack packages from the counter, moves each to the gray tray, and releases them onto the tray, before lifting upward away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1286, "tasks": ["place food"], "length": 1029, "global_instruction": "Remove the silver can and orange cup from the grey plate, then place all four snack bars onto the grey plate.", "scene_description": "A grey plate holding a silver soda can and an orange cup sits on a white kitchen countertop. Purple, dark blue, and yellow snack bars are to the left of the plate, a green snack bar is to the right of the plate near a stainless steel sink, a small black bowl is behind the plate, and a coffee maker is at the far left of the counter. A robotic arm is positioned at the upper left of the view.", "global_instruction_dense": "The left robotic arm first picks up the silver soda can from the grey plate and places it next to the sink, then picks up the orange cup from the plate and places it near the coffee maker, then sequentially picks up the purple, green, dark blue, and yellow snack bars from the counter and places each onto the now-empty grey plate before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1287, "tasks": ["place food"], "length": 1234, "global_instruction": "Arrange the beverage can, cloth, and snack items on the kitchen counter onto and adjacent to the gray plate.", "scene_description": "A white kitchen counter holds a silver can with a red logo, a green and yellow sponge, a small yellow snack, a small gray wrapper, an orange and white snack bar, a purple snack bar, a black bowl, and a light gray plate with two beige cloths, with a coffee maker on the far left of the counter, a soap dispenser on the tiled back wall, and a stainless steel sink on the far right.", "global_instruction_dense": "The right robotic arm first grasps the silver beverage can on the counter, moves it to the area adjacent to the gray plate near the sink and places it down, then moves a beige cloth from the plate to the counter left of the plate, then sequentially grasps the orange and white snack bar, purple snack bar, gray wrapper, and yellow snack from the counter and places each of them onto the gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1288, "tasks": ["place food"], "length": 1015, "global_instruction": "Move the two cans off the gray plate, then place all countertop snack bars onto the gray plate.", "scene_description": "A white kitchen counter has a gray round plate holding a red Dr Pepper can and a silver Coke can, plus a purple snack bar, two orange snack bars, and a silver wrapped snack bar on the counter next to the plate. A stainless steel sink, white soap dispenser, and black coffee maker are visible, with a robotic arm at the left edge of the frame.", "global_instruction_dense": "The left robotic arm first moves to grasp the silver Coke can on the gray plate, places it on the counter next to the sink, then grasps the red Dr Pepper can on the plate, places it on the counter to the left of the plate, then sequentially grasps the orange, purple, silver wrapped, and second orange snack bars from the counter and places each onto the now empty gray plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1289, "tasks": ["place food"], "length": 757, "global_instruction": "Move the blue and yellow snack packets from the gray plate to the counter, then place the small gray wrapper and purple snack bar onto the gray plate.", "scene_description": "A white kitchen countertop features a gray plate holding a blue snack packet and yellow snack packet, a silver Diet Coke can near a stainless steel sink on the right, a small gray wrapper and purple snack bar to the left of the plate, a coffee maker on the far left, a white robotic arm above the counter, and white tiled walls in the background.", "global_instruction_dense": "The left robotic arm grasps the blue snack packet from the gray plate, places it on the counter left of the plate, then grasps the yellow snack packet from the gray plate, places it on the counter right of the plate near the Coke can, then grasps the small gray wrapper from the counter, places it on the gray plate, then grasps the purple snack bar from the counter, places it on the gray plate before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1290, "tasks": ["place food"], "length": 661, "global_instruction": "Pick up the packaged snacks from the kitchen counter and place them into the open under-counter drawer.", "scene_description": "A white kitchen countertop has a stainless steel double sink on the left, two black packaged snacks, a yellow packaged snack, a pink plastic cup arranged left to right, and a silver espresso machine on the far right. An open wooden drawer sits under the snack-holding section of the counter, with a robotic arm above the sink, white tiled backsplash, and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves from above the sink to the counter, sequentially grasps the two black packaged snacks and the yellow packaged snack, moves each over the open drawer to release them inside, then retracts to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1291, "tasks": ["place food"], "length": 1085, "global_instruction": "Place all packaged snacks from the countertop into the open drawer and close the drawer.", "scene_description": "A kitchen countertop holds four packaged snacks (blue, black, green, orange-white wrappers, left to right), a small black bowl, a red Coca-Cola can, a silver soda can, and a silver espresso machine. An open wooden drawer with a can inside sits under the left counter, with upper blue cabinets and a stainless steel sink in the background, and a left robotic arm above the counter.", "global_instruction_dense": "The left robotic arm first adjusts the can inside the open drawer under the counter, then consecutively grasps each of the four packaged snacks from the countertop, drops each into the drawer, pushes the drawer closed, and returns to a resting position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1292, "tasks": ["place food"], "length": 1100, "global_instruction": "Place the small snack items on the kitchen counter into the open wooden drawer, then close the drawer.", "scene_description": "A kitchen countertop with a left-side stainless steel sink, blue upper cabinets, white tiled backsplash, and items on the counter: a purple candy bar, silver-blue small packet, red small packet, green candy bar, orange snack bag, small black bowl, gray cloth, soda can, and espresso machine on the right; a partially open wooden drawer under the counter holds a green can.", "global_instruction_dense": "The left robotic gripper moves down toward the counter, sequentially grasps the purple candy bar, silver-blue packet, green candy bar, and red packet from the counter, places each into the open wooden drawer below the counter, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1293, "tasks": ["place food"], "length": 1164, "global_instruction": "Place all packaged snacks on the kitchen counter into the open drawer below and close the drawer.", "scene_description": "A white kitchen counter holds orange, green, purple, and dark-colored packaged snacks near its center, a stainless steel double sink sits on the left, a coffee machine is on the right, an open wooden drawer below the counter contains a black round object, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The robotic arm moves to each packaged snack on the kitchen counter sequentially, grasps each snack, lowers it into the open wooden drawer, releases it, and after placing all snacks, pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1294, "tasks": ["place food"], "length": 1138, "global_instruction": "Place all snacks from the counter plate into the open drawer below the counter, then close the drawer.", "scene_description": "A white kitchen counter with a double sink on the left, a purple cloth next to the sink, a gray plate holding assorted snacks (yellow, orange-red, dark-colored) in the center, an open wooden drawer below the counter with two cans inside, a stainless steel coffee machine on the right, and a robotic arm positioned above the sink area, with white tiled backsplash in the background.", "global_instruction_dense": "The left robotic arm moves to the plate of assorted snacks on the kitchen counter, grasps each snack from the plate one by one, moves each snack down to the open wooden drawer below the counter and drops it inside, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1295, "tasks": ["place food"], "length": 975, "global_instruction": "Place all snack items from the counter and plate into the open drawer, then close the drawer.", "scene_description": "A kitchen counter with a double stainless steel sink on the left, a gray plate holding two dark snack bars at the center, an orange can behind the plate, a colorful snack bar and a yellow snack pack to the right of the plate, a coffee machine on the far right, an open wooden drawer below the counter with a red soda can inside, and a single robotic arm positioned above the sink area.", "global_instruction_dense": "The single robotic arm moves to grasp dark snack bars from the gray plate, places each into the open wooden drawer below the counter, then grasps a colorful snack bar and a yellow snack pack from the counter surface, places both into the drawer, then pushes the drawer fully closed before moving back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1296, "tasks": ["place food"], "length": 1187, "global_instruction": "Place all snack packages on the kitchen counter into the open drawer below the counter, then close the drawer.", "scene_description": "A white square tiled backsplash sits behind a white kitchen counter that holds a stainless steel double sink on the left, a gray round plate right of the sink, a dark blue cloth with multiple snack packages, a red soda can against the backsplash, and an espresso machine on the far right. An open light wooden drawer with an orange soda can inside is under the counter below the cloth, a purple recycling bin is left of the drawer, and a white robotic arm is positioned at the upper left.", "global_instruction_dense": "The left robotic arm moves toward the snack packages on the dark blue counter cloth, grasps each package one by one, lowers each into the open light wooden drawer below the counter and releases it, then pushes the drawer closed after all packages are placed inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1297, "tasks": ["place food"], "length": 1179, "global_instruction": "Place all small snack packages from the blue cloth on the kitchen counter into the open drawer, then close the drawer.", "scene_description": "A white kitchen counter holds a dark blue cloth with multiple small snack packages, a gray tray with an orange soda can and a red soda can, a stainless steel sink on the left, and a coffee machine on the right. A light wooden drawer below the counter is open, and a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves down to the blue cloth on the kitchen counter, grasps each small snack package individually, lifts and places each into the open wooden drawer below the counter, then pushes the drawer closed, and returns to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1298, "tasks": ["place food"], "length": 1282, "global_instruction": "Place all snack packets from the countertop into the open drawer, then close the drawer.", "scene_description": "A white kitchen countertop holds several snack packets next to a stainless steel coffee machine, an open wooden drawer below the counter contains an orange snack bag, a single white robotic arm is positioned above the counter, with a sink and white tiled walls in the background.", "global_instruction_dense": "The single white robotic arm sequentially grasps each snack packet from the kitchen countertop, moves each packet over the open wooden drawer, releases them into the drawer, then pushes the drawer closed and returns to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1299, "tasks": ["place food"], "length": 1097, "global_instruction": "Place all snack packets from the kitchen counter into the wooden drawer then close the drawer.", "scene_description": "A kitchen counter has a blue cup, green cup, red soda can, yellow snack packet, orange snack packet, and patterned snack packet on it, with a coffee machine on the counter's right, a sink on the left, and a partially open wooden drawer under the counter. A robotic arm is positioned above the left of the counter.", "global_instruction_dense": "The left robotic arm first opens the partially open wooden drawer wider, then sequentially picks up the yellow, orange, and patterned snack packets from the counter and places each into the drawer, before closing the drawer fully and hovering above the blue cup on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1300, "tasks": ["place food"], "length": 868, "global_instruction": "Place the two snack packages on the kitchen counter into the open drawer under the counter, then close the drawer.", "scene_description": "A kitchen counter with a white surface holds a double sink on the left, a red-and-white snack package next to the sink, a pink paper cup, a folded gray cloth, and a small brown snack package near the cloth, with a partially open wooden drawer under the counter beneath the pink cup. A robotic gripper hovers above the counter.", "global_instruction_dense": "The right robotic gripper moves down to grasp the small brown snack package next to the gray cloth, lifts it, lowers and releases it into the open wooden drawer under the counter, then moves to grasp the red-and-white snack package beside the sink, lifts and releases it into the drawer, then pushes the drawer closed before moving back to hover above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1301, "tasks": ["place food"], "length": 785, "global_instruction": "Place the yellow and red snack packets from the countertop into the open drawer, then close the drawer.", "scene_description": "A kitchen countertop holds a pink cup, yellow snack packet, purple snack packet, red snack packet, and silver soda can from left to right; an open wooden drawer is below the counter, with a sink left of the counter and a coffee machine right of the counter, and a left robotic gripper is positioned above the counter.", "global_instruction_dense": "The left robotic gripper first adjusts its position above the open drawer, moves upward to grasp the yellow snack packet on the counter, lowers and releases it into the drawer, then moves to grasp the red snack packet on the counter, lowers and releases it into the drawer, pushes the open drawer closed, and finally moves back to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1302, "tasks": ["place food"], "length": 795, "global_instruction": "Place the orange and yellow packaged snacks from the counter into the open drawer then close the drawer.", "scene_description": "A kitchen counter holds a silver soda can, yellow packaged snack, green sponge, and orange packaged snack, with a partially open wooden drawer below, a sink on the left, a coffee machine on the right, and a left robotic gripper above the counter.", "global_instruction_dense": "The left robotic gripper first moves down into the open drawer then rises, moves to grasp the orange packaged snack on the counter, lowers it into the drawer and releases it, then moves to grasp the yellow packaged snack on the counter, lowers it into the drawer and releases it, then pushes the open drawer closed before moving upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1303, "tasks": ["place food"], "length": 753, "global_instruction": "Place all three snack packets from the counter into the drawer, then close the drawer.", "scene_description": "A kitchen counter holds a blue cup, blue snack packet, orange snack packet, light yellow snack packet, gray circular plate, stainless steel sink on the left, and coffee machine on the right. A partially open wooden drawer with dark cloth inside sits below the counter, and a robotic gripper is positioned above the counter.", "global_instruction_dense": "The left robotic gripper first pulls the partially open wooden drawer fully open, then sequentially grasps the orange, blue, and light yellow snack packets from the counter and drops each into the drawer, then pushes the drawer closed, and finally moves upward away from the closed drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1304, "tasks": ["place food"], "length": 1167, "global_instruction": "Place all snack packets from the kitchen counter into the open wooden drawer, then close the drawer.", "scene_description": "A white kitchen countertop holds a green plastic cup, green aluminum soda can, orange and white snack packet, clear plastic container with a yellow snack packet, blue and white snack packet, with a stainless steel sink on the counter's left, espresso machine on the right, an open wooden drawer below the counter, and a single robotic arm positioned above the sink area.", "global_instruction_dense": "The robotic arm sequentially grasps the orange snack packet, yellow snack packet, and blue snack packet from the counter, moves each into the open wooden drawer and releases them, then grasps the drawer handle to push the drawer closed before retracting back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1305, "tasks": ["place food"], "length": 871, "global_instruction": "Place the packaged snacks on the kitchen counter into the open lower drawer then close the drawer.", "scene_description": "A white kitchen countertop holds a blue packaged snack, a yellow packaged snack, an orange packaged snack, a small dark packaged item, and a clear plastic bowl from left to right; a stainless steel sink sits left of the snacks, a coffee machine is on the counter's right end, and an open wooden lower drawer sits under the snack area.", "global_instruction_dense": "The left robotic arm moves down to the kitchen counter, sequentially grasps the blue, yellow, and orange packaged snacks, places each into the open lower drawer, pushes the drawer closed, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1306, "tasks": ["place food"], "length": 570, "global_instruction": "Place the two food packets on the kitchen counter into the open drawer beneath the counter.", "scene_description": "A kitchen counter with a double sink on the left, an open drawer below holding two aluminum cans, an orange food packet and a red food packet on the counter in front of a brown cloth, a coffee machine on the far right, and a robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm first pulls the open drawer further outward, then grasps the orange food packet on the counter, moves it over the drawer and releases it inside, next grasps the red food packet on the counter, moves it over the drawer and releases it inside, before pausing above the open drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1307, "tasks": ["place food"], "length": 735, "global_instruction": "Place the blue and red snack packs from the counter into the open drawer then push the drawer closed.", "scene_description": "A white kitchen counter holds a blue snack pack, a red snack pack, a red soda can, and an orange packaged food item from left to right. An open wooden drawer below the counter contains a silver can, a double sink sits to the left of the counter snacks, a coffee machine is to the right of the snacks, and a blue recycling bin is under the counter left of the drawer.", "global_instruction_dense": "The left robotic gripper moves to grasp the blue snack pack on the counter, releases it into the open drawer below, then moves to grasp the red snack pack on the counter, releases it into the drawer, then pushes the drawer partially closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1308, "tasks": ["place food"], "length": 759, "global_instruction": "Place all snack packages on the kitchen counter into the open wooden drawer below them.", "scene_description": "A kitchen counter has a double sink on the left, assorted snack packages (blue, orange, red-and-white) in the center, a small silver tool to the right of the snacks, and a coffee machine at the far right. An empty open wooden drawer sits beneath the snacks, with a purple recycling bin and black trash bin under the counter left of the drawer.", "global_instruction_dense": "The left robotic gripper descends to the counter, sequentially grasps each snack package, drops each into the open drawer, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1309, "tasks": ["place food"], "length": 814, "global_instruction": "Place the red and yellow snack packages into the open drawer and close the drawer.", "scene_description": "A white kitchen counter holds a red snack package and a yellow snack package, with an open wooden drawer containing a purple tray below the counter; a sink is to the left of the packages and a coffee machine to the right, with a left robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm first adjusts the purple tray inside the open drawer, then moves to grasp the red snack package on the counter and drops it into the drawer, next moves to grasp the yellow snack package on the counter and drops it into the drawer, finally pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1310, "tasks": ["place food"], "length": 978, "global_instruction": "Place all three snack packs on the counter into the open drawer below, then close the drawer.", "scene_description": "A white kitchen countertop holds three snack packs (a blue pack with a yellow pack on top, a red pack) at its center, an open wooden drawer sits below the counter, a double sink is on the counter's left end, a coffee machine on the right end, with a white square tile backsplash behind, and a single robotic arm is positioned above the left side of the counter near the sink.", "global_instruction_dense": "The robotic arm moves toward the blue snack pack on the counter, grasps it and drops it into the open drawer, then moves to the yellow snack pack, grasps it and drops it into the drawer, moves to the red snack pack, grasps it and drops it into the drawer, then pushes the drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1311, "tasks": ["place food"], "length": 1023, "global_instruction": "Place the snack packages on the kitchen counter into the open wooden drawer, then close the drawer.", "scene_description": "A white kitchen countertop holds a silver sink on the left, a dark cloth, a small clear snack container, a blue crumpled snack bag, a red crumpled snack bag, a red soda can, and a coffee machine on the far right. An open wooden drawer sits below the counter, with black and purple trash bins under the counter's left side, and a robotic arm above the left counter.", "global_instruction_dense": "The left robotic gripper grasps the small clear snack container, places it into the open drawer, then grasps and places the red crumpled snack bag into the drawer, next grasps and places the blue crumpled snack bag into the drawer, pushes the drawer closed, and moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1312, "tasks": ["place food"], "length": 591, "global_instruction": "Place the two snack packages on the kitchen counter into the open wooden drawer.", "scene_description": "A kitchen counter with a stainless steel sink on the left, a silver coffee machine on the far right. On the counter, there are two snack packages (one red with silver base, one yellow and brown), a green-yellow sponge, a red soda can, and a gray cloth. An open wooden drawer below the counter holds a green can, and a robotic arm is positioned above the sink area.", "global_instruction_dense": "The right robotic arm moves toward the red-silver snack package on the counter, grasps it, lifts it, moves it over the open wooden drawer, releases it into the drawer, then moves to the yellow-brown snack package, grasps it, lifts it, moves it over the drawer, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1313, "tasks": ["place food"], "length": 817, "global_instruction": "Place the two snack packages into the open kitchen drawer and close the drawer.", "scene_description": "A white tiled kitchen counter with a stainless steel double sink on the left, an open wooden drawer below the counter, an orange snack package, clear plastic bowl, green Sprite can, and yellow-green sponge on the countertop, with a silver espresso machine on the far right. Blue upper cabinets, black trash bin and purple recycling bin are under the counter left of the open drawer.", "global_instruction_dense": "The left robotic arm first moves toward the orange snack package on the counter, grasps it, places it into the open drawer below, then moves to the clear plastic bowl, grasps the snack package inside the bowl, places it into the drawer, then pushes the drawer closed and returns to the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1314, "tasks": ["place food"], "length": 647, "global_instruction": "Place the snack packages on the kitchen counter into the open drawer, then close the drawer.", "scene_description": "A white kitchen countertop holds a stack of brown snack packages, a yellow snack bag, an orange small snack, black sunglasses, a red soda can, a clear plastic bowl, and a stainless steel sink with a faucet. An open wooden drawer is below the counter, a coffee machine is on the counter's right side, and a robotic arm is positioned above the sink area on the left.", "global_instruction_dense": "The left robotic arm moves toward the stack of brown snack packages on the counter, grasps one package, lifts and places it into the open drawer below, then grasps the yellow snack bag, lifts and places it into the drawer, then pushes the open drawer closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1315, "tasks": ["place food"], "length": 763, "global_instruction": "Place the yellow and blue snack packages on the kitchen counter into the open wooden drawer, then close the drawer.", "scene_description": "A kitchen counter holds a stainless steel double sink, a yellow snack package, a blue snack package, an orange small packet, a brown chocolate bar, and a brown cloth; an open light wood drawer sits below the counter, a purple recycling bin is left of the drawer, and a coffee machine is on the right end of the counter.", "global_instruction_dense": "The left robotic arm moves down toward the counter, grasps the yellow snack package, places it into the open drawer, then grasps the blue snack package, places it into the drawer, pushes the drawer closed, and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1316, "tasks": ["place food"], "length": 974, "global_instruction": "Move snack bars from the gray tray to the counter, then place green snack packets and plastic cups from the counter onto the gray tray.", "scene_description": "A kitchen counter has a double stainless steel sink on the left, a gray rectangular tray in the center, and a silver coffee machine on the right. On the tray: a green soda can, a dark brown snack bar, an orange-and-white snack bar, a purple plastic cup, and a green plastic cup. Two small green snack packets lie on the counter left of the tray, with a white tiled backsplash and blue upper cabinets above the counter.", "global_instruction_dense": "The left robotic gripper first moves the orange-and-white snack bar from the gray tray to the adjacent counter, then moves the purple plastic cup from the tray to the counter, next moves the dark brown snack bar from the tray to the counter near the sink, then moves each of the two small green snack packets from the left of the tray onto the tray, and finally moves the green plastic cup from the counter onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1317, "tasks": ["place food"], "length": 1161, "global_instruction": "Move items from the gray tray to the surrounding counter, then place the remaining counter items onto the gray tray.", "scene_description": "A white kitchen countertop has a stainless steel double sink on the left, a gray rectangular tray in the center, and a stainless steel coffee machine on the right. The tray holds a red chip bag, a green plastic cup, a red Dr Pepper soda can, and a yellow snack packet. To the left of the tray are a green soda can and a small green tube next to the sink, while a small green snack bar sits to the right of the tray. The background is a white tiled wall with blue upper cabinets.", "global_instruction_dense": "The right robotic arm moves the red Dr Pepper can from the tray to the counter to the right of the tray, moves the red chip bag from the tray to the counter to the left next to the green soda can, moves the yellow snack packet from the tray to the counter to the right of the tray, moves the green snack bar from the right counter onto the tray, moves the green soda can from the left counter onto the tray, and moves the small green tube from the left counter near the sink onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1318, "tasks": ["place food"], "length": 957, "global_instruction": "Move the blue snack packet and green Sprite can off the gray tray, then place the orange cup, orange snack packet, orange soda can, and orange sausage onto the gray tray.", "scene_description": "A kitchen counter has a gray rectangular tray with a blue snack packet and green Sprite can on it. To the left of the tray are a sink, an orange soda can, and a long orange sausage, while to the right of the tray are an orange snack packet, an orange cup, and a stainless steel coffee machine, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm first grasps the blue snack packet on the gray tray and places it on the counter left of the tray, then grasps the green Sprite can on the tray and places it on the counter right of the tray, then sequentially grasps the orange cup, orange snack packet, orange soda can, and orange sausage from the counter and places each onto the gray tray before retracting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1319, "tasks": ["place food"], "length": 1192, "global_instruction": "Rearrange food and drink items to place the orange cup, orange soda can, and two snacks onto the gray tray, and move the green cup and green Sprite can from the tray to the counter near the sink.", "scene_description": "A white kitchen counter holds a gray tray near the left double sink. On the tray are a green plastic cup, a small black bowl, and a green Sprite soda can. Off the tray are an orange plastic cup, an orange soda can, a small packaged snack bar, a larger packaged snack, and a stainless steel coffee machine on the far right, with white tiled walls and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic gripper first moves the green plastic cup from the gray tray to the counter next to the sink, then moves the green Sprite can from the tray to the counter beside the green cup, next moves the orange soda can from the counter onto the gray tray, then moves the small packaged snack bar from the counter onto the tray, then moves the larger packaged snack from the counter onto the tray, and finally moves the orange plastic cup from the counter onto the gray tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1320, "tasks": ["place food"], "length": 1107, "global_instruction": "Place all scattered snack items, the orange soda can, and the orange cup onto the gray rectangular tray.", "scene_description": "A white kitchen counter has a stainless steel double sink on the left and a coffee machine on the right. A gray rectangular tray is placed on the center of the counter, holding a yellow snack packet, a small dark packaged item, and an orange soda can. An orange snack packet sits on the counter to the left of the tray near the sink, while an orange plastic cup and an orange snack bar are on the counter in front of the tray. A single robotic arm is positioned above the counter.", "global_instruction_dense": "The single robotic arm first moves the yellow snack packet from the gray tray to the counter near the sink, then moves the orange snack packet from near the sink onto the tray, adjusts the position of the small dark packaged item on the tray, moves the orange soda can from the right of the tray onto the tray, moves the orange plastic cup from in front of the tray onto the tray, and finally moves the orange snack bar from in front of the tray onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1321, "tasks": ["place food"], "length": 927, "global_instruction": "Move all snack items from the white plate to the table, then place the green soda can from the grey tray onto the white plate.", "scene_description": "A light wooden table sits in a room with a wooden glass-front cabinet to the left, stainless steel refrigerators to the right, and three grey mesh chairs around the table. On the table, a white plate on the left holds a red snack bag, blue snack bag, purple packaged snack, and silver packaged snack; a grey tray on the right holds a green snack bar, green soda can, and a small white paper. A white robotic arm is at the upper left of the view.", "global_instruction_dense": "The left robotic arm moves to the white plate, grasps the red snack bag and places it on the table, then grasps the blue snack bag from the plate and places it on the table, next grasps the purple packaged snack from the plate and places it on the table, then grasps the silver packaged snack from the plate and places it on the table, finally moves to the grey tray, grasps the green soda can, and places it onto the empty white plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1322, "tasks": ["place food"], "length": 1162, "global_instruction": "Place all three cans onto the purple plate and all four packaged snacks onto the light blue plate on the table.", "scene_description": "A light wooden table holds a light blue plate, a small black bowl, a purple plate, three cans (red, orange, silver), four packaged snacks (one orange, two green, one black), and a blue cloth. Wooden glass-fronted cabinets are to the left of the table, grey chairs surround the table, and two silver refrigerators are in the background. A white robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the red can, orange can, and silver can, placing each onto the purple plate, then grasps the orange packaged snack, two green packaged snacks, and the black packaged snack, placing each onto the light blue plate before lifting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1323, "tasks": ["place food"], "length": 995, "global_instruction": "Place all cans into the purple plate, and all snack bars and the long package into the light blue plate.", "scene_description": "A light wooden table holds three cans (orange, silver, red), a purple plate below the cans, a small black bowl next to the cans, a dark blue cloth, a long black package, a light blue plate on the right, and three snack bars (orange, green, black-and-white) below the light blue plate. A white robotic arm is at the table's left, with wooden cabinets and silver refrigerators in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps the red, silver, and orange cans, placing each into the purple plate, then grasps the long black package, orange snack bar, green snack bar, and black-and-white snack bar, placing each into the light blue plate until all items are sorted into their respective plates.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1324, "tasks": ["place food"], "length": 898, "global_instruction": "Place all snack bars into the light blue plate and all soda cans into the purple plate", "scene_description": "A light wooden table holds a light blue plate, a purple plate, four snack bars, three soda cans, a blue plastic cup, and a pink plastic cup. A robotic arm is positioned above the table, with a wooden glass-front cabinet to the left and two stainless steel refrigerators to the right.", "global_instruction_dense": "The robotic arm sequentially grasps each snack bar from the table, places each into the light blue plate, then sequentially grasps each soda can from the table, and places each into the purple plate to sort all items.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1325, "tasks": ["place food"], "length": 1125, "global_instruction": "Place all canned drinks onto the purple plate and all packaged snacks onto the light blue plate.", "scene_description": "A light wooden table holds a purple plate, a light blue plate, three canned drinks (red, silver, green Sprite), and assorted packaged snacks. A white robotic arm is positioned above the table, with a wooden glass-fronted cabinet to the left, stainless steel refrigerators to the right, and grey chairs around the table.", "global_instruction_dense": "The left robotic arm sequentially picks up the red canned drink, silver canned drink, and green canned drink and places each onto the purple plate, then picks up assorted packaged snacks one by one and places each onto the light blue plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1326, "tasks": ["place food"], "length": 1099, "global_instruction": "Place all beverage cans onto the purple plate, and all snack bars plus the metal utensil onto the light blue plate.", "scene_description": "A light wooden table holds a light blue plate on its left, a purple plate at its center, three beverage cans (silver, red, orange), three wrapped snack bars (two yellow-green, one purple), an orange snack packet, and a silver metal utensil. A wooden glass-front cabinet is to the table's left, two large silver refrigerators are in the right background, and four gray chairs surround the table.", "global_instruction_dense": "The left robotic arm sequentially grasps each of the three beverage cans on the table, places each can onto the central purple plate, then grasps each of the three snack bars and the silver metal utensil, placing each of these items onto the left light blue plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1327, "tasks": ["place food"], "length": 954, "global_instruction": "Place the three beverage cans into the light blue plate and the four snack bars into the purple plate on the table.", "scene_description": "A light wood table holds a light blue plate, a purple plate, three beverage cans (red, green, orange), four snack bars, and an orange snack packet. Gray chairs surround the table, wooden glass-front cabinets are to the left, and stainless steel refrigerators are to the right.", "global_instruction_dense": "The left robotic arm sequentially grasps the red, orange, and green beverage cans, places each into the light blue plate, then sequentially grasps the white, yellow, silver, and purple snack bars, placing each into the purple plate on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1328, "tasks": ["place food"], "length": 1121, "global_instruction": "Place all loose snack bars and beverage cans on the table into the purple and light blue plates.", "scene_description": "A light wooden table holds a purple plate, light blue plate, orange plastic cup, dark purple cloth, three beverage cans (dark red, silver, orange), four snack bars (purple, orange, two dark-colored), and two yellow snack packets. Wooden glass-front cabinets are behind the left side of the table, silver refrigerators are behind the right side, and mesh chairs surround the table.", "global_instruction_dense": "The right robotic arm sequentially picks up each loose snack bar and beverage can from the table, places beverage cans into the light blue plate, and places snack bars into the purple plate until all selected items are sorted into the corresponding plates.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1329, "tasks": ["place food"], "length": 1023, "global_instruction": "Place the soda cans into the light blue plate and the snack bars into the purple plate on the table.", "scene_description": "A light wooden table holds a light blue plate, a purple plate, a green soda can, an orange soda can, a blue snack pack, a beige cloth, four snack bars, and a small green rectangular object. Wooden glass-front cabinets are to the left of the table, silver refrigerators are to the right, and grey chairs surround the table.", "global_instruction_dense": "The single robotic arm sequentially grasps the green soda can, places it into the light blue plate, grasps the orange soda can, places it into the light blue plate, then grasps each snack bar on the table one by one and places each into the purple plate until all snack bars are in the purple plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1330, "tasks": ["place food"], "length": 1024, "global_instruction": "Place all snack bars into the purple plate and all soda cans into the light blue plate.", "scene_description": "A light wooden table holds a light blue plate, a purple plate, a blue plastic cup, a magenta plastic cup, an orange soda can, a green soda can, and four snack bars, with a left robotic arm positioned above the table's left side.", "global_instruction_dense": "The left robotic arm first grasps a green snack bar and places it into the purple plate, next grasps a silver snack bar and places it into the purple plate, then grasps a green soda can and places it into the light blue plate, then grasps a dark brown snack bar and places it into the purple plate, then grasps an orange soda can and places it into the light blue plate, finally grasps an orange snack bar and places it into the purple plate to complete the sorting.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1331, "tasks": ["place food"], "length": 1402, "global_instruction": "Place all beverage cans on the table into the purple tray and all snack packets on the table into the clear glass bowl.", "scene_description": "A light wooden table holds a purple tray on its left side next to a pink paper cup, three beverage cans (orange, silver, red), a clear glass bowl in the center, and four snack packets (white, red, orange, blue-white) on the right side. A robotic arm is positioned above the table, with wooden glass-front cabinets to the left, silver refrigerators to the right, and gray chairs around the table.", "global_instruction_dense": "The right robotic arm moves down to grasp an orange beverage can on the table, places it into the purple tray, then grasps a silver beverage can and places it into the purple tray, next successively grasps a white, red, orange, and blue-white snack packet and places each into the clear glass bowl, and finally grasps a red beverage can and places it into the purple tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1332, "tasks": ["place food"], "length": 844, "global_instruction": "Place all cans onto the purple plate and all snack packages into the clear plastic bowl on the table.", "scene_description": "A light wooden table holds a blue packaged snack, orange can, brown cloth, purple square plate, clear plastic bowl, red can, green can, red packaged snack, and orange packaged snack; wooden glass-front cabinets, grey chairs, and stainless steel refrigerators are in the background, with a robotic arm positioned at the top left.", "global_instruction_dense": "The left robotic arm sequentially grasps the blue snack package and places it into the clear bowl, grasps the green can and places it on the purple plate, grasps the red can and places it on the purple plate, grasps the orange can and places it on the purple plate, grasps the red snack package and places it into the clear bowl, then grasps the orange snack package and places it into the clear bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1333, "tasks": ["place food"], "length": 917, "global_instruction": "Place drink cans onto the purple plate and snack packets into the clear plastic bowl on the table.", "scene_description": "A light wooden table holds a purple plate, clear plastic bowl, green soda can, red soda can, silver soda can, orange snack packet, blue snack packet, and two small white snack packets, with a robotic arm above the table.", "global_instruction_dense": "The left robotic arm grasps the green soda can and places it on the purple plate, then grasps the orange snack packet and places it into the clear plastic bowl, then grasps the red soda can and places it on the purple plate, then grasps the blue snack packet and places it into the bowl, then grasps the silver soda can and places it on the purple plate, then grasps the small white snack packets and places them into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1334, "tasks": ["place food"], "length": 1051, "global_instruction": "Place the three cans on the table into the purple tray and the three snack bags into the clear plastic bowl.", "scene_description": "A light wooden table holds a clear plastic bowl on the left, two plastic cups (orange, light green) next to the bowl, a purple tray in the center, three cans (orange, green, silver) around the tray, and three snack bags (white, orange, yellow) near the tray, with black mesh chairs, wooden glass cabinets, and silver refrigerators in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps the orange, silver, and green cans, places each onto the purple tray, then grasps the orange, white, and yellow snack bags, places each into the clear plastic bowl, before retracting to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1335, "tasks": ["place food"], "length": 1204, "global_instruction": "Sort the snack packages on the table into the clear white bowl and the purple tray.", "scene_description": "A light wooden table holds a clear white bowl, an orange plastic cup, a green plastic cup, a purple tray, and multiple snack packages (silver, orange, yellow, green, dark chocolate bar) in a room with two silver refrigerators, a wooden cabinet, and grey chairs.", "global_instruction_dense": "The left robotic arm sequentially picks up six snack packages from the table, placing the silver, orange, and yellow packages into the clear white bowl, and the silver, dark chocolate, and green packages onto the purple tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1336, "tasks": ["place food"], "length": 1117, "global_instruction": "Place bagged packaged snacks into the clear white bowl and long packaged snacks into the purple plate on the table.", "scene_description": "A light wooden table holds a clear white bowl on its left, a purple square plate next to the bowl, multiple packaged snacks (white-gray, yellow, small dark long, green long, dark long, orange) on the tabletop, and a green soda can on its right; wooden cabinets are to the left of the table, silver refrigerators to the right, and grey chairs surround the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the white-gray packaged snack, yellow packaged snack, and orange packaged snack, placing each into the clear white bowl on the table, then grasps the small dark long snack, green long snack, and dark long snack, placing each onto the purple plate next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1337, "tasks": ["place food"], "length": 1179, "global_instruction": "Place the snack packages on the table into the purple plate and the clear plastic bowl.", "scene_description": "A light wooden table holds a purple oval plate, a clear plastic bowl, a green soda can, and multiple snack packages (dark long bars, a blue package, a crumpled silver package, a yellow Lays package, a small orange package). Wooden glass-front cabinets are to the left of the table, stainless steel refrigerators are at the back, gray mesh chairs surround the table, and a robotic arm is positioned above the table.", "global_instruction_dense": "The left robotic arm picks up each snack package from the light wooden table sequentially, placing the long dark snacks and small orange snack into the purple oval plate, and placing the crumpled silver, blue, and yellow snack packages into the clear plastic bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1338, "tasks": ["place food"], "length": 901, "global_instruction": "Sort the snacks and small objects on the table into the clear plastic bowl and the purple tray.", "scene_description": "A light wooden table holds a small black bowl, an orange snack packet, a purple tray, a yellow snack packet, a clear plastic bowl, a green soda can, a long orange snack bar, and a small silver packet; four grey mesh chairs surround the table, a wooden glass-front cabinet is on the left, and two stainless steel refrigerators are at the back.", "global_instruction_dense": "The left robotic gripper first moves a silver object from the clear plastic bowl to the purple tray, then places a yellow snack packet from the table into the clear bowl, next transfers a small silver packet next to the green soda can to the purple tray, then puts a long orange snack bar from the table onto the purple tray, and finally drops an orange snack packet from the table into the clear bowl before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1339, "tasks": ["place food"], "length": 716, "global_instruction": "Place the small green packaged item on the purple plate, and place all snack packages into the translucent white bowl on the table.", "scene_description": "A light wooden table holds a small green packaged item, dark gray cloth, purple plate, translucent white bowl, two red snack bags, and a green soda can. A white robotic arm is positioned above the left side of the table, with wooden cabinets to the left, gray mesh chairs around the table, and two stainless steel refrigerators in the background.", "global_instruction_dense": "The left robotic arm first grasps the small green packaged item on the table and places it onto the purple plate, then successively grasps two red snack bags and places them into the translucent white bowl, next grasps the small dark snack next to the green soda can and places it into the bowl, then returns to its initial position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1340, "tasks": ["place food"], "length": 1141, "global_instruction": "Place the utility knife and snack packages from the tabletop into the purple plate and clear bowl appropriately.", "scene_description": "A light wooden table holds a red soda can, a black utility knife, a clear plastic bowl, a yellow packaged candy bar, a light purple square plate, a folded brown cloth, a red Doritos chip bag, and a blue-and-white packaged chip bag. Two stainless steel refrigerators stand at the back, with a wooden glass-front cabinet on the left and dark grey mesh chairs around the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the black utility knife, yellow snack bar, purple snack bar from the clear bowl, red chip bag, and blue-and-white chip bag, placing the knife and snack bars into the light purple plate, and the chip bags into the clear plastic bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1341, "tasks": ["place food"], "length": 825, "global_instruction": "Sort the snack packages on the table into the purple plate and the white translucent bowl.", "scene_description": "A light wooden table holds a white translucent bowl, a purple square plate, multiple snack packages (blue, purple, dark gray, yellow-orange, green-white), two soda cans (silver, orange), and a brown folded cloth. A left robotic gripper is positioned above the table, with gray chairs, wooden glass-front cabinets, and two stainless steel refrigerators in the background.", "global_instruction_dense": "The left robotic gripper sequentially grasps a purple snack package, dark gray snack package, yellow-orange snack package, blue snack package, and green-white snack package from the table, places the purple, dark gray, and green-white packages into the purple plate, places the yellow-orange and blue packages into the white bowl, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1342, "tasks": ["place food"], "length": 806, "global_instruction": "Place all snack packages on the table into the purple plate or clear bowl.", "scene_description": "A light wooden table holds a purple square plate, a clear round bowl, a light pink cloth, a dark blue cloth, and five snack packages: a yellow packet, a silver packet, two long packaged bars (one yellow-white, one purple), and a green packaged bar. Three grey chairs surround the table, a wooden glass-front cabinet stands on the left, two stainless steel refrigerators are at the back, and a robotic arm is positioned above the top left of the table.", "global_instruction_dense": "The left robotic arm sequentially grasps each snack package on the table, places the three long bar-shaped snacks into the purple plate, places the two flat snack packets into the clear bowl, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1343, "tasks": ["place food"], "length": 929, "global_instruction": "Place snack packets from the table into the purple plate and the translucent white bowl.", "scene_description": "A light wood table holds a purple plate, a translucent white bowl, a blue plastic cup, a pink plastic cup, and various snack packets. Grey chairs, wooden cabinets, and two stainless steel fridges are in the background.", "global_instruction_dense": "The right robotic arm sequentially grasps snack packets from the table, places the long white and long green snack packets into the purple plate, and places the red, yellow, and orange snack packets into the translucent white bowl on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1344, "tasks": ["place food"], "length": 1337, "global_instruction": "Place all snack packages on the table into the transparent bowl.", "scene_description": "A light wooden table holds a transparent bowl with a purple lid, a blue plastic cup, a gray cloth, a red snack bag, white snack packages, a green snack bar, and a dark brown candy bar. Two silver refrigerators, wooden glass-front cabinets, and gray mesh chairs are in the background.", "global_instruction_dense": "The left robotic arm moves to each snack package on the table in turn, grasps it, lifts it, moves it over the transparent bowl, and releases it into the bowl, adjusting its grip once when a dark brown candy bar slips during grasping.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1345, "tasks": ["place food"], "length": 923, "global_instruction": "Sort snack packages, placing larger bags into the white bowl and smaller bar snacks into the purple plate.", "scene_description": "A light wooden table holds a transparent white bowl, a purple shallow plate, a silver soda can, and multiple snacks: a yellow Fritos bag, a blue chip bag, a purple long snack, an orange snack bag, a small brown candy bar, and another orange snack near the bowl. Grey chairs, wooden cabinets, and two silver refrigerators are in the background, with a robotic arm at the upper left.", "global_instruction_dense": "The left robotic arm sequentially grasps the yellow Fritos bag, blue chip bag, and orange snack bag, placing each into the white bowl, then grasps the purple long snack and small brown candy bar, placing each into the purple plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1346, "tasks": ["place food"], "length": 1045, "global_instruction": "Place all the snack items on the table into the clear bowl and purple plate.", "scene_description": "A light wooden table holds a green paper cup, a purple plate, a clear white bowl, an orange soda can, and four snack items: two dark snack bars, a yellow snack bag, an orange-red snack bar, and a green snack bar. Dark grey mesh chairs surround the table, a wooden glass-front cabinet is to the left, two stainless steel refrigerators are to the right, and a single robotic arm is positioned in the top left of the frame.", "global_instruction_dense": "The single robotic arm sequentially moves to each snack on the table, grasps the snack, transports it to either the purple plate or the clear white bowl, releases the snack into the receptacle, and continues until all small snacks are placed in the intended containers.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1347, "tasks": ["place food"], "length": 428, "global_instruction": "Place the red-and-white packaged snack into the translucent white bowl, then place the dark blue long packaged snack into the purple oval plate.", "scene_description": "A light wooden table holds a purple oval plate on the left, a red-and-white packaged snack, a dark blue long packaged snack, a dark blue cloth, and a translucent white bowl on the right. Grey mesh chairs, a wooden glass-front cabinet, and two stainless steel refrigerators are in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the red-and-white packaged snack on the table, grasps it, lifts and moves it over the translucent white bowl before releasing it into the bowl, then moves toward the dark blue long packaged snack, grasps it, lifts and moves it over the purple oval plate before releasing it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1348, "tasks": ["place food"], "length": 1388, "global_instruction": "Sort the scattered snack packages on the table, placing bagged snacks into the left white bowl and long thin snack bars into the central purple plate.", "scene_description": "A light wooden table holds a white translucent bowl on the left, a purple square plate at the center, and various scattered snack packages including blue, red, yellow, brown-red bagged snacks and green, orange, light brown, black long thin snack bars. Grey chairs surround the table, two silver refrigerators are in the background, a wooden glass-front cabinet is on the left, and a white-grey robotic arm is positioned at the top left of the frame.", "global_instruction_dense": "The left robotic arm moves to each scattered snack package on the light wooden table, grasps each package, places bagged snacks into the white bowl on the left side of the table and long thin snack bars onto the purple plate at the center of the table, until all bagged snacks are in the bowl and all long snack bars are on the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1349, "tasks": ["place food"], "length": 1242, "global_instruction": "Arrange the colored plastic cups onto the round plate and place the snacks into the clear plastic bowl.", "scene_description": "A light wooden table holds a clear plastic bowl, a round white plate, three plastic cups (blue, orange, green), two orange beverage cans, two red snack bags, and a yellow packet with small sachets. Black mesh chairs surround the table, with stainless steel refrigerators in the background and a wooden glass-fronted cabinet on the left.", "global_instruction_dense": "The left robotic arm sequentially grasps the green, orange, and blue plastic cups and places each onto the round plate, then grasps the yellow sachet packet and two red snack bags and places each into the clear plastic bowl on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1350, "tasks": ["place food"], "length": 1132, "global_instruction": "Place all snack packets into the clear plastic bowl and all colored plastic cups onto the white plate.", "scene_description": "A light wooden table holds a clear plastic bowl, a white round plate, an orange plastic cup, a blue plastic cup, a purple plastic cup, an orange soda can, a green Sprite soda can, a red snack packet, a brown patterned snack packet, and a yellow snack packet. Black mesh chairs surround the table, a wooden glass-front cabinet is on the left, and silver refrigerators are on the right. No robotic arm is visible initially.", "global_instruction_dense": "The right robotic gripper enters from the top of the frame, sequentially grasps the red, brown patterned, and yellow snack packets to place them into the clear bowl, then sequentially grasps the purple, orange, and blue plastic cups to place them onto the white plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1351, "tasks": ["place food"], "length": 1083, "global_instruction": "Place the three colored plastic cups onto the grey plate and all loose snack packets into the clear plastic bowl on the table.", "scene_description": "A light wooden table holds three colorful plastic cups (orange, pink, blue), a grey round plate, a red soda can, multiple loose snack packets, a clear large plastic bowl, and a blue chip bag. A wooden glass-front cabinet sits to the left of the table, two stainless steel refrigerators are to the right, and dark grey mesh chairs surround the table.", "global_instruction_dense": "The robotic gripper first grasps the pink plastic cup, moves it onto the grey plate, then grasps the blue plastic cup and places it on the plate, next grasps the orange plastic cup and places it on the plate, then sequentially picks up each loose snack packet including a yellow packet, blue chip bag, dark snack bar, and small assorted packets and places each into the clear plastic bowl on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1352, "tasks": ["place food"], "length": 884, "global_instruction": "Place the two packaged snacks into the light blue square plate and the three colored plastic cups onto the white round plate.", "scene_description": "A light wooden table holds a green plastic cup, orange plastic cup, yellow packaged snack, white round plate, blue plastic cup, dark purple packaged snack, light blue square plate, and red soda can. A robotic gripper is positioned above the table, with grey mesh chairs, a wooden glass-front cabinet, and stainless steel refrigerators in the background.", "global_instruction_dense": "The left robotic gripper first grasps the dark purple packaged snack, moves and releases it into the light blue square plate, then sequentially grasps the blue, green, and orange plastic cups, moving each to and releasing them onto the white round plate, and finally grasps the yellow packaged snack, moving and releasing it into the light blue square plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1353, "tasks": ["place food"], "length": 1052, "global_instruction": "Place the orange and green cups onto the white plate, and place all loose snack bars into the light cyan plate.", "scene_description": "A light beige wooden table holds an orange plastic cup, a green plastic cup, a light cyan rectangular plate, a white round plate, four wrapped snack bars (purple, dark striped, green, light brown), a crumpled yellow snack packet, and a folded dark grey cloth. Wooden glass-fronted cabinets and stainless steel refrigerators are in the background, with grey mesh chairs surrounding the table.", "global_instruction_dense": "The left robotic arm first grasps the orange cup, lifts it, moves it to the white round plate and releases it; next grasps the green cup, lifts it, moves it to the white plate and releases it next to the orange cup; then sequentially grasps each loose snack bar from the table surface, moves each to the light cyan plate, and releases them into the plate before moving back to a neutral position above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1354, "tasks": ["place food"], "length": 1096, "global_instruction": "Place the two plastic cups onto the white round plate, and place all packaged snacks into the light blue square tray.", "scene_description": "A light wooden table holds a green plastic cup, a pink plastic cup, a light blue square tray, a white round plate, and multiple packaged snacks; black mesh chairs surround the table, a wooden glass-front cabinet is to the left, and stainless steel refrigerators are to the right.", "global_instruction_dense": "The robotic arm first grasps the green plastic cup and places it onto the white round plate, then grasps the pink plastic cup and places it onto the same plate, then sequentially grasps each packaged snack on the table and places all of them into the light blue square tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1355, "tasks": ["place food"], "length": 969, "global_instruction": "Place the scattered snack bars into the cyan plate and the two plastic cups onto the grey plate.", "scene_description": "A light wooden table holds a large grey plate on the left, a small cyan plate in the center, green and blue plastic cups to the right of the cyan plate, multiple snack bars scattered across the table, a green sponge at the front edge of the table, and a bag of chips next to the grey plate, with office chairs and silver refrigerators in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps scattered purple, yellow, white, and dark blue snack bars, placing each into the small cyan plate, then grasps the green and blue plastic cups and places both onto the large grey plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1356, "tasks": ["place food"], "length": 1024, "global_instruction": "Place all packaged snack bars into the light blue square plate and the two plastic cups onto the round white plate.", "scene_description": "A light wooden table holds a silver Coke can, a small black bowl, a round white plate, a square light blue plate, a blue plastic cup, an orange plastic cup, three dark packaged snack bars, a green packaged snack bar, and a beige cloth. Dark mesh chairs surround the table, a wooden glass-front cabinet is in the back left, and two stainless steel refrigerators are in the back right.", "global_instruction_dense": "The left robotic gripper enters the scene from the upper left, sequentially grasps each packaged snack bar from the table surface and places each into the light blue square plate, then grasps the orange plastic cup and places it on the round white plate, grasps the blue plastic cup and places it on the round white plate, then grasps the remaining packaged snack bars and places them into the light blue square plate before retracting away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1357, "tasks": ["place food"], "length": 1194, "global_instruction": "Place all dark brown and green snack bars into the light blue tray, and place the orange and pink plastic cups onto the light gray round plate.", "scene_description": "A light wooden table has a light blue oval tray on its far left, a silver Diet Coke can adjacent to the tray, an orange plastic cup right of the Coke can, a light gray round plate between the orange cup and the table center, a green Sprite can right of the plate, a brown cloth right of the Sprite can, three dark brown snack bars (one near the Coke can, two near the cloth), two green wrapped snack bars right of the cloth, and a pink plastic cup on the far right. A left robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm first grasps a dark brown snack bar near the Coke can and places it into the light blue tray, then grasps the orange plastic cup and places it onto the light gray round plate, then grasps the two remaining dark brown snack bars near the cloth one by one and places each into the light blue tray, then grasps the pink plastic cup and places it onto the light gray round plate, then grasps the two green wrapped snack bars one by one and places each into the light blue tray, before moving above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1358, "tasks": ["place food"], "length": 1193, "global_instruction": "Place all the packaged snack bars into the purple plate, then cover the plate with the dark grey cloth.", "scene_description": "A light wooden table holds a purple square plate, four packaged snack bars, a dark grey folded cloth, a silver soda can, a green Sprite can, and a black stapler; grey office chairs, wooden glass-front cabinets, and stainless steel fridges are in the background.", "global_instruction_dense": "The right robotic arm sequentially picks each packaged snack bar from the table, places each into the purple plate, then picks up the dark grey cloth and covers the snacks in the plate with it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1359, "tasks": ["place food"], "length": 1385, "global_instruction": "Place all snack packages on the table into the light purple plate, then cover the plate with the dark gray cloth.", "scene_description": "A light wooden table holds a light purple plate, four snack packages (green, two dark, one purple), a silver can, a green Sprite can, a green plastic cup with a light blue lid, and a folded dark gray cloth; a white robotic arm is positioned above the table's left edge.", "global_instruction_dense": "The left robotic arm sequentially grasps each snack package on the table, places every package into the light purple plate, then grasps the folded dark gray cloth, lifts and moves it over the plate, and drapes the cloth over the plate to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1360, "tasks": ["place food"], "length": 1221, "global_instruction": "Place the three snack bars into the purple tray, then cover the tray with the dark blue cloth.", "scene_description": "A light wooden table has a purple plastic tray at its front, three snack bars (black-silver, purple, yellow-white) left of the tray, a green plastic cup, a silver soda can, a green Sprite can, and a folded dark blue cloth further left, with chairs around the table, wooden cabinets to the left, and stainless steel refrigerators in the background.", "global_instruction_dense": "The left robotic arm first grasps the black-silver snack bar, places it into the purple tray, then grasps the purple snack bar and places it into the tray, next grasps the yellow-white snack bar and places it into the tray, then grasps the dark blue cloth and spreads it over the tray to cover the snack bars inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1361, "tasks": ["place food"], "length": 1128, "global_instruction": "Place the three scattered snacks into the purple tray, then cover the tray with the dark blue cloth.", "scene_description": "A light wooden table holds a purple square tray, a dark blue cloth, a purple wrapped snack, a silver wrapped snack, a silver soda can, a yellow snack packet, and an orange wrapped snack. The tray is centered, with the cloth to its left, the yellow and orange snacks to its right, and the soda can behind it.", "global_instruction_dense": "The left robotic arm sequentially grasps the purple, orange, and silver wrapped snacks on the table, places each into the centered purple tray, then grasps the dark blue cloth to the left of the tray, moves it over the tray, and adjusts it to cover the snacks inside the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1362, "tasks": ["place food"], "length": 1004, "global_instruction": "Place all snacks on the table into the purple plate and cover the snacks with the dark blue cloth.", "scene_description": "A light wooden table has a light purple square plate at its center, with multiple snack packages around the plate, a folded dark blue cloth left of the plate, and a silver soda can behind the cloth. A wooden glass-front cabinet is in the left background, silver refrigerators are in the right background, and grey office chairs surround the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the purple-wrapped snack, dark blue-wrapped snack, and green-orange wrapped snack on the table, places each into the light purple plate, then grasps the dark blue cloth, lifts it, and covers the snacks in the plate with the cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1363, "tasks": ["place food"], "length": 1164, "global_instruction": "Place the three wrapped snack bars into the purple plate, then cover the plate with the beige cloth.", "scene_description": "A light wooden table has a purple plate on the left, a silver soda can, three wrapped snack bars (small brown, yellow, dark blue), an orange-white packaged snack, and a beige cloth on the right. Chairs, a wooden cabinet, and stainless steel refrigerators are in the background.", "global_instruction_dense": "The robotic arm sequentially grasps the small brown, yellow wrapped, and dark blue wrapped snack bars on the table, places each into the purple plate, then grasps the beige cloth and places it over the plate to cover the snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1364, "tasks": ["place food"], "length": 1283, "global_instruction": "Place the snack packages into the purple tray and cover them with the folded cloth.", "scene_description": "A light wooden table holds a purple plastic tray, four snack packages, a red soda can, and a folded light beige cloth. Chairs surround the table, a wooden cabinet is to the left, and stainless steel refrigerators are in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps the dark, yellow, and orange snack packages, places each into the purple tray, then grasps the light beige folded cloth and covers the snacks in the tray with it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1365, "tasks": ["place food"], "length": 658, "global_instruction": "Place all scattered snack bars into the purple tray, then cover the tray with the folded white cloth.", "scene_description": "A light wooden table holds a purple square tray at its center, with a dark purple wrapped snack bar, a long red-and-white wrapped snack bar, an orange wrapped snack bar, a small red-and-white packaged snack, a folded white cloth, and a red Coca-Cola can arranged around the tray. Black mesh office chairs surround the table, a wooden glass-front cabinet sits to the left, and large silver refrigerators are positioned to the right, with no robotic arm in view.", "global_instruction_dense": "The right robotic arm descends to the table, picks up each scattered snack bar (dark purple, red-and-white, and orange wrapped) in sequence, places each into the purple square tray, then grasps the folded white cloth and places it over the tray to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1366, "tasks": ["place food"], "length": 793, "global_instruction": "Place the three packaged snacks into the purple plate, then adjust the napkin over the snacks and on the table.", "scene_description": "A light wooden table holds a purple square plate on its left half, a white folded napkin, four packaged snacks, and a red soda can, with dark mesh chairs around it, a wooden glass cabinet to the left, and a stainless steel refrigerator in the right background.", "global_instruction_dense": "The left robotic arm sequentially grasps the small green-yellow packaged snack, orange long packaged snack, and black packaged snack, placing each into the purple plate, then grasps the white napkin, places it over the snacks in the plate, and finally adjusts the napkin to spread it flat on the table next to the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1367, "tasks": ["place food"], "length": 1215, "global_instruction": "Collect the snacks on the table into the purple plate, then cover the plate with the brown cloth.", "scene_description": "A light wooden table holds a purple plate, multiple snack packages (beige, green, orange, purple, yellow) and a brown cloth, with black mesh chairs, a wooden glass-front cabinet, and stainless steel refrigerators in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps the beige, green, and purple snack packages on the table, places each into the purple plate, then grasps the brown cloth and places it over the purple plate to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1368, "tasks": ["place food"], "length": 1108, "global_instruction": "Place all three snack packages on the table into the purple tray, then cover the tray with the brown cloth.", "scene_description": "A light wood table holds a purple tray, a yellow snack package, a dark brown snack package, a green snack package, a brown cloth, a green sponge, and a crumpled yellow snack bag. A wooden glass-front cabinet stands to the left of the table, two silver refrigerators are in the background, and black mesh office chairs surround the table.", "global_instruction_dense": "The left robotic arm first moves to grasp a yellow snack package on the table and places it into the purple tray, then grasps a dark brown snack package and places it into the tray, next grasps a green snack package and places it into the tray, finally grasps the brown cloth, moves it over the tray, and spreads it to cover the snacks in the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1369, "tasks": ["place food"], "length": 911, "global_instruction": "Place the orange, green, and purple packaged snacks into the purple plate, then unfold the brown cloth to cover the plate.", "scene_description": "A light wooden table holds a purple plate, an orange packaged snack, a yellow packet, a folded brown cloth, a green packaged snack, a purple patterned packaged snack, and a green-yellow sponge. Black chairs surround the table, wooden glass-fronted cabinets are to the left of the table, silver refrigerators are to the right, and a left robotic arm is positioned above the left side of the table near the cabinets.", "global_instruction_dense": "The left robotic arm first moves toward the orange packaged snack next to the purple plate, grasps it and places it into the plate, then moves to the green packaged snack on the table, grasps it and places it into the plate, next moves to the purple patterned packaged snack, grasps it and places it into the plate, finally moves to the folded brown cloth, grasps its corner, unfolds the cloth and pulls it to cover the purple plate holding the snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1370, "tasks": ["place food"], "length": 1298, "global_instruction": "Place the orange, green, and dark packaged snacks into the purple plate, then cover the plate with the light brown cloth.", "scene_description": "A light wooden table holds a purple plastic plate, an orange packaged snack, a yellow packaged snack, a folded light brown cloth, a green packaged snack, a dark packaged snack, and a green-yellow sponge. The purple plate is on the left side of the table, with the orange snack adjacent to its left, the yellow snack to its upper right, the cloth centered on the table, the green and dark snacks below the cloth, and the sponge below the green snack. Wooden glass-fronted cabinets, gray office chairs, and silver refrigerators are in the background.", "global_instruction_dense": "The left robotic arm sequentially picks up the orange packaged snack, green packaged snack, and dark packaged snack, places each into the purple plate, then grasps the light brown cloth, moves it over the plate, and places and adjusts the cloth over the plate to cover the snacks inside, leaving the yellow packaged snack beside the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1371, "tasks": ["place food"], "length": 1091, "global_instruction": "Place the three packaged snacks on the table into the purple tray, then cover the tray with the gray cloth.", "scene_description": "A light wooden table holds a purple plastic tray, a gray cloth, a green sponge, an orange packaged snack, a green packaged snack, a white packaged snack, and a blue snack bag. Gray mesh chairs surround the table, a wooden glass-front cabinet is on the left, and stainless steel refrigerators are in the right background.", "global_instruction_dense": "The right robotic arm sequentially grasps the white, green, and orange packaged snacks, places each into the purple tray, then grasps the gray cloth and pulls it over the tray to cover the snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1372, "tasks": ["place food"], "length": 679, "global_instruction": "Place the three strip-shaped packaged snacks into the light blue plate, then cover the plate with the brown cloth.", "scene_description": "A light wooden table holds a light blue plate, a brown cloth, a green-white packaged snack, a purple packaged snack strip, a green packaged snack strip, a blue snack pack, and a dark green sponge, with office chairs, a stainless steel refrigerator, and a wooden glass-front cabinet in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps the green-white packaged snack, purple packaged snack strip, and green packaged snack strip, places each into the light blue plate, then grasps the brown cloth, pulls it over the plate to cover the plate and the snacks inside, then moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1373, "tasks": ["place food"], "length": 826, "global_instruction": "Place all snack bars on the table into the light blue plate, then cover the plate with the beige cloth.", "scene_description": "A light wood table holds a silver soda can, a folded beige cloth, a small black bowl, two dark snack bars, a light blue square plate, and a yellow-orange snack bar. The soda can and beige cloth are on the left side of the table, the black bowl and dark snack bars are near the center left, the light blue plate is at the table's center, and the yellow-orange snack bar is to the right of the plate.", "global_instruction_dense": "The left robotic arm sequentially grasps the two dark snack bars near the black bowl and the yellow-orange snack bar to the right of the light blue plate, places each into the plate one by one, then grasps the beige cloth near the silver soda can and drapes it over the plate to cover the collected snack bars.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1374, "tasks": ["place food"], "length": 1061, "global_instruction": "Place all snack packages on the table into the light blue plate, then cover the plate with the beige cloth.", "scene_description": "A light wooden table holds a light blue shallow plate at its center, with multiple snack packages (dark and green packaged) placed around the plate, a beige cloth near the back of the plate, and a green plastic cup to the plate's right; wooden glass-front cabinets are at the back left, a stainless steel fridge at the back right, and chairs surround the table.", "global_instruction_dense": "The single robotic arm sequentially moves to each snack package on the light wooden table, grasps each, places it into the central light blue plate, then grasps the beige cloth, lifts it, and drapes it over the plate to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1375, "tasks": ["place food"], "length": 1022, "global_instruction": "Place the scattered snack bars into the light blue plate, then cover the plate with the purple cloth.", "scene_description": "A light wooden table has a light blue shallow plate at its center, several snack bars (silver, orange, black, yellow, red, blue-green) scattered around the plate, and a folded purple cloth on the table's right side; wooden glass-fronted cabinets, grey mesh chairs, and a large stainless steel refrigerator are in the background.", "global_instruction_dense": "The left robotic arm sequentially picks up the silver, orange, black, and blue-green snack bars scattered around the light blue plate, places each into the plate, then grasps the folded purple cloth, lifts it, and drapes it over the plate to fully cover the plate and the snacks inside, before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1376, "tasks": ["place food"], "length": 1094, "global_instruction": "Pick up all snack packages from the table, place them into the light blue plate, then drape the dark blue cloth over the plate.", "scene_description": "A light wooden table holds a light blue plate on its left side, multiple snack packages (purple, green, yellow, red, dark blue, white with gold edges) around the plate, a dark blue cloth next to the plate. A wooden glass-front cabinet is to the left of the table, a stainless steel refrigerator is at the back, and chairs surround the table.", "global_instruction_dense": "The left robotic arm sequentially picks the purple, green, dark blue, and white-gold snack packages from the table, places each into the light blue plate, then picks the dark blue cloth and drapes it over the plate before moving back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1377, "tasks": ["place food"], "length": 974, "global_instruction": "Place all snack bars on the table into the light blue plate, then cover the plate with the brown cloth.", "scene_description": "A light wood table holds a folded brown cloth, a green rectangular sponge, a light blue square shallow plate, a clear round white bowl, and four snack bars (two with purple wrappers, one with green-white wrapper, one with brown-white wrapper). A white and gray robotic arm is above the upper left of the table, wooden glass-front cabinets are left of the table, a large silver refrigerator is right of the table, with gray mesh chairs around the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the two purple-wrapper snack bars, the green-white wrapper snack bar, and the brown-white wrapper snack bar from the table, places each into the light blue square plate, then grasps the brown cloth, pulls it over the plate to cover the snack bars inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1378, "tasks": ["place food"], "length": 1184, "global_instruction": "Place the three small packaged snacks into the light blue plate, then cover the plate with the brown cloth.", "scene_description": "A light wooden table holds a light blue shallow plate at its center, a brown cloth to the left of the plate, a red soda can on the far left side of the table, an orange soda can on the far right side, and three small packaged snack items (one purple, one black-silver, one green-white) placed around the plate. A wooden glass-front cabinet is in the left background, stainless steel refrigerators in the right background, with gray office chairs around the table.", "global_instruction_dense": "The left robotic arm sequentially grasps the purple, black-silver, and green-white packaged snacks from the table, places each into the central light blue plate, then grasps the brown cloth, lifts it, and drapes it over the plate to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1379, "tasks": ["place food"], "length": 729, "global_instruction": "Place all snack packages into the light blue tray and cover the tray with the brown cloth.", "scene_description": "A light wooden table holds a light blue square tray, multiple snack packages, and a brown cloth, with silver refrigerators and a wooden bookshelf in the background.", "global_instruction_dense": "The left robotic arm sequentially grasps each snack package on the table, places them into the light blue tray, then grasps the brown cloth and pulls it over the filled tray to cover the snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1380, "tasks": ["place food"], "length": 862, "global_instruction": "Place the three loose snacks on the table into the light blue plate, then fold the dark blue cloth flat on the table.", "scene_description": "A light wooden table holds a folded dark blue cloth on the left, an empty light blue plate, a green Sprite can, a yellow chip bag, and three loose snacks (two orange long bars, one dark small package) on its surface. A wooden cabinet is to the left of the table, silver refrigerators are to the right, and grey office chairs surround the table.", "global_instruction_dense": "The left robotic gripper sequentially moves to each of the three loose snacks on the table, grasps each one, places them all into the light blue plate, then moves to the folded dark blue cloth, manipulates it to fold it, and lays it flat on the table surface before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1381, "tasks": ["place food"], "length": 850, "global_instruction": "Place all the snack packages on the table into the light blue plate, then cover the snacks with the blue cloth.", "scene_description": "A light wood table holds a blue cloth, three snack packages, a black bowl, a light blue square plate, a pink plastic cup, an orange plastic cup, and a crumpled blue snack pack. A robotic arm is positioned above the table, with wooden cabinets to the left of the table and silver refrigerators in the background, surrounded by grey chairs.", "global_instruction_dense": "The left robotic arm sequentially grasps each of the three snack packages on the table, places each into the light blue plate, then grasps the blue cloth, moves it over the plate, places it to cover the snacks in the plate, and finally lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1382, "tasks": ["place food"], "length": 754, "global_instruction": "Place all snack bars into the light blue tray, then cover the tray with the light beige cloth.", "scene_description": "A light wooden table holds a light blue tray, blue plastic cup, green plastic cup, three snack bars, a yellow chip bag, and a light beige cloth, with a robotic arm above the table.", "global_instruction_dense": "The right robotic gripper grasps each of the three snack bars on the table one by one, places each into the light blue tray, then grasps the light beige cloth, moves it over the tray, lays it over the tray to cover the snack bars, then moves away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1383, "tasks": ["place food"], "length": 943, "global_instruction": "Place the three snack packages from the table into the light blue tray and cover them with the gray cloth.", "scene_description": "A light wooden table holds a small black bowl, a gray cloth, three snack packages (two dark, one golden), a red snack bag, a blue plastic cup, and a light blue shallow tray. Gray mesh chairs surround the table, wooden glass-fronted cabinets are to the left, and a stainless steel refrigerator is to the right.", "global_instruction_dense": "The single robotic gripper enters from the left side, sequentially grasps each of the three snack packages on the table, places each into the light blue shallow tray, then grasps the gray cloth on the table, places the cloth over the snacks inside the tray, and moves away from the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1384, "tasks": ["place food"], "length": 1150, "global_instruction": "Place all scattered packaged snacks on the table into the light blue plate, then cover the plate of snacks with the dark blue cloth.", "scene_description": "A light wooden table holds a light blue shallow plate at its center, four scattered packaged snacks (red-and-white, dark, silver-and-white, orange) around the plate, and a folded dark blue cloth to the top-right of the plate. Brown wooden glass-fronted cabinets are on the left, grey mesh chairs surround the table, and a large stainless steel refrigerator is on the right.", "global_instruction_dense": "The left robotic arm sequentially grasps each of the four scattered packaged snacks on the table, moves each to the central light blue plate and releases it, then grasps the dark blue cloth, lifts and drapes it over the snacks in the plate before moving away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1385, "tasks": ["place food"], "length": 1145, "global_instruction": "Place all the snack bars on the table into the frying pan, then cover the frying pan with its glass lid.", "scene_description": "A light wooden table holds a black frying pan with a glass lid on top, a yellow snack bag left of the pan, an orange soda can, a red-and-white snack package, and four colorful snack bars to the right of the pan. A wooden glass-front cabinet is positioned to the left of the table, large silver refrigerators are in the background, and grey mesh chairs surround the table.", "global_instruction_dense": "The left robotic arm first removes the glass lid from the top of the black frying pan and sets it on the left side of the pan, then sequentially grasps each of the four snack bars on the right side of the pan, lifts each and places them inside the frying pan, then retrieves the glass lid and places it back on top of the frying pan to cover it before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1386, "tasks": ["place food"], "length": 1180, "global_instruction": "Place all the snack bars next to the frying pan into the pan, then cover the pan with its glass lid.", "scene_description": "A light wooden table holds a black frying pan with a glass lid on top, four snack bars (green, purple, silver, dark brown) to the left of the pan, a yellow packet and white-red packet behind the pan, and an orange soda can to the right of the pan. Gray chairs surround the table, a wooden glass-fronted cabinet is to the left of the table, and stainless steel refrigerators are in the background, with a left robotic arm positioned above the table.", "global_instruction_dense": "The left robotic arm first grasps the glass lid on the black frying pan, lifts it off, places it on the table to the right of the pan, then sequentially grasps each of the four snack bars to the left of the pan, places each into the pan, then grasps the glass lid again, lifts it, and places it back on top of the frying pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1387, "tasks": ["place food"], "length": 1217, "global_instruction": "Remove the glass lid from the frying pan, place the snack bars around the pan into it, then replace the glass lid on the frying pan.", "scene_description": "A light wooden table holds a black frying pan covered with a glass lid, multiple snack bars (green, purple, silver, brown, and white-red packaged) arranged around the pan, three grey mesh chairs around the table, a wooden glass-fronted cabinet to the left of the table, and silver refrigerators against the back wall, with a robotic arm positioned above the table.", "global_instruction_dense": "The robotic arm first grasps the glass lid atop the frying pan, lifts it and sets it on the table to the right of the pan, then sequentially grasps the silver, purple, brown, and green snack bars from the table and places each into the frying pan, then grasps the glass lid from the table, lifts it, sets it back onto the frying pan, and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1388, "tasks": ["place food"], "length": 1082, "global_instruction": "Place all snack bars from the table into the frying pan, then replace the pan's glass lid.", "scene_description": "A light wooden table holds a black frying pan with a glass lid, several snack bars with varied colored wrappers to the left of the pan, gray mesh chairs around the table, a wooden glass-front cabinet to the left, and two silver refrigerators to the right.", "global_instruction_dense": "The robotic arm first removes the glass lid from the frying pan and sets it on the table, then picks up each snack bar from the left of the pan one at a time and places all of them into the pan, then picks up the lid and places it back onto the frying pan covering the snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1389, "tasks": ["place food"], "length": 1077, "global_instruction": "Remove the lid from the frying pan, place all snack packages into the pan, then replace the lid on the pan.", "scene_description": "A light wood table holds a black frying pan with a glass lid, four snack packages (dark silver, green, purple, dark grey) to the left of the pan, and an orange soda can to the right of the pan. Grey mesh chairs surround the table, with a wooden glass-front cabinet on the left and stainless steel refrigerators in the background, and a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm grasps the glass lid on the black frying pan, lifts it and places it on the table next to the orange soda can, then sequentially grasps each of the four snack packages on the table and places them into the frying pan, then grasps the glass lid again and places it back onto the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1390, "tasks": ["place food"], "length": 1172, "global_instruction": "Remove the lid from the black frying pan, place all snacks on the table into the pan, then replace the lid on the frying pan.", "scene_description": "A light wooden table holds a black frying pan with a glass lid on top, an orange soda can, and four snacks (purple long snack, small silver snack, small brown snack, green long snack) around the pan; a right robotic arm is positioned above the table, with office chairs, wooden cabinets, and stainless steel refrigerators in the background.", "global_instruction_dense": "The right robotic arm first grasps the glass lid covering the black frying pan, lifts it and sets it on the table, then sequentially picks up each of the four snacks on the table and places them into the frying pan, then picks up the glass lid from the table and places it back onto the frying pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1391, "tasks": ["place food"], "length": 1320, "global_instruction": "Remove the lid from the frying pan, place all three snack bars into the pan, then replace the lid on the pan.", "scene_description": "A light wooden table holds a black frying pan with a glass lid on top, an orange soda can left of the pan, and three snack bars (green, purple, dark silver wrapper) to the right of the pan, with grey mesh chairs, a stainless steel fridge, and a wooden glass-front cabinet in the background.", "global_instruction_dense": "The left robotic arm first grasps the glass lid on the black frying pan, lifts and places it on the table left of the pan, then sequentially grasps the green, dark silver-wrapped, and purple snack bars, placing each into the frying pan, then grasps the lid again, lifts it, and places it back on top of the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1392, "tasks": ["place food"], "length": 1023, "global_instruction": "Remove the lid from the frying pan, place all the snack packages into the pan, then re-cover the pan with the lid.", "scene_description": "A light-colored wooden table holds a black frying pan covered with a glass lid, an orange soda can to the left of the pan, and four small snack packages (silver, purple, brown, green) placed around the pan. Gray chairs surround the table, with a wooden glass-fronted cabinet and two silver refrigerators in the background.", "global_instruction_dense": "The left robotic arm first grasps the glass lid on the black frying pan, lifts it and places it on the table to the right of the pan, then sequentially grasps each of the four snack packages on the table and places them into the frying pan, then grasps the glass lid again and places it back onto the pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1393, "tasks": ["place food"], "length": 944, "global_instruction": "Move the glass lid off the frying pan, place all small items on the table into the pan, then replace the lid on the pan.", "scene_description": "A light wooden table holds a black frying pan with a glass lid on its top, three packaged snack bars (purple, blue, green), a folded dark blue cloth, a folded light pink cloth, and a small silver metallic object. A wooden glass-front cabinet is to the left of the table, grey mesh chairs surround the table, and stainless steel refrigerators are in the background, with a single robotic arm positioned above the table.", "global_instruction_dense": "The robotic arm first grasps the glass lid on the black frying pan, lifts it and places it on the left side of the table, then sequentially grasps the silver metallic object, green snack bar, blue snack bar, and purple snack bar from the table, placing each into the frying pan, then grasps the glass lid again, lifts it, and places it back onto the frying pan before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1394, "tasks": ["place food"], "length": 1109, "global_instruction": "Place all packaged food items into the frying pan and cover the pan with its glass lid.", "scene_description": "A white kitchen counter has a black microwave on the far left, a black coffee maker with a silver stainless steel kettle next to the microwave, a black frying pan with a glass lid on top centered on the counter, four packaged food items (orange, yellow, green, dark grey) to the left of the frying pan, a clear white plastic bowl to the right of the pan, and a double stainless steel sink at the far right edge of the counter, with a white square tiled backsplash behind the counter.", "global_instruction_dense": "The robotic arm first removes the glass lid from the frying pan and sets it on the counter to the right of the pan, then sequentially picks up each packaged food item from the counter left of the pan and places them into the frying pan, then picks up the glass lid from the counter and places it back on the frying pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1395, "tasks": ["place food"], "length": 1038, "global_instruction": "Remove the lid from the frying pan, place all four packaged snack bars into the pan, then replace the lid on the pan.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid, four packaged snack bars to the right of the pan, a microwave and coffee maker to the left of the pan, an orange can behind the pan, a clear plastic bowl to the right of the pan, and a sink at the far right of the counter. A robotic gripper is positioned above the frying pan.", "global_instruction_dense": "The robotic gripper first grasps the glass lid of the frying pan, lifts and moves the lid to the counter to the left of the pan, then sequentially grasps each of the four snack bars on the counter to the right of the pan, moves each snack bar over the pan and releases it into the pan, then grasps the lid from the counter, moves it back over the pan, and places it on the pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1396, "tasks": ["place food"], "length": 1124, "global_instruction": "Place the snack packages on the kitchen counter into the frying pan, then cover the pan with its glass lid.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid, several snack packages (red, green, dark brown, yellow), a blue snack bag, a black microwave, a silver coffee maker, and a stainless steel sink on the right, with a white tiled wall in the background.", "global_instruction_dense": "The robotic arm first removes the glass lid from the black frying pan on the kitchen counter and sets it beside the pan, then picks up four separate snack packages from the counter one by one and places each into the pan, then retrieves the lid and places it back on top of the pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1397, "tasks": ["place food"], "length": 922, "global_instruction": "Place all three snack bars into the frying pan and cover the pan with its glass lid.", "scene_description": "A black frying pan with a glass lid sits on a white kitchen countertop. A purple, a green, and an orange snack bar are to the right of the pan, with a blue cup and orange cup behind the pan, a stainless steel sink to the far right, and a coffee maker and microwave to the left.", "global_instruction_dense": "The right robotic arm first lifts the glass lid off the frying pan and places it on the counter, then sequentially picks up the purple, green, and orange snack bars and places each into the pan, then picks up the lid again and places it back on top of the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1398, "tasks": ["place food"], "length": 890, "global_instruction": "Place the three snack bars into the frying pan and replace the lid on the pan.", "scene_description": "A white kitchen counter holds a glass-lidded frying pan, two green snack bars, one purple snack bar, a red soda can next to a stainless steel sink, and a coffee maker on the left side, with a robotic gripper positioned above the pan.", "global_instruction_dense": "The robotic gripper first removes the glass lid from the frying pan and sets it on the left counter, then picks up and places each of the two green snack bars and one purple snack bar from the counter into the frying pan, then retrieves the lid and places it back onto the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1399, "tasks": ["place food"], "length": 1100, "global_instruction": "Place all countertop snack packages into the frying pan then cover the pan with its glass lid.", "scene_description": "A black frying pan with a glass lid rests on a white kitchen countertop, with multiple small snack packages (orange, brown, red, bright green, purple, green and white) beside it next to a stainless steel sink; a coffee maker and microwave are on the counter's left, and a white soap dispenser is on the tiled wall above.", "global_instruction_dense": "The left robotic arm first removes the glass lid from the black frying pan and sets it on the counter, then grasps the brown, bright green, green-and-white, and purple snack packages one by one and places each into the frying pan, finally lifting the glass lid and placing it back onto the pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1400, "tasks": ["place food"], "length": 1132, "global_instruction": "Remove the glass lid from the frying pan, place all three snack packages into the pan, then replace the lid on the pan.", "scene_description": "A white kitchen counter holds a black frying pan covered with a glass lid, three snack packages (purple, yellow, dark small), a green Sprite can behind the packages, a black coffee maker at the far left, a stainless steel sink to the right of the pan, and a soap dispenser on the white tiled wall above the sink, with the upper part of a robotic gripper visible above the pan area.", "global_instruction_dense": "The single robotic gripper first grasps the glass lid of the frying pan, moves it to the left side of the counter, then sequentially grasps each of the three snack packages and places them into the open frying pan, then picks up the lid again and replaces it on the frying pan before moving away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1401, "tasks": ["place food"], "length": 1058, "global_instruction": "Place the small snack packages on the kitchen counter into the frying pan and cover the pan with its glass lid.", "scene_description": "A black frying pan with a glass lid, four small snack packages (dark, yellow, orange, purple), a stainless steel sink, and a black coffee machine are placed on a white kitchen counter, with the sink to the right of the pan and the coffee machine to the left of the pan.", "global_instruction_dense": "The robotic arm first grasps the glass lid on the frying pan, moves it to the counter and sets it down, then sequentially picks up the purple, orange, and dark wrapped snack packages from the counter and places each into the frying pan, then picks up the glass lid from the counter and places it back on the frying pan to cover it, then moves away from the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1402, "tasks": ["place food"], "length": 1308, "global_instruction": "Place all snack packages on the counter into the frying pan and cover the pan with its glass lid.", "scene_description": "A black frying pan with a glass lid on top, four small snack packages (green, yellow, dark purple, dark blue), a stainless steel sink, and a silver coffee maker are arranged on a white kitchen countertop, with a white tiled backsplash behind the counter.", "global_instruction_dense": "The left robotic arm first lifts the glass lid off the black frying pan and places it on the counter, then grasps each snack package from the counter sequentially and places them all into the pan, before picking up the glass lid again and placing it on top of the pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1403, "tasks": ["place food"], "length": 1171, "global_instruction": "Remove the glass lid from the frying pan, place the three snack packets into the frying pan, then replace the glass lid on the pan.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid on top, three snack packets (orange, red-white striped, blue-white striped) to the left of the pan, a stainless steel sink to the right of the pan, a coffee machine on the far left of the counter, and a soap dispenser mounted on the white tiled wall above the counter.", "global_instruction_dense": "The left robotic arm first grasps and lifts the glass lid off the frying pan, sets it on the counter to the left of the pan, then sequentially picks up each of the three snack packets and places them into the open frying pan, then grasps the glass lid again, lifts it, and places it back onto the frying pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1404, "tasks": ["place food"], "length": 1065, "global_instruction": "Place all countertop snack bags into the frying pan, then cover the pan with its glass lid.", "scene_description": "A white kitchen countertop holds a glass-lidded black frying pan to the left of a stainless steel sink. Orange-red, blue, and silver-red snack bags rest next to the pan, with a coffee maker at the far left end of the counter.", "global_instruction_dense": "The left robotic arm first removes the glass lid from the frying pan and sets it on the counter left of the pan, then sequentially picks up the orange-red, blue, and silver-red snack bags and places each into the pan, then retrieves the glass lid and covers the frying pan before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1405, "tasks": ["place food"], "length": 947, "global_instruction": "Remove the lid from the frying pan, place all surrounding snack bags into the pan, then replace the lid on the pan.", "scene_description": "A kitchen countertop with a white tiled backsplash, a black frying pan with a glass lid placed on it, multiple snack bags (blue, solid red, red-silver patterned) arranged around the pan, a stainless steel sink on the right side of the counter, a coffee maker and stainless steel kettle on the left, and a single robotic gripper positioned above the frying pan.", "global_instruction_dense": "The single robotic gripper first grasps the glass lid of the frying pan, lifts and places it on the countertop next to the pan, then sequentially picks up each snack bag from the counter and places them inside the frying pan, finally grasps the lid again and places it back on the pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1406, "tasks": ["place food"], "length": 1158, "global_instruction": "Remove the lid from the frying pan, place the three snack packets into the pan, then cover the pan with the glass lid.", "scene_description": "A white kitchen countertop holds a black frying pan with a glass lid, an orange snack packet, a yellow snack packet, a blue snack packet, and a small dark brown snack bar, with a stainless steel sink on the counter's right, a white tiled backsplash behind, and a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper first lifts the glass lid off the black frying pan and sets it on the countertop, then picks up the blue, orange, and yellow snack packets one by one and places each into the frying pan, then lifts the glass lid again and places it back onto the frying pan to cover the snacks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1407, "tasks": ["place food"], "length": 979, "global_instruction": "Place the three snack packets into the frying pan, then cover the pan with its glass lid.", "scene_description": "A black-handled frying pan with a glass lid rests on a white kitchen counter; a yellow Lay's snack packet, small dark packet, red snack packet, and blue-white snack packet are arranged around the pan, a stainless steel sink sits to the pan's right, a microwave and electric kettle are to the pan's left, a soap dispenser is mounted on the white tiled backsplash, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm first lifts the glass lid off the frying pan and sets it on the counter, then sequentially picks up the yellow, red, and blue-white snack packets and places each into the frying pan, then picks up the glass lid again and places it back onto the pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1408, "tasks": ["place food"], "length": 1024, "global_instruction": "Remove the lid from the frying pan, place all three snack packets into the pan, then replace the lid on the pan.", "scene_description": "A white kitchen counter holds a black frying pan with a black glass lid, three snack packets (yellow, blue, red from left to right), a knife next to the pan, a stainless steel sink to the right of the pan, a silver kettle and black coffee maker on the left counter, and a white soap dispenser on the white tiled wall behind the counter.", "global_instruction_dense": "The single robotic arm grasps and removes the lid from the frying pan, places the lid on the counter, then grasps the red, blue, and yellow snack packets in sequence and places each into the frying pan, then grasps the lid again and places it back onto the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1409, "tasks": ["place food"], "length": 951, "global_instruction": "Remove the glass lid from the frying pan, place three snack bags into the pan, then replace the lid on the pan.", "scene_description": "A kitchen counter with a stainless steel sink on the right, a frying pan with a glass lid in the center, a yellow snack bag, a silver utensil, a blue-and-white snack bag, a red snack bag arranged to the left of the pan, a coffee maker on the far left against a white tiled wall, and a soap dispenser mounted on the wall above the sink.", "global_instruction_dense": "The robotic gripper first lifts the glass lid off the frying pan and places it on the counter, then sequentially grasps and places the yellow, blue-and-white, and red snack bags into the frying pan, then picks up the glass lid again and sets it back on top of the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1410, "tasks": ["place food"], "length": 1108, "global_instruction": "Remove the lid from the frying pan, place snack packets into the pan, then replace the lid on the pan.", "scene_description": "A black frying pan with a glass lid rests on a white kitchen counter. Yellow and red snack packets are positioned to the left of the pan, a stainless steel sink is to the right of the pan, a coffee maker and microwave are on the far left of the counter, and a white tiled wall forms the background. A single robotic gripper is positioned directly above the frying pan.", "global_instruction_dense": "The single robotic gripper first grasps and lifts the glass lid off the frying pan, places the lid on the counter next to the sink, then grasps a yellow snack packet and two red snack packets sequentially, placing each into the open frying pan, then picks the lid up again and sets it back onto the pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1411, "tasks": ["place food"], "length": 1112, "global_instruction": "Place the three snack bags into the frying pan, then cover the pan with its glass lid.", "scene_description": "A black frying pan with a glass lid, a purple paper cup, and three snack bags (red-white, yellow, orange-red) are arranged on a white kitchen counter, with a stainless steel sink and wall-mounted soap dispenser to the right of the counter.", "global_instruction_dense": "The left robotic arm first lifts the glass lid off the black frying pan and sets it on the counter, then sequentially picks up the yellow, orange-red, and red-white snack bags and places each into the frying pan, then picks up the glass lid and sets it back on top of the frying pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1412, "tasks": ["place food"], "length": 1139, "global_instruction": "Remove the lid from the frying pan, place all three snack packs into the pan, then replace the lid on the pan.", "scene_description": "A kitchen countertop with a white tiled backsplash holds a glass-lidded black frying pan at the left, three snack packs (one red-white near the stainless steel double sink, one yellow-red and one small red next to the pan), and a white wall-mounted soap dispenser above the sink.", "global_instruction_dense": "The left robotic arm first removes the glass lid from the black frying pan and places it on the countertop, then sequentially picks up each of the three snack packs and places them into the frying pan, then retrieves the glass lid from the countertop and places it back onto the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1413, "tasks": ["place food"], "length": 951, "global_instruction": "Place all three snack bags into the frying pan and cover the pan with its glass lid.", "scene_description": "A white kitchen counter holds a black frying pan covered with a glass lid, three snack bags (one light brown, one red, one yellow) next to the pan, a blue plastic cup, an orange plastic cup, a stainless steel sink on the far right, a soap dispenser on the tiled backsplash, and a coffee maker on the far left.", "global_instruction_dense": "The right robotic gripper first removes the glass lid from the black frying pan and sets it on the counter, then grasps each of the three snack bags one by one and places them into the pan, finally picks up the lid again and places it back onto the pan before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1414, "tasks": ["place food"], "length": 891, "global_instruction": "Remove the lid from the frying pan, place the blue and yellow snack packages into the pan, then replace the lid.", "scene_description": "A black frying pan with a glass lid sits on a white kitchen countertop, with a green Sprite can, blue packaged snack, yellow packaged snack, and small orange container around it; a coffee maker and microwave are on the left, and a sink is on the right.", "global_instruction_dense": "The right robotic arm first grasps and lifts the glass lid from the frying pan, places the lid on the counter, then grasps the blue snack package and places it into the pan, next grasps the yellow snack package and places it into the pan, then grasps the lid again and places it back onto the pan before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1415, "tasks": ["place food"], "length": 857, "global_instruction": "Place the yellow and orange snack packets into the frying pan, then cover the pan with its glass lid.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid at its center, a yellow snack packet left of the pan, an orange snack packet right of the pan near a stainless steel sink, a brown cloth behind the pan, a soap dispenser on the white tiled wall above the sink, and a coffee machine and microwave on the left side of the counter.", "global_instruction_dense": "The robotic arm first lifts the glass lid off the frying pan and sets it on the counter, then picks up the yellow snack packet and places it into the pan, next picks up the orange snack packet and places it into the pan, then lifts the glass lid again and places it back onto the frying pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1416, "tasks": ["place food"], "length": 1059, "global_instruction": "Place all food packets on the counter into the frying pan then cover the pan with its glass lid.", "scene_description": "A black frying pan with a glass lid, blue, red, yellow food packets, and a stainless steel sink are on a white kitchen countertop. The blue packet is near the sink, red and yellow packets sit to the left of the pan.", "global_instruction_dense": "The single robotic arm first lifts the glass lid off the black frying pan and sets it on the counter, then sequentially picks up the blue, red, and yellow food packets and places each into the frying pan, then lifts the glass lid again and places it back onto the pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1417, "tasks": ["place food"], "length": 1239, "global_instruction": "Place the three snack packets into the black frying pan, then cover the pan with its glass lid.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid, three snack packets (blue and white, red, yellow), an orange plastic cup, a blue plastic cup next to a stainless steel sink, and a coffee machine on the left side of the counter.", "global_instruction_dense": "The left robotic arm first grasps and removes the glass lid from the black frying pan, sets the lid on the counter, then sequentially picks up the blue and white, red, and yellow snack packets and places each into the frying pan, before lifting the glass lid from the counter and placing it back onto the frying pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1418, "tasks": ["place food"], "length": 891, "global_instruction": "Place the orange and blue snack packets into the frying pan, removing and replacing the pan's lid as needed.", "scene_description": "A white kitchen counter holds a lidded black frying pan, an orange snack packet, a blue snack packet, a small black bowl, a silver soda can, and an orange plastic cup, with a stainless steel sink on the right side of the counter. A single robotic gripper is positioned above the frying pan.", "global_instruction_dense": "The robotic gripper removes the glass lid from the frying pan and sets it on the counter next to the sink, then places the orange snack packet into the pan, next places the blue snack packet into the pan, then picks up the glass lid and replaces it on top of the frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1419, "tasks": ["place food"], "length": 1140, "global_instruction": "Place the snack packets from the counter into the frying pan, then replace the pan's lid.", "scene_description": "A white kitchen countertop holds a black frying pan with a glass lid, four snack packets (red, orange, yellow, small yellow-green), a brown cloth, a blue cloth, a coffee maker, a microwave, and a soap dispenser next to a stainless steel sink.", "global_instruction_dense": "The single robotic gripper first removes the glass lid from the frying pan and places it on the counter, then sequentially places the orange, yellow, and red snack packets from the counter into the pan, then picks up the glass lid and places it back onto the frying pan before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1420, "tasks": ["place food"], "length": 918, "global_instruction": "Remove the lid from the frying pan, place the three snack packets into the pan, then replace the lid on the pan.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid at the center, a yellow snack packet left of the pan, an orange soda can in front of the pan, brown and blue snack packets right of the pan, a blue plastic cup near the pan's handle, a coffee maker on the far left, a stainless steel sink on the far right, and a tiled backsplash with a wall-mounted soap dispenser behind the counter, with a single robotic arm positioned above the pan.", "global_instruction_dense": "The left robotic arm first grasps and removes the glass lid from the frying pan, placing it on the counter to the pan's left, then sequentially grasps the yellow, brown, and blue snack packets from the counter and places each into the open pan, then grasps the lid again and replaces it on top of the pan to cover the snacks inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1421, "tasks": ["place food"], "length": 1059, "global_instruction": "Place the blue, orange, and red-silver snack packages into the black frying pan then cover the pan with its glass lid.", "scene_description": "A white kitchen counter holds a black frying pan with a glass lid on its top, a blue packaged snack, an orange packaged snack, a red-and-silver packaged snack, a purple snack bar, a silver soda can, a stainless steel sink, a black coffee maker, and a microwave, with a robotic arm positioned above the frying pan.", "global_instruction_dense": "The robotic arm first removes the glass lid from the black frying pan and places it on the counter, then sequentially picks up the blue, orange, and red-silver snack packages and places each into the frying pan, and finally lifts the glass lid from the counter and places it on top of the frying pan to cover it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1422, "tasks": ["place food"], "length": 334, "global_instruction": "Pick the dark snack package from the left sink basin and place it on the countertop next to the other snack package.", "scene_description": "A white kitchen counter with a double stainless steel sink, a small dark snack package rests on the counter left of the sink, another small dark snack package is in the left sink basin, blue wall cabinets are above the white tiled backsplash, and a white robotic arm is positioned at the left side of the frame.", "global_instruction_dense": "The left robotic arm moves down toward the left sink basin, grasps the dark snack package inside the basin, lifts it out of the sink, moves it left over the countertop next to the existing snack package, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1423, "tasks": ["place food"], "length": 371, "global_instruction": "Pick the green packaged snack from the sink and place it on the kitchen counter.", "scene_description": "A double stainless steel sink is set into a white kitchen counter, with a green packaged snack in the left sink basin, a blue cup on the counter left of the sink, blue upper cabinets, and a left robotic arm positioned above the sink area.", "global_instruction_dense": "The left robotic arm moves downward toward the green packaged snack in the left sink basin, grasps the snack, lifts it out of the sink, moves it left onto the adjacent kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1424, "tasks": ["place food"], "length": 328, "global_instruction": "Pick up the green snack from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen countertop below blue upper cabinets holds a stainless steel double sink, a coffee maker with a metallic kettle on the far left, a small purple item left of the sink, and a green packaged snack in the left sink basin. Cleaning supplies are beside the sink, and a white robotic arm is positioned above the left counter area.", "global_instruction_dense": "The left robotic arm moves from above the counter toward the left sink basin, grasps the green snack inside the basin, lifts it out of the sink, moves it leftward over the countertop, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1425, "tasks": ["place food"], "length": 283, "global_instruction": "Place the red snack package on the counter into the open upper kitchen cabinet.", "scene_description": "A white kitchen counter holds a red snack package, a small green package, a microwave, and a coffee maker with a silver kettle on the left; a stainless steel sink is on the right, an open upper blue cabinet is above the counter, and a left robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the red snack package on the kitchen counter, grasps it, lifts it upward, moves it into the open upper blue cabinet, places it on the cabinet shelf, releases the package, and retracts its arm from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1426, "tasks": ["place food"], "length": 394, "global_instruction": "Pick up the orange packaged snack from the counter and place it into the open upper cabinet.", "scene_description": "A white kitchen counter holds an orange packaged snack, a blue packaged snack, a black microwave, and a silver coffee maker. An open blue upper cabinet is above the counter, with a stainless steel sink on the counter's right side.", "global_instruction_dense": "The right robotic arm moves downward toward the orange packaged snack on the counter, grasps it, lifts it upward into the open upper cabinet, releases the snack onto the cabinet shelf, then moves back down toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1427, "tasks": ["place food"], "length": 365, "global_instruction": "Pick up the brown packaged snack from the counter and place it into the open upper cabinet.", "scene_description": "A white kitchen counter holds a red soda can, a brown packaged snack, a black microwave, and a coffee maker with a silver kettle. An open blue upper cabinet is above the counter, and a stainless steel sink is to the right of the counter.", "global_instruction_dense": "The right robotic arm moves downward to the brown packaged snack on the counter, grasps it with the gripper, lifts it upward toward the open upper cabinet, places it on the cabinet shelf, releases it, and retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1428, "tasks": ["place food"], "length": 322, "global_instruction": "Place the yellow and brown packaged snack from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen countertop holds a black coffee maker with a silver carafe on its left, a red soda can near the white tiled backsplash, a yellow and brown packaged snack in the center, and a stainless steel sink with a yellow soap bottle on its right, with an open blue upper cabinet above the counter and a robotic arm at the left edge of the frame.", "global_instruction_dense": "The left robotic gripper moves downward to grasp the yellow and brown packaged snack on the kitchen counter, lifts the snack upward, moves it into the open blue upper cabinet, releases it onto the cabinet shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1429, "tasks": ["place food"], "length": 317, "global_instruction": "Place the green packaged snack from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a red soda can, a small green packaged snack, and a black coffee maker on the left, a stainless steel sink on the right, with an open blue upper cabinet above the counter and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm lowers toward the green packaged snack on the kitchen counter, grasps it with its gripper, lifts it upward into the open upper cabinet, releases it onto the cabinet shelf, then moves back down out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1430, "tasks": ["place food"], "length": 347, "global_instruction": "Pick up the small green snack packet from the counter and place it into the open upper cabinet.", "scene_description": "A small green snack packet and an orange are on a white kitchen countertop, a black coffee maker with silver carafe is on the counter's far left, a stainless steel sink with faucet is on the far right, a white soap dispenser is mounted on the tiled backsplash next to the sink, and an open upper cabinet is above the left counter section with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the small green snack packet on the counter, grasps it, lifts it upward into the open upper cabinet, releases the packet inside the cabinet, then retracts back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1431, "tasks": ["place food"], "length": 251, "global_instruction": "Pick the blue snack package from the sink and place it on the kitchen countertop.", "scene_description": "A white kitchen countertop has a double stainless steel sink, a small green object left of the sink, and a coffee maker on the far left. A blue snack package is in the left sink basin, and a white robotic arm is positioned above the sink, with blue upper cabinets and a white tiled backsplash in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack package in the left sink basin, grasps the package, lifts it out of the sink, moves it over the adjacent countertop, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1432, "tasks": ["place food"], "length": 335, "global_instruction": "Take the blue snack package from the sink and place it on the kitchen countertop", "scene_description": "A white kitchen counter holds an orange soda can left of a double stainless steel sink. A blue snack package sits in the left sink basin, a robotic arm is positioned above the sink, blue cabinets are mounted above the white tile backsplash, and a coffee machine is on the far left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack package in the left sink basin, grasps the package, lifts it out of the sink, moves it left over the countertop, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1433, "tasks": ["place food"], "length": 222, "global_instruction": "Pick the green snack package from the sink and place it on the adjacent kitchen countertop.", "scene_description": "A white kitchen countertop holds a double stainless steel sink, a green snack package in the left sink basin, a blue snack package on the counter left of the sink, and a coffee maker on the far left. Blue upper cabinets and white tiled backsplash are behind the counter, with a white robotic arm positioned above the sink.", "global_instruction_dense": "The right robotic arm lowers into the left sink basin, grasps the green snack package, lifts it out of the sink, moves it left onto the countertop next to the blue snack package, places it down, and releases its gripper before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1434, "tasks": ["place food"], "length": 254, "global_instruction": "Pick the snack packet from the sink and place it on the kitchen counter", "scene_description": "A white kitchen counter has a stainless steel double sink, a dark printed snack packet in the left sink basin, a blue plastic cup left of the sink, a coffee maker on the far left, blue upper cabinets, and a white tiled backsplash, with a robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm moves down into the left sink basin, grasps the dark snack packet, lifts it out of the sink, moves it left onto the kitchen counter next to the blue cup, releases the packet, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1435, "tasks": ["place food"], "length": 227, "global_instruction": "Pick up the packaged snack from the sink and place it on the kitchen countertop.", "scene_description": "A kitchen space with a white countertop, blue upper cabinets, and double stainless steel sink. A green lime sits on the counter left of the sink, a packaged snack is in the left sink basin, and a coffee maker is on the far left counter.", "global_instruction_dense": "The left robotic arm moves down toward the packaged snack in the left sink basin, grasps it, lifts it, moves it left over the countertop next to the lime, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1436, "tasks": ["place food"], "length": 227, "global_instruction": "Take the orange snack packet out of the sink and place it on the kitchen counter.", "scene_description": "A white robotic arm is positioned above a double stainless steel kitchen sink. An orange snack packet rests in the left sink basin, a red soda can sits on the white countertop left of the sink, with blue upper cabinets and a white tiled backsplash behind the counter.", "global_instruction_dense": "The right robotic arm lowers toward the orange snack packet in the left sink basin, grasps the packet, lifts it out of the sink, moves it over the adjacent white countertop, lowers the packet, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1437, "tasks": ["place food"], "length": 229, "global_instruction": "Place the orange snack packet from the sink onto the kitchen counter next to the other snack packet.", "scene_description": "A white kitchen counter with a double stainless steel sink, blue upper cabinets, and white tiled backsplash. An orange snack packet sits in the left sink basin, a red-orange snack packet rests on the counter left of the sink, and a white robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm moves downward toward the orange snack packet in the left sink basin, grasps it, lifts it, moves it leftward onto the countertop next to the red-orange snack packet, releases it, then moves toward the red-orange snack packet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1438, "tasks": ["place food"], "length": 251, "global_instruction": "Place the yellow snack packet from the sink onto the kitchen counter next to the red snack packet.", "scene_description": "A white kitchen counter has a red snack packet left of a double stainless steel sink, a yellow snack packet rests in the left sink basin, a white robotic arm is positioned above the left side of the counter, with blue upper cabinets, white tiled backsplash, sink faucet, soap dispensers, and a black microwave on the far left counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow snack packet in the left sink basin, grasps it, lifts it out of the sink, moves it over the countertop next to the red snack packet, lowers and releases it onto the counter, then moves upward away from the packet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1439, "tasks": ["place food"], "length": 214, "global_instruction": "Pick the colorful snack packet from the sink and place it on the kitchen counter", "scene_description": "A white kitchen countertop with a stainless steel double sink, blue upper cabinets, and white tiled backsplash. A colorful snack packet is in the left sink basin, a small purple item sits left of the sink on the counter, and a left robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the colorful snack packet in the left sink basin, grasps the packet, lifts it out of the sink, moves it over the countertop, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1440, "tasks": ["place food"], "length": 271, "global_instruction": "Place the snack packet on the countertop into the kitchen sink", "scene_description": "A colorful snack packet is on the left of a white kitchen countertop, a pink plastic cup sits near a double stainless steel sink, white tiled walls and blue upper cabinets are in the background, with a robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the snack packet, grasps it, lifts and moves it over the left sink basin, lowers and releases it into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1441, "tasks": ["place food"], "length": 290, "global_instruction": "Pick up the packaged snack from the kitchen counter and place it into the sink.", "scene_description": "A white kitchen counter holds a brown and yellow packaged snack, a black marker left of a double stainless steel sink, a coffee maker on the far left, with blue upper cabinets above the tiled backsplash, and a white robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the packaged snack on the kitchen counter, grasps it, lifts and moves it over the left sink basin, lowers it, releases it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1442, "tasks": ["place food"], "length": 240, "global_instruction": "Place the red snack packet on the kitchen counter into the stainless steel sink.", "scene_description": "A white kitchen countertop has a red snack packet, a green lime, and a black coffee maker on its left. A double stainless steel sink is on the counter's right, with a soap dispenser on the white tiled backsplash above it, and blue overhead cabinets. A robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to the red snack packet on the counter, grasps it, lifts it, moves it over the left sink basin, lowers and releases it into the basin, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1443, "tasks": ["place food"], "length": 300, "global_instruction": "Place the blue snack bag from the counter into the left basin of the double sink.", "scene_description": "A white kitchen counter holds a blue snack bag, a smaller colorful snack packet, and a black microwave on the far left. A double stainless steel sink is on the right of the counter, against a white tiled backsplash with a wall-mounted soap dispenser, and blue cabinets above the sink. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves down toward the blue snack bag on the counter left of the sink, grasps it with its gripper, lifts it, moves it rightward over the left sink basin, lowers it into the basin, and releases the bag before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1444, "tasks": ["place food"], "length": 260, "global_instruction": "Pick up the blue snack package from the countertop and place it into the sink", "scene_description": "A blue snack package and a green lime are placed on a white kitchen countertop left of a double stainless steel sink, with blue upper cabinets and a tiled backsplash in the background, and a robotic arm above the left counter.", "global_instruction_dense": "The left robotic arm moves down toward the blue snack package on the counter, grasps it with its gripper, lifts it, moves it right over the left sink basin, lowers it into the basin, releases the package, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1445, "tasks": ["place food"], "length": 243, "global_instruction": "Place the green snack package on the kitchen counter into the left basin of the double sink.", "scene_description": "A green snack package, a pink plastic cup, and a coffee maker are placed on a white kitchen countertop next to a double stainless steel sink, with a robotic arm positioned above the counter, blue upper cabinets and white tiled walls in the background.", "global_instruction_dense": "The right robotic arm lowers toward the green snack package on the counter, grasps it with its gripper, lifts and moves it over the left basin of the double sink, releases the package into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1446, "tasks": ["place food"], "length": 233, "global_instruction": "Place the green snack packet on the kitchen counter into the sink.", "scene_description": "A green and yellow snack packet sits on a white kitchen countertop to the left of a stainless steel double sink. A coffee maker is on the far left of the counter, blue upper cabinets are above the white tiled backsplash, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward to grasp the green snack packet on the countertop, lifts it, moves it over the left sink basin, lowers and releases it into the sink, then lifts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1447, "tasks": ["place food"], "length": 185, "global_instruction": "Place the colorful snack package on the kitchen counter into the sink.", "scene_description": "A colorful snack package, a small green can, and a coffee maker with a metal kettle are placed on a white kitchen counter. A stainless steel double sink sits on the right side of the counter, with blue upper cabinets and a white tiled backsplash behind the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the colorful snack package on the kitchen counter, grasps the package with its gripper, lifts it, moves it over the left basin of the double sink, releases the package to drop it into the sink, then lifts its gripper back up away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1448, "tasks": ["place food"], "length": 217, "global_instruction": "Pick up the snack package from the kitchen counter and place it into the left sink basin.", "scene_description": "A white kitchen counter holds a colorful packaged snack and a small dark tube left of a double stainless steel sink, with a coffee maker on the far counter left, a soap dispenser on the white tiled backsplash, blue upper cabinets above, and dish soap plus a spray bottle on the sink edge. A white robotic arm is positioned above the left counter area.", "global_instruction_dense": "The left robotic arm moves downward to grasp the colorful snack package on the counter, lifts it, moves it right over the left sink basin, lowers it into the basin, releases the package, then moves upward back toward its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1449, "tasks": ["place food"], "length": 223, "global_instruction": "Place the orange snack packet from the kitchen counter into the stainless steel sink.", "scene_description": "A white kitchen counter holds an orange snack packet, a green soda can, and a double stainless steel sink. A coffee maker sits on the far left of the counter, blue upper cabinets are mounted above the counter, and a soap dispenser, yellow dish soap, and clear hand sanitizer bottle are positioned near the sink, with a robotic arm above the counter near the green can.", "global_instruction_dense": "The left robotic arm moves toward the orange snack packet on the kitchen counter, grasps it with its gripper, lifts the packet, moves it over the left basin of the double sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1450, "tasks": ["place food"], "length": 225, "global_instruction": "Place the colorful snack packet on the kitchen counter into the stainless steel sink.", "scene_description": "A colorful snack packet and a small yellow ball are on a white kitchen counter left of a double stainless steel sink; a coffee maker sits on the far left of the counter, with white tiled backsplash and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves down toward the colorful snack packet on the kitchen counter, grasps it with its gripper, lifts and moves it over the left basin of the double sink, lowers it, releases it into the sink, then moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1451, "tasks": ["place food"], "length": 323, "global_instruction": "Pick up the green packaged snack from the sink and place it on the kitchen counter next to the orange cup.", "scene_description": "A white kitchen counter has an orange plastic cup to the left of a stainless steel double sink. A green packaged snack rests in the left sink basin, a white robotic arm is positioned above the sink, and a tiled backsplash, blue upper cabinets, sink faucet, and soap dispenser are visible in the background.", "global_instruction_dense": "The left robotic arm lowers toward the green packaged snack in the left sink basin, grasps it with the gripper, lifts it out of the sink, moves it leftward onto the counter next to the orange cup, releases the snack, and moves back upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1452, "tasks": ["place food"], "length": 228, "global_instruction": "Pick up the green packaged snack from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter has a green lime left of a double stainless steel sink, a green packaged snack rests in the left sink basin, with a white tiled backsplash and blue upper cabinets in the background, and a robotic arm is positioned on the left side of the frame.", "global_instruction_dense": "The left robotic arm moves down into the left sink basin, grasps the green packaged snack inside it, lifts the snack out of the sink, moves it left onto the counter next to the green lime, releases the snack onto the counter, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1453, "tasks": ["place food"], "length": 359, "global_instruction": "Pick up the dark blue snack package from the counter and place it into the sink.", "scene_description": "A white kitchen counter holds a dark blue packaged snack and a green lime to the left of a double stainless steel sink. Blue upper cabinets, a white soap dispenser, yellow dish soap, and a white spray bottle are positioned behind the counter, with a white robotic arm above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves down toward the dark blue snack package on the counter, grasps the package with its gripper, lifts it, moves it over the left basin of the sink, releases the package to drop into the sink, then moves back upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1454, "tasks": ["place food"], "length": 301, "global_instruction": "Pick up the green packaged snack on the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds a dark blue marker, a green packaged snack, and a coffee maker with a silver kettle on the left, a double stainless steel sink on the right, with blue upper cabinets and a white tiled backsplash in the background, and a white robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the green packaged snack on the kitchen counter, grasps it with its gripper, lifts it, moves it over the left basin of the sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1455, "tasks": ["place food"], "length": 238, "global_instruction": "Place the green snack package from the kitchen counter into the stainless steel sink.", "scene_description": "A white kitchen counter has a small yellow round fruit and a green packaged snack to the left of a double stainless steel sink. A coffee maker sits on the far left of the counter, blue upper cabinets are above the white tiled backsplash, and a robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the green snack package on the kitchen counter, grasps it with its gripper, lifts it, moves it over the left basin of the double sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1456, "tasks": ["place food"], "length": 322, "global_instruction": "Place the green packaged snack on the kitchen counter into the stainless steel sink.", "scene_description": "A white kitchen counter holds a yellow orange and a green packaged snack next to a double stainless steel sink, with blue upper cabinets, a wall soap dispenser, and a coffee maker on the left of the counter, and a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm first lowers to attempt grasping the yellow orange on the counter, then adjusts to grasp the green packaged snack, lifts it, moves it over the left sink basin, releases it into the sink, then lifts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1457, "tasks": ["place food"], "length": 241, "global_instruction": "Pick up the red snack package and place it into the stainless steel sink.", "scene_description": "A light gray kitchen counter has a stainless steel sink at its center, a blue plastic cup left of the sink, and a red snack package left of the cup, with an orange wall and white shelves behind the counter.", "global_instruction_dense": "The left robotic arm moves down toward the red snack package on the counter left of the sink, grasps it, lifts it, moves it over the sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1458, "tasks": ["place food"], "length": 352, "global_instruction": "Place the green packaged snack from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a green packaged snack, a black coffee maker with a silver carafe to the left of the snack, a purple plastic cup with a white rim to the right of the snack, a stainless steel sink with yellow dish soap on the far right, and an open blue-trimmed upper cabinet above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the green packaged snack on the counter, grasps it with its gripper, lifts it upward toward the open upper cabinet, places the snack inside the cabinet, releases it, and moves back down toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1459, "tasks": ["place food"], "length": 339, "global_instruction": "Place the dark snack package from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a silver-kettle coffee maker on the left, a yellow tennis ball, a dark snack package, a sink with yellow dish soap on the right, with an open blue upper cabinet above the counter and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm lowers toward the dark snack package on the counter, grasps it, lifts it up into the open upper cabinet, releases it onto the cabinet shelf, then moves back down toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1460, "tasks": ["place food"], "length": 377, "global_instruction": "Pick up the dark long snack package from the counter and place it into the open upper cabinet.", "scene_description": "A kitchen counter with white tiled walls behind it. A black coffee maker with a stainless steel carafe sits on the left of the counter, two snack packages lie on the middle of the counter, a white soap dispenser is mounted on the wall, a stainless steel sink with yellow dish soap is on the right of the counter, and an open upper cabinet is above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the dark long snack package on the kitchen counter, grasps it with its gripper, lifts it upward, moves it into the open upper cabinet, releases the package onto the cabinet shelf, then moves back toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1461, "tasks": ["place food"], "length": 268, "global_instruction": "Pick up the dark snack packet from the counter and place it into the open upper cabinet.", "scene_description": "A white kitchen counter has a black coffee maker with a silver carafe on the left, a small dark snack packet at the center, a green soda can near the tiled backsplash, and a stainless steel sink with yellow dish soap on the right. An open blue upper cabinet sits above the counter, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm lowers toward the dark snack packet on the kitchen counter, grasps it with its gripper, lifts it upward into the open upper blue cabinet, releases it onto the cabinet shelf, then retracts back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1462, "tasks": ["place food"], "length": 327, "global_instruction": "Pick up the dark snack package from the counter and place it into the sink", "scene_description": "A white kitchen countertop holds a dark snack package and a purple small package near a double stainless steel sink. Blue upper cabinets, a white tiled backsplash, soap dispenser, yellow dish soap, clear spray bottle, and coffee maker are visible in the background, with a robotic gripper above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the dark snack package on the counter, grasps it, lifts it, moves it over the sink basin, releases it to drop into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1463, "tasks": ["place food"], "length": 327, "global_instruction": "Pick up the packaged snack bar on the counter and place it into the sink.", "scene_description": "A white kitchen countertop holds a dark packaged snack bar left of a double stainless steel sink, a small yellow ball near the tiled backsplash, a coffee maker on the far left, yellow dish soap and a clear spray bottle next to the sink, a white soap dispenser on the tiled wall, and blue upper cabinets, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the packaged snack bar on the kitchen counter, grasps it, lifts and moves it over the sink, then releases it to drop the snack bar into the sink before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1464, "tasks": ["place food"], "length": 233, "global_instruction": "Pick up the dark packaged snack bar on the counter and place it into the left sink basin.", "scene_description": "A white kitchen counter has a stainless steel double sink on its right, a dark packaged snack bar and small purple item left of the sink, a coffee maker on the far left, blue upper cabinets, a wall soap dispenser, yellow dish soap, and a clear spray bottle next to the sink, with a robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the dark packaged snack bar left of the sink, grasps it, moves it over the left sink basin, releases it to drop into the basin, then returns to a position above the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1465, "tasks": ["place food"], "length": 323, "global_instruction": "Pick up the dark snack packet from the counter and place it into the left sink basin.", "scene_description": "A white kitchen countertop has a dark snack packet, small yellow ball, double stainless steel sink, yellow dish soap, clear spray bottle, and wall-mounted soap dispenser, with blue overhead cabinets and a coffee maker on the left, and a white robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the dark snack packet on the counter, lifts it, moves it over the left sink basin, and releases the packet into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1466, "tasks": ["place food"], "length": 265, "global_instruction": "Pick up the dark wrapped snack bar on the countertop and place it into the stainless steel sink.", "scene_description": "A white kitchen countertop holds a dark wrapped snack bar left of a double stainless steel sink, a green plastic cup sits next to the sink, with yellow dish soap and a white spray bottle at the sink edge, grey tiled wall and blue upper cabinets in the background, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the dark wrapped snack bar on the kitchen counter, grasps it, lifts it, moves it over the left basin of the double sink, releases the snack bar into the sink, then moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1467, "tasks": ["place food"], "length": 287, "global_instruction": "Pick up the small green-orange snack packet and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds a black coffee maker on the left, a small green-orange snack packet, and a green plastic cup near a double stainless steel sink; the wall behind has a white tiled backsplash, a wall-mounted white soap dispenser, and blue overhead cabinets, with yellow dish soap and a clear spray bottle at the sink edge.", "global_instruction_dense": "The left robotic arm moves downward toward the small green-orange snack packet on the counter, grasps it with its gripper, lifts the packet, moves it over the left basin of the double sink, releases it to drop into the sink, then moves back up to position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1468, "tasks": ["place food"], "length": 370, "global_instruction": "Pick up the packaged snack from the kitchen counter and place it into the sink", "scene_description": "A white kitchen counter with a double stainless steel sink holds a small green and brown packaged snack, a triangular snack package, a black appliance on the far left, yellow dish soap and a spray bottle near the sink, with blue upper cabinets and white tiled backsplash above, and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the small packaged snack on the kitchen counter, grasps it, lifts it, moves it over the left sink basin, lowers it, releases it into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1469, "tasks": ["place food"], "length": 273, "global_instruction": "Pick up the green packaged snack from the kitchen counter and place it into the left sink basin.", "scene_description": "A white kitchen counter holds a double stainless steel sink, a green and brown packaged snack left of the sink, a pink cup at the sink's left edge, yellow dish soap at the sink's back, and a white spray bottle at the sink's right. Blue upper cabinets and a white tiled backsplash are in the background, with a left robotic arm above the counter near the snack.", "global_instruction_dense": "The left robotic arm moves down toward the green packaged snack on the kitchen counter, grasps it with its gripper, lifts it, moves it over the left sink basin, lowers it, releases it into the sink, then moves back to its starting position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1470, "tasks": ["place food"], "length": 254, "global_instruction": "Pick up the small green snack packet and place it into the left sink basin.", "scene_description": "A kitchen counter with a double stainless steel sink, a red soda can, a small green snack packet, a black coffee maker on the left, blue upper cabinets above a white tiled backsplash, yellow dish soap at the sink edge, and a white spray bottle on the right of the sink, with a robotic arm on the far left.", "global_instruction_dense": "The left robotic arm moves toward the small green snack packet on the countertop, grasps it with its gripper, lifts and moves it over the left sink basin, lowers it, releases it into the sink, then moves back to hover above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1471, "tasks": ["place food"], "length": 256, "global_instruction": "Pick up the green and yellow packaged snack from the kitchen counter and place it into the left sink basin.", "scene_description": "A white kitchen counter with a double stainless steel sink is against a white tiled backsplash under blue upper cabinets. A green and yellow packaged snack, a small red soda can, and a black coffee machine are placed on the left side of the counter. A yellow dish soap bottle sits at the left edge of the sink, a white spray bottle is at the right edge of the sink, and a white robotic arm is positioned above the left counter area.", "global_instruction_dense": "The left robotic arm moves downward toward the green and yellow packaged snack on the left kitchen counter, grasps it with its gripper, lifts the package, moves it rightward over the left sink basin, lowers it into the basin, releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1472, "tasks": ["place food"], "length": 376, "global_instruction": "Pick the green snack package from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter with a stainless steel double sink, a green packaged snack rests in the left sink basin, a blue plastic cup sits left of the sink, blue upper cabinets are above the counter, and a white robotic arm is at the top left of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the green snack package in the left sink basin, grasps the package, lifts it out of the sink, moves it onto the adjacent white countertop, lowers and releases the package onto the counter, then moves back upward away from the package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1473, "tasks": ["place food"], "length": 275, "global_instruction": "Take the green packaged snack from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter has a stainless steel double sink, a small dark tube left of the sink, and a coffee maker on the far left. A green packaged snack is in the left sink basin, yellow dish soap and a clear spray bottle rest on the sink ledge, a white soap dispenser is mounted on the white tiled backsplash, and blue upper cabinets are above the backsplash. A left robotic arm is positioned above the counter near the sink.", "global_instruction_dense": "The left robotic arm moves downward into the left sink basin, grasps the green packaged snack, lifts it out of the sink, moves it over the adjacent kitchen counter, lowers the snack, releases it onto the counter surface, then lifts upward away from the placed snack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1474, "tasks": ["place food"], "length": 306, "global_instruction": "Retrieve the packaged snack from the sink and place it on the adjacent kitchen counter.", "scene_description": "A white kitchen counter features a double stainless steel sink, a small green lime on the counter left of the sink, a green-yellow packaged snack in the left sink basin, a coffee maker on the far left of the counter, blue wall-mounted cabinets above, and a white tiled backsplash, with a white robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm descends into the left sink basin, grasps the packaged snack, lifts it out of the sink, moves it over the countertop to the left of the sink, lowers the package onto the counter, releases it, then lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1475, "tasks": ["place food"], "length": 318, "global_instruction": "Pick up the green snack packet from the sink and place it on the kitchen countertop.", "scene_description": "A white kitchen countertop with a double stainless steel sink, a green packaged snack in the left sink basin, a blue packaged item left of the sink, yellow dish soap and a white spray bottle on the sink edge, a coffee maker on the far left counter, blue upper cabinets and a white tiled backsplash in the background, with a robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm moves down toward the green snack packet in the left sink basin, grasps it with its gripper, lifts it out of the sink, moves it over the adjacent countertop, lowers the packet, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1476, "tasks": ["place food"], "length": 358, "global_instruction": "Take the snack bar out of the sink and place it on the kitchen countertop.", "scene_description": "A white kitchen counter with a double stainless steel sink is visible. A green soda can rests on the counter left of the sink, a dark packaged snack bar lies in the left sink basin, with blue upper cabinets and a white tiled backsplash behind the counter.", "global_instruction_dense": "The left robotic gripper moves toward the left sink basin, grasps the snack bar inside the sink, lifts it out of the sink, moves it leftward over the countertop next to the green soda can, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1477, "tasks": ["place food"], "length": 236, "global_instruction": "Pick the packaged snack from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter with a double stainless steel sink. A dark packaged snack sits on the counter left of the sink, a coffee maker is on the far left, a yellow dish soap bottle is at the left sink edge, a white wall soap dispenser and clear spray bottle are near the faucet, another packaged snack is inside the left sink basin, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the packaged snack inside the left sink basin, grasps it, lifts it out of the sink, moves it left onto the counter near the existing snack, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1478, "tasks": ["place food"], "length": 270, "global_instruction": "Take the packaged snack from the sink and place it on the kitchen counter", "scene_description": "A white-grey robotic arm is positioned above the left side of a kitchen counter. A double stainless steel sink is on the right of the counter, with a packaged snack in its left basin. A coffee maker with a silver kettle sits on the far left counter, a purple small item is on the counter between the arm and sink, a wall-mounted soap dispenser is above the sink, a yellow dish soap bottle is at the sink back, and a clear spray bottle is on the sink's right edge.", "global_instruction_dense": "The left robotic arm moves rightward and downward toward the left sink basin, grasps the packaged snack inside the basin, lifts the snack out of the sink, moves it leftward over the kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1479, "tasks": ["place food"], "length": 248, "global_instruction": "Take the red snack packet from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter has a double stainless steel sink, with a red-orange snack packet in the left sink basin, a small purple object left of the sink, yellow dish soap near the faucet, and a black coffee maker on the far left. Blue upper cabinets and a wall-mounted white soap dispenser are above the tiled backsplash, with a white robotic arm at the top left.", "global_instruction_dense": "The left robotic arm moves down toward the red snack packet in the left sink basin, grasps the packet, lifts it out of the sink, moves it left onto the white kitchen counter, lowers the packet, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1480, "tasks": ["place food"], "length": 197, "global_instruction": "Pick the red packaged snack from the sink and place it on the kitchen counter", "scene_description": "A white robotic arm is positioned above a white kitchen counter with a dual stainless steel sink. A green plastic cup sits on the counter left of the sink, a red packaged snack is in the left sink basin, a coffee maker is at the far left of the counter, and blue upper cabinets are above the white tiled backsplash.", "global_instruction_dense": "The left robotic arm moves downward toward the red packaged snack in the left sink basin, grasps the snack package, lifts it out of the sink, moves it leftward over the counter surface left of the sink, lowers it, releases it onto the counter, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1481, "tasks": ["place food"], "length": 208, "global_instruction": "Pick up the snack bag from the sink and place it on the kitchen countertop.", "scene_description": "A white kitchen counter with a double stainless steel sink, a red snack pack on the counter left of the sink, a brown labeled snack bag in the left sink basin, blue upper cabinets, white tile backsplash, soap dispenser, yellow dish soap and white spray bottle near the sink, a white-grey robotic arm positioned above the left counter.", "global_instruction_dense": "The right robotic arm moves downward toward the snack bag in the left sink basin, grasps the bag, lifts it out of the sink, moves it onto the white countertop left of the sink, releases the bag, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1482, "tasks": ["place food"], "length": 234, "global_instruction": "Pick the snack packages from the sink and place them on the kitchen counter.", "scene_description": "A white kitchen counter holds a double stainless steel sink, with snack packages inside the left sink basin. A silver coffee maker and black appliance sit left of the sink, while yellow dish soap, a white spray bottle, and a wall-mounted soap dispenser are near the sink, with blue overhead cabinets above the tiled backsplash. A robotic arm is positioned above the counter near the sink.", "global_instruction_dense": "The right robotic arm moves downward toward the snack packages in the left sink basin, grasps the packages, lifts them out of the sink, moves leftward over the white countertop, lowers the packages, and releases them onto the counter next to the existing red snack package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1483, "tasks": ["place food"], "length": 201, "global_instruction": "Take the blue snack packet from the sink and place it on the kitchen countertop.", "scene_description": "A white kitchen countertop with a double stainless steel sink, a blue snack packet rests in the left sink basin, a coffee maker sits on the far left of the counter, blue upper cabinets are above the white tiled backsplash, and a robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm lowers toward the blue snack packet in the left sink basin, grasps the packet, lifts it out of the sink, moves it left onto the white countertop, releases the packet, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1484, "tasks": ["place food"], "length": 166, "global_instruction": "Take the blue snack packet from the sink and place it on the kitchen counter.", "scene_description": "On a white kitchen countertop, a small purple packet sits left of a stainless steel double sink, a blue snack packet is in the left sink basin, a coffee maker is on the far left counter, and blue upper cabinets are above the white tiled backsplash.", "global_instruction_dense": "The left robotic arm moves down toward the left sink basin, grasps the blue snack packet, lifts it out of the sink, moves it left over the counter, lowers it, and releases it onto the countertop next to the purple packet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1485, "tasks": ["place food"], "length": 252, "global_instruction": "Pick the orange packaging from the sink and place it on the kitchen counter", "scene_description": "A left robotic arm is positioned above a white kitchen counter, a red soda can sits left of a stainless steel double sink, orange packaging rests in the left sink basin, with a white tiled backsplash and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward the left sink basin, grasps the orange packaging inside the sink, lifts it out of the sink, moves it left over the kitchen counter, lowers and releases it onto the countertop, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1486, "tasks": ["place food"], "length": 282, "global_instruction": "Take the orange snack package out of the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter has a green plastic cup left of a double stainless steel sink, an orange snack package in the left sink basin, yellow dish soap next to the sink faucet, a clear spray bottle right of the sink, a white soap dispenser on the tiled wall above the sink, blue upper cabinets, and a white robotic arm on the left side.", "global_instruction_dense": "The left robotic arm moves from its starting position toward the left sink basin, grasps the orange snack package inside the sink, lifts it out of the sink, moves it over the white countertop, releases the package onto the counter, then moves backward away from the placed package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1487, "tasks": ["place food"], "length": 196, "global_instruction": "Remove the yellow and brown snack packet from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter with a double stainless steel sink has a yellow and brown snack packet in the left sink basin, a small blue package left of the sink, yellow dish soap near the faucet, and a white spray bottle right of the sink. A white robotic arm is positioned above the left side of the counter, with blue upper cabinets, a white tiled backsplash, and a coffee maker on the far left counter in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the snack packet in the left sink basin, grasps the packet with its gripper, lifts it out of the sink, moves it over the adjacent countertop, releases the packet onto the counter, then lifts back up to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1488, "tasks": ["place food"], "length": 213, "global_instruction": "Pick the packaged snack from the sink and place it on the adjacent kitchen counter.", "scene_description": "A kitchen counter with a double stainless steel sink, a packaged snack in the left sink basin, a blue plastic cup next to the sink, a coffee maker on the left counter, blue upper cabinets above a tiled backsplash, and a robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm moves down into the left sink basin, grasps the packaged snack, lifts it out of the sink, moves it over the adjacent countertop, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1489, "tasks": ["place food"], "length": 227, "global_instruction": "Take the green packaged snack from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter with a double stainless steel sink, a green packaged snack in the left sink basin, blue upper cabinets, white tiled backsplash, wall-mounted soap dispenser, yellow dish soap next to the sink faucet, a clear spray bottle on the right of the sink, and a black appliance on the left end of the counter, with a white robotic arm positioned above the sink.", "global_instruction_dense": "The left robotic arm moves downward toward the green packaged snack in the left sink basin, grasps the snack with its gripper, lifts the snack out of the sink, moves it left onto the counter, lowers it onto the counter surface, releases the snack, and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1490, "tasks": ["place food"], "length": 209, "global_instruction": "Pick up the green snack package on the kitchen counter and place it into the sink.", "scene_description": "A green snack package rests on a white kitchen counter left of a double stainless steel sink, a pink cup sits beside the sink, blue upper cabinets are above the tiled backsplash, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down to the green snack package on the counter, grasps it, lifts and moves it over the sink, releases it into the sink, then returns to its original position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1491, "tasks": ["place food"], "length": 238, "global_instruction": "Pick up the dark packaged snack from the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds a dark packaged snack and a green soda can, with a double stainless steel sink to the snack's right, a coffee maker to the snack's left, and blue upper cabinets above a white tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves downward toward the dark packaged snack on the kitchen counter, grasps it, lifts it, moves it over the left basin of the double sink, releases it into the sink, then moves back upward above the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1492, "tasks": ["place food"], "length": 300, "global_instruction": "Pick up the blue snack package from the counter and place it into the sink.", "scene_description": "A white kitchen counter holds a blue snack package left of a double stainless steel sink, a coffee maker on the far left, yellow dish soap and a clear spray bottle at the sink, blue upper cabinets above a white tiled backsplash, and a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the blue snack package on the counter, grasps it with its gripper, lifts it, moves it over the left sink basin, lowers and releases it into the sink, then retracts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1493, "tasks": ["place food"], "length": 254, "global_instruction": "Pick up the blue packaged snack and place it into the stainless steel sink", "scene_description": "A white kitchen countertop holds a blue plastic cup, a blue packaged snack, and a black coffee maker on the far left. A double stainless steel sink is on the right of the counter, with yellow dish soap, a clear spray bottle, and a wall-mounted soap dispenser next to it, below blue upper cabinets and a white tiled backsplash. A white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the blue snack package on the counter, lifts it, moves it over the sink, releases it into the sink, then moves back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1494, "tasks": ["place food"], "length": 261, "global_instruction": "Pick up the orange snack packet on the counter and place it into the left sink basin", "scene_description": "A white kitchen countertop holds a green lime and an orange snack packet to the left of a stainless steel double sink. A white soap dispenser is mounted on the tiled wall behind the counter, with yellow dish soap near the sink faucet and a clear spray bottle on the sink's right edge below blue upper cabinets. The right robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp the orange snack packet on the countertop, lifts and moves the packet over the left sink basin, releases the packet into the basin, then moves back to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1495, "tasks": ["place food"], "length": 204, "global_instruction": "Place the orange snack package on the counter into the sink.", "scene_description": "A white kitchen counter holds an orange snack package and a small green object next to a double stainless steel sink, with blue upper cabinets and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the orange snack package on the counter, grasps it with its gripper, lifts it, moves it over the left sink basin, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1496, "tasks": ["place food"], "length": 307, "global_instruction": "Pick up the red packaged snack from the counter and place it into the left sink basin.", "scene_description": "A red and white packaged snack, green plastic cup, yellow dish soap, and clear spray bottle are on a white kitchen counter with a double stainless steel sink. A white tiled backsplash and blue upper cabinets are in the background, with the robot's right arm at the left of the scene.", "global_instruction_dense": "The right robotic arm moves down toward the red packaged snack on the kitchen counter, grasps it with its gripper, lifts it, carries it over the left sink basin, lowers it into the basin, releases the snack, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1497, "tasks": ["place food"], "length": 235, "global_instruction": "Place the packaged snack from the countertop into the left basin of the sink.", "scene_description": "A white kitchen countertop holds a yellow and brown packaged snack left of a double stainless steel sink, a red crumpled cloth next to the snack, with a white tiled backsplash, blue upper cabinets, a wall-mounted soap dispenser, yellow dish soap by the sink, a white spray bottle on the right edge of the sink, and a robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the packaged snack on the countertop, grasps it with its gripper, lifts and transports it over the left sink basin, releases the snack to drop it into the sink, then moves back to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1498, "tasks": ["place food"], "length": 191, "global_instruction": "Pick up the snack package from the counter and place it into the sink", "scene_description": "A white kitchen countertop has a small yellow and white snack package left of a double stainless steel sink, a small purple item behind the snack, blue upper cabinets, a white tiled backsplash, a soap dispenser, yellow dish soap, and a white spray bottle near the sink, with a robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the snack package on the countertop, grasps it with its gripper, lifts it, moves it over the left basin of the sink, releases it into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1499, "tasks": ["place food"], "length": 244, "global_instruction": "Place the red snack packet on the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a red snack packet, a green lime, a black coffee maker with a stainless steel carafe, and a black microwave from left to right. A white tiled wall with a soap dispenser, power outlet and stainless steel sink with yellow dish soap is behind the counter, and an open blue upper cabinet sits above the counter with a robotic gripper positioned above the counter surface.", "global_instruction_dense": "The left robotic gripper moves downward toward the red snack packet on the counter, grasps it, lifts it upward into the open upper cabinet, releases the packet inside the cabinet, then retracts back to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1500, "tasks": ["place food"], "length": 258, "global_instruction": "Place the dark brown snack package on the kitchen counter into the open upper blue cabinet.", "scene_description": "A white kitchen counter holds a green apple, a dark brown snack package with yellow and orange labeling, a black coffee maker with a silver carafe, and a black microwave to the left of the coffee maker. A white soap dispenser is mounted on the tiled wall right of the counter next to a stainless steel sink with a yellow dish soap bottle. An open upper blue cabinet sits above the counter, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the dark brown snack package on the kitchen counter, grasps it with its gripper, lifts it upward into the open upper blue cabinet, releases the package inside the cabinet, then retracts back toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1501, "tasks": ["place food"], "length": 293, "global_instruction": "Place the dark snack package on the kitchen counter into the open upper blue cabinet.", "scene_description": "A kitchen white countertop has a black coffee maker with a silver carafe on the left, a microwave next to the coffee maker, a dark snack package in a small tray at the counter center, an orange snack package near the right sink, a yellow dish soap bottle next to the sink, a white soap dispenser on the tiled back wall, and an open blue upper cabinet above the counter, with a robotic arm positioned above the left counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the dark snack package on the counter, grasps the package, lifts it upward into the open upper blue cabinet, places the package inside the cabinet, then retracts the gripper back out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1502, "tasks": ["place food"], "length": 304, "global_instruction": "Place the orange snack package on the counter into the open upper blue cabinet.", "scene_description": "A white kitchen counter holds an orange snack package, a small purple packet, a microwave, and a coffee maker with a silver carafe on the left, while a stainless steel sink with yellow dish soap sits on the right, under a white tiled wall and an open blue upper cabinet, with a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the orange snack package on the kitchen counter, grasps it, lifts it upward into the open blue upper cabinet, releases the package inside the cabinet, then retracts back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1503, "tasks": ["place food"], "length": 238, "global_instruction": "Place the orange snack packet from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen countertop holds an orange snack packet at its center, a blue plastic cup to the right of the packet, a coffee maker with a metallic carafe and a microwave to the left of the packet; a stainless steel sink, yellow dish soap, and a wall-mounted white soap dispenser are on the right side of the counter against a white tiled backsplash, with an open blue upper cabinet above the counter, and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm lowers toward the orange snack packet on the counter, grasps it with its gripper, lifts it into the open upper cabinet, releases the packet, then retracts back to its starting position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1504, "tasks": ["place food"], "length": 294, "global_instruction": "Place the blue snack packet on the kitchen counter into the open upper cabinet", "scene_description": "A white kitchen counter holds a blue snack packet left of an orange fruit, a silver and black coffee maker on the far left, a stainless steel sink with yellow dish soap on the far right, a white soap dispenser on the tiled backsplash, and an open upper cabinet above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the blue snack packet on the counter, grasps it, lifts it into the open upper cabinet, releases the packet, and retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1505, "tasks": ["place food"], "length": 281, "global_instruction": "Place the red snack bag into the stainless steel sink.", "scene_description": "A white kitchen countertop holds a red Doritos snack bag to the left of a stainless steel double sink, with a small yellow ball adjacent to the bag. A white soap dispenser is mounted on the white tiled backsplash above the sink, yellow dish soap sits at the sink's left edge, a clear spray bottle sits at the sink's right edge, and blue upper cabinets are positioned above the backsplash. A left robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the red snack bag on the countertop, grasps it with its gripper, lifts and moves it over the left basin of the double sink, lowers it into the sink, releases the bag, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1506, "tasks": ["place food"], "length": 199, "global_instruction": "Place the colorful snack packet on the kitchen counter into the left sink basin.", "scene_description": "A white kitchen countertop has a colorful patterned snack packet and a red Coca-Cola can next to a double stainless steel sink, with blue upper cabinets and a white tiled backsplash, and a white robotic arm is above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the colorful snack packet on the counter, grasps it with its gripper, lifts the packet, moves it over the left stainless steel sink basin, releases the packet to drop it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1507, "tasks": ["place food"], "length": 195, "global_instruction": "Pick up the green packaged snack from the counter and place it into the sink.", "scene_description": "A green packaged snack and an orange packaged snack sit on a white kitchen countertop in front of a double stainless steel sink. Blue upper cabinets, a white soap dispenser, yellow dish soap, and a clear spray bottle are visible around the sink, with a robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the green packaged snack on the counter, grasps it with its gripper, lifts it, moves it over the left sink basin, lowers it, releases it into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1508, "tasks": ["place food"], "length": 205, "global_instruction": "Place the dark printed snack package on the kitchen counter into the stainless steel sink.", "scene_description": "A dark printed snack package and an orange plastic cup are placed on a white kitchen counter next to a double stainless steel sink, with a robotic arm positioned above the counter, blue upper cabinets, white tiled backsplash, and a coffee maker on the far left of the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the dark printed snack package on the counter, grasps the package, lifts it and moves it over the left basin of the double sink, then releases the package to drop it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1509, "tasks": ["place food"], "length": 249, "global_instruction": "Pick up the black and orange snack package and place it into the left sink basin.", "scene_description": "A white kitchen counter holds a black and orange snack package left of a double stainless steel sink, a purple cup next to the package, blue upper cabinets, and a robotic arm above the left counter.", "global_instruction_dense": "The right robotic arm moves down toward the black and orange snack package on the counter, grasps the package with its gripper, lifts and moves it over the left sink basin, lowers it, and releases the package into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1510, "tasks": ["place food"], "length": 219, "global_instruction": "Pick up the snack package from the counter and place it into the sink", "scene_description": "A white kitchen counter with a double stainless steel sink, blue upper cabinets, and white tiled backsplash. A snack package with orange and yellow graphics sits on the counter left of the sink, with a small purple item behind it. A soap dispenser is mounted on the wall above the sink, with green dish soap and a clear spray bottle on the sink edge, and a white robotic arm is positioned above the left counter.", "global_instruction_dense": "The left robotic arm moves downward to grasp the snack package on the counter, lifts it, moves it over the stainless steel sink, releases it to drop into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1511, "tasks": ["place food"], "length": 204, "global_instruction": "Pick up the brown and yellow food package and place it into the kitchen sink.", "scene_description": "A white kitchen counter holds a brown and yellow food package, a small green snack packet, and a double stainless steel sink. Blue upper cabinets, a wall-mounted soap dispenser, yellow dish soap, a clear spray bottle, and a black coffee maker are in the background, with a robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the brown and yellow food package on the counter, grasps it, lifts and moves the package over the sink, releases it to drop into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1512, "tasks": ["place food"], "length": 231, "global_instruction": "Place the brown-and-yellow packaged snack from the counter into the left sink basin.", "scene_description": "A white kitchen countertop next to a double stainless steel sink holds a red soda can, a brown-and-yellow packaged snack, yellow dish soap, and a white spray bottle. Gray tiled backsplash sits below blue upper cabinets, with a white robotic arm above the left counter.", "global_instruction_dense": "The right robotic arm moves down toward the packaged snack on the counter, grasps it, lifts and moves it over the left sink basin, releases the snack into the basin, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1513, "tasks": ["place food"], "length": 218, "global_instruction": "Pick up the brown-yellow packaged snack and place it into the stainless steel sink.", "scene_description": "A kitchen counter with a double stainless steel sink; a brown-yellow packaged snack and a blue packaged snack rest on the counter left of the sink, blue cabinets are above the tiled backsplash, a coffee maker sits on the far left of the counter, and cleaning supplies are near the sink.", "global_instruction_dense": "The right robotic arm moves down toward the brown-yellow snack package on the counter, grasps it with its gripper, lifts and moves it over the left sink basin, releases it to drop into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1514, "tasks": ["place food"], "length": 246, "global_instruction": "Pick up the brown packaged snack from the counter and place it into the sink.", "scene_description": "A white kitchen counter with a double stainless steel sink holds a green lime and a brown packaged snack to the left of the sink, a black coffee machine sits on the far left of the counter, blue cabinets are mounted above a white tiled backsplash, with a wall soap dispenser and cleaning liquids at the sink edge.", "global_instruction_dense": "The right robotic arm moves downward toward the brown packaged snack on the counter, grasps it, lifts it, moves it over the left sink basin, releases it into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1515, "tasks": ["place food"], "length": 241, "global_instruction": "Pick up the blue packaged snack and place it into the stainless steel kitchen sink.", "scene_description": "A blue packaged snack, an orange beverage can, and a stainless steel double sink are on a white kitchen counter. A white robotic gripper is positioned above the counter, with blue upper cabinets, a white tiled backsplash, and a coffee maker on the left of the counter in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the blue packaged snack on the kitchen counter, grasps the package, lifts it, moves it over the stainless steel sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1516, "tasks": ["place food"], "length": 215, "global_instruction": "Pick up the blue snack package from the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds an open blue snack package near its left side, a green plastic cup behind the package, and a double stainless steel sink to the right of the package. A yellow dish soap bottle sits beside the sink faucet, a white spray bottle rests on the sink's right edge, blue cabinets are mounted above the white tiled backsplash, and a white robotic arm is positioned above the counter near the wall.", "global_instruction_dense": "The left robotic arm moves down toward the blue snack package on the counter, grasps it with its gripper, lifts and moves it over the stainless steel sink, then releases the package into the sink before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1517, "tasks": ["place food"], "length": 206, "global_instruction": "Pick up the blue snack package from the counter and place it into the left sink basin.", "scene_description": "A white kitchen counter holds a blue snack package and small yellow ball next to a double stainless steel sink, with blue upper cabinets and white tiled backsplash, a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the blue snack package on the counter, grasps it with its gripper, lifts it, moves it over the left sink basin, lowers and releases it into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1518, "tasks": ["place food"], "length": 214, "global_instruction": "Pick up the red snack packet from the kitchen counter and place it into the sink.", "scene_description": "A white kitchen counter holds a red snack packet, a blue snack packet, a stainless steel double sink, a yellow dish soap bottle next to the sink, a white soap dispenser on the tiled backsplash, a white spray bottle on the sink's right edge, and blue upper cabinets above the backsplash, with a robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the red snack packet on the kitchen counter, grasps it, lifts it, moves it over the stainless steel sink, lowers it into the sink, releases it, and moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1519, "tasks": ["place food"], "length": 308, "global_instruction": "Pick up the red food package from the kitchen counter and place it into the sink.", "scene_description": "A red food package, a pink plastic cup, and a double stainless steel sink are on a white kitchen counter, with blue upper cabinets, a wall-mounted soap dispenser, dish soap, and a spray bottle placed near the sink, a white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the red food package on the counter, grasps it, lifts it, moves it over the left basin of the sink, releases the package into the sink, then moves upward back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1520, "tasks": ["place food"], "length": 211, "global_instruction": "Pick up the red crumpled snack packet and place it into the stainless steel sink.", "scene_description": "A white kitchen countertop holds a red crumpled snack packet and a red Coca-Cola can, adjacent to a double stainless steel sink with dish soap and a spray bottle. A white robotic arm is positioned above the counter, with blue cabinets on the tiled wall behind.", "global_instruction_dense": "The right robotic arm moves down toward the red crumpled snack packet on the counter, grasps it, lifts it, moves it over the left basin of the stainless steel sink, releases it to drop into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1521, "tasks": ["place food"], "length": 247, "global_instruction": "Place the orange and white snack package on the counter into the left sink basin.", "scene_description": "A white kitchen countertop holds an orange and white packaged snack to the left of an orange plastic cup, adjacent to a double stainless steel sink. Blue upper cabinets, a wall-mounted soap dispenser, green dish soap, and a white spray bottle are positioned near the sink, with a left robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves downward to grasp the orange and white snack package on the counter, lifts and moves it over the left sink basin, releases the package into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1522, "tasks": ["place food"], "length": 211, "global_instruction": "Pick up the orange snack packet from the counter and drop it into the sink.", "scene_description": "A white kitchen counter holds a stainless steel double sink, an orange snack packet left of the sink, a small green object next to the packet, yellow dish soap near the faucet, and a clear spray bottle right of the sink. Blue upper cabinets are above a white tiled backsplash, a black coffee maker sits on the left end of the counter, and a left robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the orange snack packet on the kitchen counter, grasps it, lifts it, moves it over the stainless steel sink, releases the packet to drop into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1523, "tasks": ["place food"], "length": 215, "global_instruction": "Pick up the orange snack packet from the counter and place it into the sink", "scene_description": "A white kitchen countertop holds an orange snack packet and a red soda can to the left of a double stainless steel sink. Blue upper cabinets are above the white tiled backsplash, with a wall-mounted soap dispenser, yellow dish soap, and a white spray bottle arranged near the sink, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the orange snack packet on the countertop, grasps it, lifts it, moves it over the left basin of the sink, releases the packet to drop it into the sink, then moves back upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1524, "tasks": ["place food"], "length": 247, "global_instruction": "Pick up the purple packaged snack from the kitchen counter and place it into the sink.", "scene_description": "A white kitchen counter holds a purple packaged snack and a red soda can to the left of a double stainless steel sink. Next to the sink are a yellow dish soap bottle, white spray bottle, and wall-mounted soap dispenser, with blue upper cabinets above a white tiled backsplash, and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic gripper moves down toward the purple packaged snack on the counter, grasps it, lifts it, moves it over the left basin of the double sink, releases the snack into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1525, "tasks": ["place food"], "length": 221, "global_instruction": "Pick up the dark purple packaged snack bar from the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen countertop holds a double stainless steel sink. A dark purple packaged snack bar sits on the counter left of the sink, a red Coca-Cola can is next to the sink's left edge, yellow dish soap and a white spray bottle are positioned by the sink faucet, with blue upper cabinets and white tiled backsplash in the background, and a white robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the dark purple packaged snack bar on the kitchen counter, grasps it, lifts and moves it over the left basin of the double sink, then releases the snack bar into the sink before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1526, "tasks": ["place food"], "length": 243, "global_instruction": "Pick up the red packaged snack on the counter and place it into the left sink basin", "scene_description": "A white kitchen counter holds a pink plastic cup and a small red packaged snack, adjacent to a double stainless steel sink. Blue cabinets are mounted on the white tiled backsplash above the counter, and a right robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm lowers toward the red packaged snack on the kitchen counter, grasps the snack, lifts it, moves it over the left stainless steel sink basin, releases the snack into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1527, "tasks": ["place food"], "length": 246, "global_instruction": "Pick up the small purple and brown snack packet from the counter and drop it into the stainless steel sink.", "scene_description": "A small purple and brown snack packet and a blue plastic cup sit on a white kitchen counter left of a double stainless steel sink. A white soap dispenser is mounted on the tiled backsplash, green dish soap and a clear spray bottle are next to the sink, with blue upper cabinets above, and a robotic gripper is positioned above the counter near the wall.", "global_instruction_dense": "The right robotic arm moves its gripper down to the small purple and brown snack packet on the counter, grasps the packet, lifts it, moves it over the left basin of the double sink, releases the packet to drop it into the sink, then retracts the gripper back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1528, "tasks": ["place food"], "length": 245, "global_instruction": "Place the brown packaged snack from the kitchen counter into the stainless steel sink.", "scene_description": "A brown packaged snack and a green plastic cup sit on a white kitchen counter next to a double stainless steel sink. A yellow dish soap bottle is at the sink's rear edge, a white spray bottle is on the sink's right edge, a white soap dispenser is mounted on the tiled wall behind the sink, with blue upper cabinets above the tile.", "global_instruction_dense": "The right robotic gripper moves down toward the brown packaged snack on the counter, grasps it, lifts and moves it over the left basin of the sink, lowers it, releases the snack into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1529, "tasks": ["place food"], "length": 269, "global_instruction": "Pick up the small purple-brown snack bar from the counter and drop it into the sink.", "scene_description": "A white kitchen countertop holds a small purple-brown snack bar, a blue snack pack, a green dish soap bottle next to a double stainless steel sink, a white spray bottle to the right of the sink, a black coffee maker on the far left, with white tiled walls and blue upper cabinets in the background, and a left robotic gripper positioned above the counter left of the sink.", "global_instruction_dense": "The left robotic arm moves downward toward the small purple-brown snack bar on the kitchen counter, grasps it with its gripper, lifts it, moves it over the left basin of the sink, releases the gripper to drop the snack bar into the sink, then moves back to a position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1530, "tasks": ["place food"], "length": 278, "global_instruction": "Pick up the small dark patterned snack bar from the kitchen counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds two small snack packages: a smaller dark patterned snack bar closer to the double stainless steel sink, and another dark snack package further left on the counter. Blue upper cabinets, a white tiled backsplash, wall-mounted soap dispenser, yellow dish soap, and white spray bottle are visible around the sink, with a white robotic arm positioned above the left counter area.", "global_instruction_dense": "The right robotic arm moves downward toward the small dark patterned snack bar on the kitchen counter, grasps it with its gripper, lifts and moves it over the left basin of the stainless steel sink, releases the snack bar into the sink, then retracts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1531, "tasks": ["place food"], "length": 300, "global_instruction": "Place the dark packaged snack bar from the kitchen counter into the sink.", "scene_description": "A white kitchen counter has a small dark packaged snack bar left of a double stainless steel sink, an orange sponge tray near the sink, blue upper cabinets, and a white tiled backsplash, with a white robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves toward the dark packaged snack bar on the counter, grasps and lifts it, moves it over the left sink basin, releases it into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1532, "tasks": ["place food"], "length": 265, "global_instruction": "Pick up the snack package on the kitchen counter and place it into the sink.", "scene_description": "A small purple-brown snack package, a green lime, a double stainless steel sink, yellow dish soap, and a white spray bottle are on a white kitchen counter. Blue upper cabinets and a white tiled backsplash are in the background, with a robotic arm positioned at the upper left.", "global_instruction_dense": "The left robotic arm moves toward the small purple-brown snack package on the kitchen counter, grasps it with its gripper, lifts it, moves it over the left basin of the double sink, releases the package into the sink, then moves back upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1533, "tasks": ["place food"], "length": 238, "global_instruction": "Pick up the small snack package on the counter and place it into the left sink basin.", "scene_description": "A white kitchen countertop with a double stainless steel sink below blue overhead cabinets and a white tiled backsplash. A small yellow ball, dark rectangular snack package, and black coffee maker are on the left section of the counter, while a yellow dish soap bottle and clear spray bottle sit next to the sink.", "global_instruction_dense": "The right robotic arm moves downward toward the small dark snack package on the kitchen counter, grasps it with its gripper, lifts it, moves it over the left stainless steel sink basin, releases the package into the sink, then retracts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1534, "tasks": ["place food"], "length": 276, "global_instruction": "Pick up the purple wrapped snack bar from the counter and place it into the sink", "scene_description": "A small purple wrapped snack bar rests on a white kitchen countertop left of a double stainless steel sink. A green packaged item, yellow dish soap, and a clear spray bottle are near the sink, blue upper cabinets are above the white tiled backsplash, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the purple snack bar on the counter, grasps it with its gripper, lifts it, moves it over the left basin of the double sink, lowers it, releases the snack into the sink, then moves back to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1535, "tasks": ["place food"], "length": 286, "global_instruction": "Place the small red snack bar from the kitchen counter into the open upper cabinet.", "scene_description": "A small red snack bar, a green small packet, and a black coffee maker with a silver carafe sit on a white kitchen counter. A stainless steel sink with yellow dish soap, a white wall-mounted soap dispenser, grey tiled backsplash, and an open blue-and-white upper cabinet are also visible, with a robotic arm in the upper left area.", "global_instruction_dense": "The left robotic arm moves downward toward the small red snack bar on the kitchen counter, grasps the bar with its gripper, lifts it upward into the open upper cabinet, releases the bar to place it inside the cabinet, then retracts back from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1536, "tasks": ["place food"], "length": 304, "global_instruction": "Place the purple wrapped snack bar from the kitchen counter into the open upper cabinet.", "scene_description": "On a white kitchen counter, an orange soda can sits near the tiled backsplash, a small purple wrapped snack bar is in front of the can, a silver coffee maker and microwave are on the counter's left side, and a stainless steel sink with yellow dish soap is on the right. An open blue upper cabinet is above the counter, with a white robotic arm positioned above the counter surface.", "global_instruction_dense": "The left robotic arm moves down toward the purple snack bar on the counter, grasps it with its gripper, lifts it upward into the open upper cabinet, releases it to place it inside the cabinet, then retracts back above the kitchen counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1537, "tasks": ["place food"], "length": 278, "global_instruction": "Pick up the brown snack bar from the kitchen counter and place it into the open upper cabinet.", "scene_description": "A brown rectangular snack bar and a green soda can sit on a white kitchen counter, with a black coffee maker (with a silver carafe) on the counter's left, a stainless steel sink with yellow dish soap on the counter's right, a white tiled backsplash, and an open upper cabinet above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the brown snack bar on the kitchen counter, grasps it, lifts it into the open upper cabinet, releases it onto the cabinet shelf, then retracts back out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1538, "tasks": ["place food"], "length": 302, "global_instruction": "Place the small dark snack bar from the counter into the open upper blue cabinet.", "scene_description": "A white kitchen countertop holds a black and silver coffee maker on the left, a red soda can against the white tiled backsplash, a small dark rectangular snack bar in front of the soda can, a white wall-mounted soap dispenser to the right of the soda can, and a stainless steel sink with yellow dish soap on its left edge. An open blue upper cabinet is above the counter, and a robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm lowers toward the small dark snack bar on the kitchen counter, grasps it, lifts it upward into the open upper blue cabinet, releases it onto the cabinet shelf, then retracts back out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1539, "tasks": ["place food"], "length": 264, "global_instruction": "Place the dark purple snack bar from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a red packaged item, a dark purple snack bar, and a black coffee maker with a silver carafe on its left side; a stainless steel sink with yellow dish soap sits on the counter's right side, a white soap dispenser is mounted on the tiled backsplash, and an open blue upper cabinet is positioned above the counter, with a robotic arm hovering over the counter.", "global_instruction_dense": "The left robotic arm moves down toward the counter, briefly touches the red packaged item, then grasps the dark purple snack bar, lifts it up into the open upper blue cabinet, releases the snack bar inside the cabinet, then retracts back toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1540, "tasks": ["place food"], "length": 322, "global_instruction": "Place the small purple snack bar on the kitchen counter into the open upper cabinet.", "scene_description": "A small purple snack bar, a green lime, and a black coffee maker with a silver carafe sit on a white kitchen counter. A stainless steel sink with yellow dish soap and a wall-mounted soap dispenser are to the counter's right, and an open blue upper cabinet is above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the small purple snack bar on the counter, grasps it, lifts it upward, moves it into the open upper blue cabinet, releases it onto the cabinet shelf, then moves back down away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1541, "tasks": ["place food"], "length": 269, "global_instruction": "Place the packaged snack bar from the countertop into the open upper kitchen cabinet.", "scene_description": "A packaged snack bar rests on a white kitchen countertop, with a pink plastic cup against the tiled wall behind it, a coffee maker with a silver kettle and a microwave to the left, a sink with yellow dish soap and a soap dispenser to the right, and an open blue upper cabinet above the counter.", "global_instruction_dense": "The left robotic arm moves downward to the snack bar on the counter, grasps it with its gripper, lifts it up into the open upper cabinet, releases the snack bar onto the cabinet shelf, then retracts out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1542, "tasks": ["place food"], "length": 272, "global_instruction": "Pick up the packaged snack bar from the counter and place it into the open upper cabinet.", "scene_description": "A white kitchen counter holds a small packaged snack bar in the center, an orange plastic cup near the white tiled backsplash, a coffee maker with a stainless steel carafe on the left side of the counter, and a stainless steel sink with yellow dish soap on the right. An open blue upper cabinet is positioned above the counter, and a robotic arm is at the upper left of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the snack bar on the counter, grasps it, lifts it upward into the open upper cabinet, places it on the cabinet shelf, then moves back down to hover above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1543, "tasks": ["place food"], "length": 356, "global_instruction": "Pick up the brown snack packet from the countertop and place it into the open upper cabinet.", "scene_description": "A white kitchen countertop holds a brown snack packet and a green snack packet. A coffee maker with a stainless steel carafe sits on the left of the counter, a stainless steel sink with yellow dish soap is on the right, an open blue upper cabinet is above the counter, and a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the brown snack packet on the kitchen counter, grasps the packet with its gripper, lifts it upward to the open upper cabinet, places the packet inside the cabinet, releases it, then moves back downward toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1544, "tasks": ["place food"], "length": 269, "global_instruction": "Pick up the brown packaged snack from the counter and place it into the open upper cabinet.", "scene_description": "A kitchen counter with white tiled backsplash holds a black and silver coffee maker, a brown packaged snack, a small green packet, and a stainless steel sink with yellow dish soap next to a wall soap dispenser; an upper blue cabinet is open above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the brown packaged snack on the counter, grasps it, lifts it upward into the open upper cabinet, releases the snack onto the cabinet shelf, then retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1545, "tasks": ["place food"], "length": 321, "global_instruction": "Place the blue snack packet from the countertop into the open upper cabinet.", "scene_description": "A kitchen countertop holds a blue snack packet at center, a small purple packet near the white tiled backsplash, a silver and black coffee maker on the left, and a stainless steel sink with yellow dish soap on the right. An open upper cabinet is above the counter, and a robotic arm is positioned near the coffee maker.", "global_instruction_dense": "The right robotic arm moves downward from its initial position near the coffee maker, grasps the blue snack packet on the countertop, lifts the packet upward into the open upper cabinet, releases it onto the cabinet shelf, then retracts back down toward the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1546, "tasks": ["place food"], "length": 277, "global_instruction": "Place the blue and silver snack packet into the open upper cabinet", "scene_description": "A white kitchen countertop has a blue and silver snack packet in the center, an orange plastic cup behind the packet, a microwave and coffee maker with a stainless steel carafe on the left, and a sink with yellow dish soap on the right. An open upper cabinet is above the counter, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the blue snack packet on the counter, grasps the packet, lifts it into the open upper cabinet, releases the packet, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1547, "tasks": ["place food"], "length": 259, "global_instruction": "Place the blue snack packet from the counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a blue snack packet near its center, a small dark figurine behind the packet, a black coffee maker with a silver carafe on the left, a stainless steel sink with yellow dish soap on the right, a white soap dispenser on the tiled backsplash, and an open blue upper cabinet above the counter.", "global_instruction_dense": "The right robotic arm lowers toward the blue snack packet on the kitchen counter, grasps it with its gripper, lifts it upward into the open upper cabinet, releases the packet onto the cabinet shelf, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1548, "tasks": ["place food"], "length": 287, "global_instruction": "Place the blue packaged snack into the open upper kitchen cabinet.", "scene_description": "A white kitchen counter holds a black-and-silver coffee maker on its left, a blue packaged snack at its center, a red Coca-Cola can to the snack's right, and a stainless steel sink with yellow dish soap at its far right; an open upper cabinet sits above the counter, with a left robotic gripper positioned above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the blue packaged snack on the kitchen counter, grasps the snack, lifts it upward into the open upper cabinet, releases the snack inside the cabinet, then retracts back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1549, "tasks": ["place food"], "length": 305, "global_instruction": "Place the orange snack packet from the countertop into the open upper cabinet.", "scene_description": "A white kitchen countertop holds an orange snack packet, a red snack packet, a black and silver coffee maker on the left, and a stainless steel sink with yellow dish soap on the right, with white tiled backsplash and an open blue upper cabinet above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the orange snack packet on the countertop, grasps it, lifts it upward into the open upper cabinet, releases the packet onto the cabinet shelf, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1550, "tasks": ["place food"], "length": 275, "global_instruction": "Place the green snack package on the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a green snack package, a red snack package, a silver kettle on a black coffee maker, and a microwave on the left; a stainless steel sink with yellow dish soap sits on the right, with white tiled walls and an open blue upper cabinet above the counter, and a suspended robotic arm at the top.", "global_instruction_dense": "The left robotic arm moves down toward the green snack package on the counter, grasps it, lifts it upward into the open upper cabinet, releases the package onto the cabinet shelf, then retracts back out of the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1551, "tasks": ["place food"], "length": 283, "global_instruction": "Place the green packaged snack from the kitchen counter into the open upper cabinet.", "scene_description": "A white kitchen counter holds a green packaged snack, green Sprite can, silver-and-black coffee maker, and microwave on the left; a stainless steel sink with yellow dish soap is on the right, with a white tiled backsplash and open upper blue cabinet above the counter, a robotic gripper hangs above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the green packaged snack on the kitchen counter, grasps the package, lifts it upward, moves it into the open upper cabinet, releases the package onto the cabinet shelf, then retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1552, "tasks": ["place food"], "length": 262, "global_instruction": "Place the green and yellow packaged snack into the open upper kitchen cabinet.", "scene_description": "A kitchen countertop holds a stainless steel coffee maker on the left, a green and yellow packaged snack, a green lime, and a sink with yellow dish soap on the right, with an open blue upper cabinet above the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp the snack package on the countertop, lifts it upward, places it into the open upper cabinet, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1553, "tasks": ["place food"], "length": 235, "global_instruction": "Place the colorful wrapped snack package from the kitchen counter into the open upper blue cabinet.", "scene_description": "A white kitchen counter holds a stainless steel coffee maker on the left, a colorful wrapped snack package at the center, a blue plastic cup to the snack's right, and a stainless steel sink on the far right. Yellow dish soap rests beside the sink, a white soap dispenser is mounted on the tiled backsplash, and an open blue upper cabinet is positioned above the counter, with a microwave next to the coffee maker.", "global_instruction_dense": "The left robotic gripper moves downward toward the colorful wrapped snack package on the kitchen counter, grasps the package, lifts it upward into the open blue upper cabinet, places the package on the cabinet shelf, then releases the package and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1554, "tasks": ["place food"], "length": 284, "global_instruction": "Pick up the foreground yellow, red, and white food package and place it into the open upper cabinet.", "scene_description": "A white kitchen counter holds two packaged food items: a yellow, red, and white package in the foreground, and a red package near the tiled back wall. A black microwave and black-silver coffee maker sit on the left of the counter, a stainless steel sink with yellow dish soap is on the right, and an open blue upper cabinet is above the counter, with a robotic arm positioned above the counter surface.", "global_instruction_dense": "The left robotic gripper moves down toward the foreground yellow, red, and white food package on the kitchen counter, grasps it, lifts it upward into the open upper cabinet, releases the package onto the cabinet shelf, then retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1555, "tasks": ["place food"], "length": 238, "global_instruction": "Place the packaged snack on the kitchen counter into the open upper cabinet.", "scene_description": "A yellow and purple packaged snack sits on a white kitchen counter, with a black coffee maker with a silver carafe to its left, a small green object to its right, an open upper blue cabinet above, and a stainless steel sink with yellow dish soap on the counter's right side.", "global_instruction_dense": "The left robotic gripper moves downward toward the packaged snack on the kitchen counter, grasps it, lifts it into the open upper cabinet, releases the snack inside, then retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1556, "tasks": ["place food"], "length": 282, "global_instruction": "Place the dark snack packet from the countertop into the open upper wall cabinet.", "scene_description": "A white kitchen countertop holds a silver-and-black coffee maker on the left, a dark snack packet at the center, and an orange plastic cup near the white tiled backsplash. A stainless steel sink with yellow dish soap sits on the counter's right, a white soap dispenser is mounted on the tiled wall, an upper wall cabinet above the counter is open, and a white robotic arm is positioned near the coffee maker.", "global_instruction_dense": "The right robotic arm moves downward toward the dark snack packet on the countertop, grasps it, lifts it upward into the open upper wall cabinet, places it on the cabinet shelf, then retracts its gripper away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1557, "tasks": ["place food"], "length": 285, "global_instruction": "Place the dark packaged snack from the kitchen counter into the open upper cabinet", "scene_description": "A white kitchen counter holds a dark packaged snack, a green Sprite can, a stainless steel coffee maker, and a microwave. To the counter's right is a sink with yellow dish soap and a wall-mounted soap dispenser, with an open blue upper cabinet above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the dark packaged snack on the counter, grasps it, lifts it upward into the open upper blue cabinet, releases the snack onto the cabinet shelf, then moves back downward toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1558, "tasks": ["place food"], "length": 205, "global_instruction": "Place the red and orange snack packets from the countertop onto the upper white wall shelf.", "scene_description": "A white kitchen countertop features a central stainless steel sink, red and orange snack packets to the left of the sink, a small green snack packet behind those packets, and a white wall shelf mounted on the orange wall above the sink, with a robotic arm on the left side of the view.", "global_instruction_dense": "The right robotic arm moves down toward the red and orange snack packets on the countertop, grasps them, lifts the packets upward to the upper white wall shelf, places them onto the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1559, "tasks": ["place food"], "length": 220, "global_instruction": "Pick up the orange snack package from the counter and place it on the upper white shelf.", "scene_description": "A white kitchen counter holds a stainless steel sink, an orange snack package, and a dark gray snack package to the left of the sink. A white wall shelf is mounted on the orange wall above the counter, and a white robotic arm is positioned above the sink area.", "global_instruction_dense": "The right robotic arm moves leftward and downward toward the orange snack package on the counter, grasps the package, lifts it upward to the upper white shelf, places the package on the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1560, "tasks": ["place food"], "length": 205, "global_instruction": "Place the stack of orange snack bags from the kitchen counter onto the mounted white wall shelf.", "scene_description": "A white robotic arm is positioned above a white kitchen counter with a stainless steel sink. A stack of orange snack bags sits to the left of the sink, and an empty white shelf is mounted on the orange wall behind the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the stack of orange snack bags on the counter, grasps the stack with its gripper, lifts the stack, moves it over the white wall shelf, lowers it onto the shelf, then releases the gripper and moves upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1561, "tasks": ["place food"], "length": 217, "global_instruction": "Place the red snack bag from the kitchen counter onto the lower white wall shelf.", "scene_description": "A white kitchen counter holds a red snack bag and a small yellow packaged snack to the left of a stainless steel sink, with orange walls and two white horizontal shelves above the counter, and a left white robotic arm positioned above the counter near the sink.", "global_instruction_dense": "The left robotic arm moves downward to grasp the red snack bag on the kitchen counter, lifts it up, moves it over the lower white wall shelf, places the bag on the shelf, then moves away from the shelf back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1562, "tasks": ["place food"], "length": 230, "global_instruction": "Pick the brown packaged snack from the kitchen counter and place it onto the upper white wall shelf.", "scene_description": "A white kitchen countertop holds a stainless steel sink, a blue plastic cup left of the sink, a brown packaged snack left of the cup, and an empty white wall shelf mounted on the orange wall above the counter, with a robotic gripper positioned above the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the brown packaged snack on the counter, grasps it, lifts upward, moves to the upper white wall shelf, lowers the snack onto the shelf, releases it, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1563, "tasks": ["place food"], "length": 227, "global_instruction": "Place the brown-yellow packaged snack on the upper white floating shelf.", "scene_description": "A white kitchen counter holds a red soda can and a brown-yellow packaged snack next to a stainless steel sink, with white floating shelves on the orange rear wall, and a left robotic arm positioned above the counter's left side.", "global_instruction_dense": "The left robotic gripper first briefly grasps and releases the red soda can, then grasps the brown-yellow packaged snack, lifts it upward, moves it to the upper white floating shelf, releases it onto the shelf, then retracts back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1564, "tasks": ["place food"], "length": 200, "global_instruction": "Pick up the snack packet on the kitchen counter and place it onto the upper white wall shelf.", "scene_description": "A multi-colored snack packet, a green lime, and a stainless steel sink are on a white kitchen counter. An empty white wall shelf is mounted on the orange wall above the sink, and a robotic gripper is positioned above the left of the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the multi-colored snack packet on the left of the kitchen counter, closes to grasp the packet, lifts it upward, moves it rightward and upward to position over the empty white wall shelf, lowers the packet onto the shelf, releases the packet, then moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1565, "tasks": ["place food"], "length": 221, "global_instruction": "Pick up the packaged snack from the counter and place it on the upper white shelf", "scene_description": "A white kitchen counter holds a stainless steel sink, a packaged snack, and a small dark tool to the left of the sink. An orange wall with a white upper shelf is behind the counter, and a right robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the packaged snack on the left of the counter, grasps it with its gripper, lifts it upward, moves it over the upper white shelf, lowers it onto the shelf, releases it, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1566, "tasks": ["place food"], "length": 226, "global_instruction": "Place the dark packaged snack from the counter onto the upper white floating shelf.", "scene_description": "A white kitchen counter has a stainless steel sink, a dark packaged snack left of the sink, a green packaged item near the sink, an orange wall with a white floating shelf above the counter, and a robotic arm above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the dark packaged snack on the counter, grasps it with its gripper, lifts the package, moves it over the upper white shelf, lowers and releases the package onto the shelf, then retracts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1567, "tasks": ["place food"], "length": 188, "global_instruction": "Pick the green snack packet from the countertop and place it on the upper white wall shelf.", "scene_description": "A white kitchen countertop holds a stainless steel sink with a dual-handle faucet, a green snack packet left of the sink, and a smaller dark snack packet right of the green packet. An empty white wall shelf is mounted on the orange wall above the counter, and a robotic arm is positioned at the left side above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the green snack packet on the countertop, grasps the packet, lifts it upward, moves it over the empty white wall shelf, lowers and releases the packet onto the shelf, then moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1568, "tasks": ["place food"], "length": 209, "global_instruction": "Place the green snack package from the kitchen counter onto the upper mounted white shelf.", "scene_description": "A white kitchen counter has a stainless steel sink, an orange canned beverage next to the sink, and a green snack package to the left of the sink. An orange wall with a mounted white shelf is behind the counter, and a white robotic arm is on the left side of the view.", "global_instruction_dense": "The left robotic arm moves down toward the green snack package on the kitchen counter, grasps the package, lifts and moves it over to the upper white wall shelf, places the package onto the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1569, "tasks": ["place food"], "length": 203, "global_instruction": "Place the blue snack packet from the countertop onto the upper white wall shelf.", "scene_description": "A white kitchen countertop with a stainless steel sink, a blue snack packet left of the sink, a small dark packet near the sink, and an empty white wall shelf above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the blue snack packet on the countertop, grasps it with its gripper, lifts and moves it upward to the empty white wall shelf, releases the packet onto the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1570, "tasks": ["place food"], "length": 188, "global_instruction": "Pick up the red snack package from the counter and place it on the upper white shelf.", "scene_description": "A white kitchen countertop holds a red snack package and a green lime next to a stainless steel sink. A white horizontal shelf is mounted on the orange wall above the counter, and a left robotic arm with gripper is positioned above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the red snack package on the counter, grasps the package, lifts it upward, moves it over the upper white shelf, lowers the package onto the shelf, releases it, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1571, "tasks": ["place food"], "length": 219, "global_instruction": "Place the orange snack packet on the kitchen counter onto the upper white shelf.", "scene_description": "A white kitchen counter has a stainless steel sink, a blue cup left of the sink, an orange snack packet next to the cup, and a white upper shelf, with a robotic arm overhead.", "global_instruction_dense": "The right robotic arm moves downward to grasp the orange snack packet on the counter, lifts it, moves it over the upper white shelf, places it on the shelf, releases it, then retracts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1572, "tasks": ["place food"], "length": 180, "global_instruction": "Pick up the orange snack packet on the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds a small yellow ball, an orange snack packet, and a stainless steel sink. An orange wall with white shelves is behind the counter, and a left robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the orange snack packet on the counter, grasps it, lifts and moves it over the sink, lowers and releases it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1573, "tasks": ["place food"], "length": 183, "global_instruction": "Pick up the blue snack package on the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a blue snack package, and a small dark packaged item left of the sink, with an orange wall with white shelves in the background, and a robotic gripper positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack package on the counter, grasps and lifts it, moves it over the sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1574, "tasks": ["place food"], "length": 179, "global_instruction": "Place the blue snack packet on the countertop into the stainless steel sink.", "scene_description": "A white kitchen countertop holds a green soda can and a blue snack packet left of a stainless steel sink, with an orange wall and white shelves in the background, and a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack packet on the counter, grasps it, lifts it, moves it over the stainless steel sink, releases it into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1575, "tasks": ["place food"], "length": 173, "global_instruction": "Pick up the blue snack package on the counter and place it into the sink", "scene_description": "A white kitchen counter holds a stainless steel sink with a dual-handle faucet, a blue snack package left of the sink, a small yellow spherical object left of the package, an orange backsplash with a white floating shelf above, and a right robotic arm positioned above the left counter.", "global_instruction_dense": "The right robotic arm moves downward toward the blue snack package on the kitchen counter, grasps it with its gripper, lifts and moves it over the sink, releases it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1576, "tasks": ["place food"], "length": 189, "global_instruction": "Pick up the dark packaged snack from the counter and place it into the sink.", "scene_description": "A white robotic arm is positioned at the left of a white kitchen counter, two packaged snacks (one dark with orange accent, one blue) are placed left of the stainless steel sink, an orange wall with a white mounted shelf is behind the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the dark packaged snack on the counter, grasps it, lifts and moves it over the stainless steel sink, then releases the snack package into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1577, "tasks": ["place food"], "length": 168, "global_instruction": "Pick up the dark packaged snack and place it into the sink", "scene_description": "A white kitchen counter has a stainless steel sink, a dark wrapped packaged snack, and a small green packet. The snack and green packet are left of the sink, a white robotic arm is above the counter, with orange walls and white shelves in the background.", "global_instruction_dense": "The right robotic arm moves down toward the dark packaged snack left of the sink, grasps it, lifts and moves it over the sink, then releases the snack to drop into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1578, "tasks": ["place food"], "length": 198, "global_instruction": "Pick up the dark packaged snack from the counter and place it into the stainless steel sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a green lime left of the sink, and a dark packaged snack left of the lime, with a robotic arm above the counter and an orange wall with white shelves in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the dark packaged snack on the left side of the kitchen counter, grasps it with its gripper, lifts and moves it right over the sink, then lowers and releases the snack into the sink before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1579, "tasks": ["place food"], "length": 179, "global_instruction": "Pick up the yellow snack packet on the countertop and place it into the stainless steel sink.", "scene_description": "A white robotic arm is positioned on the left of a light grey kitchen countertop. A yellow snack packet and an orange plastic cup sit on the countertop left of a stainless steel sink, with an orange backsplash and white wall shelf above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow snack packet on the countertop, grasps it with its gripper, lifts and moves it rightward over the stainless steel sink, lowers it, releases it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1580, "tasks": ["place food"], "length": 182, "global_instruction": "Pick up the yellow packaged snack on the counter and place it into the sink", "scene_description": "A white kitchen counter holds a stainless steel sink, a red Coca-Cola can, and a yellow packaged snack. An orange wall with a white shelf is behind the counter, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the yellow packaged snack on the kitchen counter, grasps it with its gripper, lifts it, moves it over the stainless steel sink, lowers it, releases the gripper to drop the snack into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1581, "tasks": ["place food"], "length": 185, "global_instruction": "Place the yellow-red snack packet on the kitchen counter into the stainless steel sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a yellow-red snack packet, and a small purple packet left of the sink, with an orange wall and white shelf in the background, and a left robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow-red snack packet on the counter, grasps the packet, lifts it, moves it over the sink, releases it to drop into the sink, then lifts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1582, "tasks": ["place food"], "length": 194, "global_instruction": "Pick up the green snack package and place it into the stainless steel sink.", "scene_description": "A white kitchen counter has a stainless steel sink at its center, a green snack package left of the sink, a yellow tennis ball beside the package, an orange wall with a white shelf behind the counter, and a white robotic arm above the left counter.", "global_instruction_dense": "The left robotic arm moves down toward the green snack package on the counter, grasps it, lifts it, moves it over the sink, lowers and releases it into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1583, "tasks": ["place food"], "length": 160, "global_instruction": "Pick up the green snack package and place it into the stainless steel sink.", "scene_description": "A white robotic arm is positioned above a white kitchen counter. A green snack package lies left of a stainless steel sink, a purple cup sits behind the package near the orange backsplash.", "global_instruction_dense": "The left robotic arm moves downward toward the green snack package on the counter, grasps it, lifts and moves it over the sink, releases the package into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1584, "tasks": ["place food"], "length": 185, "global_instruction": "Place the orange snack packet from the countertop into the stainless steel sink.", "scene_description": "A white kitchen countertop with a stainless steel sink, a green soda can, and an orange snack packet left of the sink, an orange wall with a white shelf behind, and a white robotic arm above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward to the orange snack packet on the counter left of the sink, grasps the packet, lifts and moves it over the sink, releases it into the sink, then moves back upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1585, "tasks": ["place food"], "length": 175, "global_instruction": "Place the orange packaged snack into the stainless steel sink.", "scene_description": "A white kitchen counter holds an orange packaged snack, a green lime, and a stainless steel dual-handle faucet sink. Orange walls with white horizontal shelves are in the background, and a white robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the orange packaged snack on the counter, grasps it, lifts and moves it over the sink, releases it into the sink, then lifts back up above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1586, "tasks": ["place food"], "length": 185, "global_instruction": "Take the cut orange bell peppers from the sink and place them on the counter next to the green lime.", "scene_description": "A white kitchen counter has a stainless steel sink, a small green lime sits left of the sink, cut orange bell peppers are inside the sink, an orange wall with white shelves is behind the counter, and a white robotic arm is at the upper left of the scene.", "global_instruction_dense": "The left robotic arm moves down toward the sink, grasps the cut orange bell peppers inside the sink, lifts them, moves left over the counter, places them next to the green lime, then releases the peppers and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1587, "tasks": ["place food"], "length": 214, "global_instruction": "Pick up the orange snack packet from the sink and place it on the countertop next to the green cup.", "scene_description": "A white kitchen counter holds a stainless steel sink, a green plastic cup left of the sink, an orange snack packet inside the sink, and a white robotic arm at the upper left.", "global_instruction_dense": "The left robotic arm moves down toward the orange snack packet in the sink, grasps it, lifts it out of the sink, moves it left over the countertop, places it next to the green plastic cup, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1588, "tasks": ["place food"], "length": 251, "global_instruction": "Pick the orange packaged snack from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a small green object on its left section, a centered stainless steel sink containing an orange packaged snack, a white wall shelf mounted on the orange wall behind the counter, and a robotic gripper positioned above the shelf.", "global_instruction_dense": "The right robotic arm lowers its gripper from above the wall shelf toward the sink, grasps the orange packaged snack inside the sink, lifts the snack, moves it left onto the counter beside the small green object, releases the snack, and retracts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1589, "tasks": ["place food"], "length": 194, "global_instruction": "Take the red snack package from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter with a stainless steel sink sits against an orange wall with white shelves. A red snack package is inside the sink, a small green object rests on the counter left of the sink, and a white robotic arm is positioned above the left counter area.", "global_instruction_dense": "The left robotic arm moves toward the red snack package in the sink, grasps it with its gripper, lifts the package out of the sink, moves it left over the counter, lowers it, and releases it onto the counter near the small green object.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1590, "tasks": ["place food"], "length": 199, "global_instruction": "Take the orange snack package from the sink and place it on the kitchen countertop.", "scene_description": "A white kitchen counter has a stainless steel sink, a green cup sits left of the sink, an orange snack package is inside the sink, orange walls with white shelves are in the background, and a robotic arm is positioned at the left of the scene.", "global_instruction_dense": "The right robotic arm moves toward the sink, grasps the orange snack package inside the sink, lifts it out of the sink, places it on the countertop left of the sink, then retracts away from the placed package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1591, "tasks": ["place food"], "length": 250, "global_instruction": "Take the green packaged snack from the sink and place it on the counter next to the orange cup.", "scene_description": "A white kitchen counter has a stainless steel sink, an orange cup to the left of the sink, a green packaged snack inside the sink, white shelves on the orange wall, and a robotic arm near the upper shelf.", "global_instruction_dense": "The left robotic arm moves down toward the sink, grasps the green packaged snack inside the sink, lifts the snack, moves it to the counter next to the orange cup, releases the snack onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1592, "tasks": ["place food"], "length": 163, "global_instruction": "Pick the green snack bag from the sink and place it on the counter next to the orange snack bag.", "scene_description": "A white kitchen counter holds a stainless steel sink at its center, an orange snack bag to the left of the sink, and a green snack bag inside the sink. An orange wall with a white shelf is behind the counter, and a left robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the green snack bag inside the sink, grasps the bag with its gripper, lifts the bag out of the sink, moves it leftward to the counter next to the orange snack bag, lowers it, and releases it onto the counter before moving back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1593, "tasks": ["place food"], "length": 197, "global_instruction": "Take the blue snack bag out of the sink and place it on the countertop.", "scene_description": "A stainless steel sink on a white countertop holds a blue snack bag, a green plastic cup sits left of the sink, an orange wall with white shelves is in the background, and a left robotic arm is positioned above the sink.", "global_instruction_dense": "The left robotic arm moves downward toward the blue snack bag in the sink, grasps the bag, lifts it out of the sink, moves it onto the countertop left of the sink, releases the bag, then moves upward away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1594, "tasks": ["place food"], "length": 178, "global_instruction": "Pick the food package from the sink and place it on the kitchen counter next to the green cup.", "scene_description": "A white kitchen counter features a stainless steel sink, a green plastic cup sits to the left of the sink, a packaged food container rests inside the sink, an orange wall with a white shelf is behind the counter, and a left robotic arm is positioned above the sink.", "global_instruction_dense": "The left robotic arm moves downward toward the sink, grasps the packaged food container inside the sink, lifts it out, moves it to the counter surface next to the green cup, lowers and releases the container, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1595, "tasks": ["place food"], "length": 179, "global_instruction": "Take the dark crumpled snack package out of the sink and place it on the kitchen counter", "scene_description": "A white kitchen counter has a stainless steel sink, a green lime sits left of the sink, a dark crumpled snack package is inside the sink, and an orange wall with white shelves is behind the counter, with a left robotic arm above the left counter.", "global_instruction_dense": "The left robotic arm moves toward the dark crumpled snack package in the sink, grasps it, lifts it out of the sink, moves it left over the counter, lowers it, and releases it next to the green lime.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1596, "tasks": ["place food"], "length": 252, "global_instruction": "Place the snack packages from the sink onto the kitchen counter next to the red Coca-Cola can", "scene_description": "A white kitchen counter with an orange backsplash and white wall shelves, a stainless steel sink with two snack packages inside, a red Coca-Cola can on the counter left of the sink, and a robotic arm positioned at the upper left.", "global_instruction_dense": "The right robotic arm moves down toward the sink, grasps the snack packages inside the sink, lifts them, moves them over the counter next to the red can, lowers them, releases them onto the counter, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1597, "tasks": ["place food"], "length": 198, "global_instruction": "Pick up the pile of snack packets from the sink and place them on the kitchen counter", "scene_description": "A white kitchen counter with a stainless steel sink, a pile of snack packets inside the sink, a small green packet on the counter left of the sink, and a white robotic arm above the sink, with an orange wall and white shelves in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the snack packets in the sink, grasps the pile of snack packets, lifts them, moves them left to place on the counter next to the green packet, releases the packets, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1598, "tasks": ["place food"], "length": 219, "global_instruction": "Take the packaged food from the sink and place it on the countertop near the purple cup", "scene_description": "A white kitchen countertop has a stainless steel sink and a purple plastic cup left of the sink. A packaged food item is inside the sink, an orange wall with a white shelf is behind the counter, and a left robotic arm is at the upper left of the view.", "global_instruction_dense": "The left robotic arm moves from its initial upper left position toward the sink, lowers its gripper to grasp the packaged food inside the sink, lifts the food out of the sink, moves it left over the counter adjacent to the purple cup, lowers the food, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1599, "tasks": ["place food"], "length": 251, "global_instruction": "Pick up the purple snack package from the sink and place it on the countertop next to the orange soda can.", "scene_description": "A white kitchen countertop holds a stainless steel sink, an orange soda can to the left of the sink, a small purple snack package inside the sink, an orange wall with white shelves behind the counter, and a white robotic arm above the left side of the sink.", "global_instruction_dense": "The right robotic arm moves down toward the purple snack package in the sink, grasps it, lifts it out of the sink, moves it leftward to the counter beside the orange soda can, lowers it, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1600, "tasks": ["place food"], "length": 202, "global_instruction": "Take the purple snack bar from the sink and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a centered stainless steel sink, a small purple snack bar inside the sink, and a green package to the left of the sink, with an orange wall and white shelf in the background, and a white robotic arm positioned above the left side of the sink.", "global_instruction_dense": "The left robotic arm moves down toward the stainless steel sink, grasps the purple snack bar inside the sink, lifts the snack bar out of the sink, moves it left over the counter, lowers it, and releases it onto the counter to the left of the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1601, "tasks": ["place food"], "length": 180, "global_instruction": "Pick the packaged snack from the sink and place it on the countertop next to the lemon.", "scene_description": "A stainless steel sink is set into a white kitchen countertop, with a yellow lemon on the counter left of the sink and a small packaged snack inside the sink. An orange backsplash with white shelves is behind the counter, and a white robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm moves downward into the sink, grasps the packaged snack inside it, lifts the snack out of the sink, moves it left over the countertop, lowers the snack, and releases it onto the counter adjacent to the yellow lemon.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1602, "tasks": ["place food"], "length": 232, "global_instruction": "Place the green packaged snack on the counter into the sink", "scene_description": "A white kitchen counter holds a stainless steel sink, a green packaged snack left of the sink, and a green lime between the snack and the sink faucet. Orange walls with white shelves are behind the counter, and a left robotic arm with a black gripper is positioned above the left counter.", "global_instruction_dense": "The left robotic arm moves downward toward the green packaged snack on the counter left of the sink, grasps it with its black gripper, lifts it, moves it over the sink, releases it to drop into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1603, "tasks": ["place food"], "length": 181, "global_instruction": "Place the green snack package on the kitchen countertop into the stainless steel sink.", "scene_description": "A white robotic arm is positioned above the left of a white kitchen countertop. On the countertop, a green snack package and a red Coca-Cola can sit to the left of a stainless steel sink, with orange walls and white shelves in the background.", "global_instruction_dense": "The left robotic arm moves down toward the green snack package on the countertop, grasps it with its gripper, lifts it, moves it over the stainless steel sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1604, "tasks": ["place food"], "length": 234, "global_instruction": "Pick up the green packaged snack and place it into the stainless steel sink", "scene_description": "A white kitchen counter features a stainless steel sink, an orange packaged snack and a green packaged snack positioned to the left of the sink. A white robotic arm is on the left side of the counter, with an orange wall and white shelves in the background.", "global_instruction_dense": "The left robotic arm moves toward the green packaged snack on the counter, grasps it, moves it over the stainless steel sink, releases it to drop into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1605, "tasks": ["place food"], "length": 237, "global_instruction": "Pick up the packaged snack bar from the counter and place it into the sink", "scene_description": "A white kitchen counter has a stainless steel sink at its center, a purple plastic cup left of the sink, and a packaged snack bar between the cup and sink, with an orange wall and white shelves in the background.", "global_instruction_dense": "The left robotic arm moves down toward the counter, grasps the packaged snack bar next to the purple cup, lifts it, moves it over the stainless steel sink, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1606, "tasks": ["place food"], "length": 211, "global_instruction": "Pick up the dark snack bar on the counter and place it into the sink.", "scene_description": "A stainless steel sink is set into a white countertop, a small dark rectangular snack bar lies left of the sink, a yellow ball sits next to the snack bar, an orange wall with a white shelf is behind the counter, and a white robotic arm is positioned above the left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the dark snack bar on the counter, grasps it with its gripper, lifts it, moves it over the stainless steel sink, then releases the snack bar to drop it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1607, "tasks": ["place food"], "length": 220, "global_instruction": "Place the dark packaged snack bar into the stainless steel sink.", "scene_description": "A white kitchen countertop holds an orange canned beverage and a dark packaged snack bar to the left of a stainless steel dual-handle sink, with an orange wall and white floating shelf in the background, and a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the dark packaged snack bar on the counter, grasps it, lifts and moves it over the stainless steel sink, releases the snack bar into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1608, "tasks": ["place food"], "length": 202, "global_instruction": "Pick the dark snack bar from the kitchen counter and place it into the stainless steel sink.", "scene_description": "A light gray kitchen counter holds a blue plastic cup, a small dark snack bar, and a stainless steel sink. An orange backsplash with a white shelf is behind the counter, and a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the dark snack bar on the counter, grasps it, lifts and moves it over the sink, releases the snack bar into the sink, then moves back upward to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1609, "tasks": ["place food"], "length": 238, "global_instruction": "Pick up the purple snack bar on the kitchen counter and place it into the sink.", "scene_description": "A white kitchen counter holds a stainless steel sink, a small purple snack bar to the left of the sink, and a green lime to the right of the snack bar. A white robotic arm is positioned above the left side of the counter, with an orange wall and white shelves in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple snack bar on the counter left of the sink, grasps it, lifts it, moves it over the sink, releases it to drop into the sink, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1610, "tasks": ["place food"], "length": 218, "global_instruction": "Place the brown snack bar from the counter into the sink", "scene_description": "A white kitchen counter has a stainless steel sink, a small brown snack bar left of the sink, a green soda can between the snack bar and sink, with an orange wall and white shelf in the background.", "global_instruction_dense": "The left robotic arm moves toward the brown snack bar on the left of the counter, grasps it with its gripper, lifts it, moves it over the sink, lowers it, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1611, "tasks": ["place food"], "length": 213, "global_instruction": "Pick up the brown packaged snack on the counter and drop it into the stainless steel sink.", "scene_description": "A white robotic arm is positioned above a white kitchen counter. A stainless steel sink is at the counter center, a brown packaged snack is left of the sink, a small green object is near the dark left wall, and a white shelf is mounted on the orange wall above the sink.", "global_instruction_dense": "The left robotic gripper moves downward toward the brown packaged snack left of the sink, grasps the snack, lifts it, moves it over the sink, releases the snack to drop it into the sink, then retracts upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1612, "tasks": ["place food"], "length": 251, "global_instruction": "Pick up the small dark snack packet on the counter and place it into the stainless steel sink.", "scene_description": "A stainless steel sink is embedded in a white kitchen counter, an orange wall with a white mounted shelf is behind the counter. A yellow plastic cup sits left of the sink, a small dark snack packet lies left of the cup, and a white robotic arm is positioned above the left counter area.", "global_instruction_dense": "The right robotic arm moves downward toward the small dark snack packet on the counter, grasps it, lifts it, moves it over the stainless steel sink, releases the packet into the sink, then moves back toward the yellow plastic cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1613, "tasks": ["place food"], "length": 212, "global_instruction": "Pick the green snack package from the countertop and place it on the upper white wall shelf.", "scene_description": "A white kitchen countertop with a stainless steel sink, two snack packages (one green-wrapped, one multi-colored) left of the sink, and a white wall shelf against an orange wall. A robotic arm is positioned above the left side of the countertop.", "global_instruction_dense": "The right robotic arm moves down toward the green snack package on the countertop left of the sink, grasps it with its gripper, lifts it upward, moves it over the white wall shelf, lowers it, releases it onto the shelf, then moves back toward its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1614, "tasks": ["place food"], "length": 215, "global_instruction": "Place the green packaged snack from the counter onto the upper wall shelf.", "scene_description": "A white kitchen counter holds a stainless steel sink, a green packaged snack to the left of the sink, and an orange packaged snack next to the green one. An empty white shelf is mounted on the orange wall above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the green packaged snack on the counter, grasps it, lifts it up to the upper white wall shelf, places the snack on the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1615, "tasks": ["place food"], "length": 221, "global_instruction": "Place the small purple packaged snack from the counter onto the upper wall shelf.", "scene_description": "A small purple packaged snack, an orange soda can, and a stainless steel sink are on a white kitchen counter. A white wall shelf is mounted on the orange wall above the counter, and a robotic gripper is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the small purple packaged snack on the counter, grasps it, lifts it upward to the height of the upper white wall shelf, moves it over the shelf, lowers and releases the snack onto the shelf, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1616, "tasks": ["place food"], "length": 191, "global_instruction": "Pick up the packaged snack bar from the kitchen counter and place it on the upper white wall shelf.", "scene_description": "A white kitchen counter holds a stainless steel sink, a blue plastic cup, and a small packaged snack bar. An empty white wall shelf is mounted on the orange wall behind the counter, with a left robotic arm positioned at the upper left of the scene.", "global_instruction_dense": "The left robotic arm moves down toward the packaged snack bar on the kitchen counter, grasps it, lifts it upward to the height of the upper white wall shelf, moves it over the shelf, releases the snack bar onto the shelf, then moves back away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1617, "tasks": ["place food"], "length": 218, "global_instruction": "Pick up the packaged snack from the kitchen counter and place it on the upper white wall shelf.", "scene_description": "A white kitchen counter holds a stainless steel sink, a green plastic cup left of the sink, and a small packaged snack left of the cup, with a white wall shelf mounted on the orange wall above the counter, and a left robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward to the packaged snack on the counter, grasps it, lifts it upward, moves it over the upper white shelf, releases the snack onto the shelf, then moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1618, "tasks": ["place food"], "length": 206, "global_instruction": "Pick up the packaged snack bar from the counter and place it onto the white wall shelf.", "scene_description": "A white countertop with a stainless steel sink, an orange cup with a white rim, and a small packaged snack bar sits under an orange wall with a mounted white shelf, with a robotic arm positioned in the upper left area.", "global_instruction_dense": "The left robotic arm moves down toward the packaged snack bar on the counter, grasps it, lifts it upward toward the white wall shelf, lowers it onto the shelf, releases it, and moves away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1619, "tasks": ["place food"], "length": 220, "global_instruction": "Place the small dark packaged snack from the kitchen counter onto the upper white wall shelf.", "scene_description": "A light gray kitchen counter holds a stainless steel sink, a pink plastic cup, and a small dark packaged snack to the left of the cup. An orange wall with an empty white horizontal shelf is behind the counter, and a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm descends toward the small dark packaged snack on the counter, grasps the snack, lifts and moves it up to the empty white wall shelf, places the snack on the shelf, then retracts back upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1620, "tasks": ["place food"], "length": 195, "global_instruction": "Pick up the purple-brown snack bar from the counter and place it on the upper white wall shelf.", "scene_description": "A white kitchen countertop with a stainless steel sink, a green small packet and a purple-brown snack bar on the counter, a white wall shelf mounted on the orange backsplash, and a white robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down toward the purple-brown snack bar on the counter, grasps it, lifts it upward toward the upper white wall shelf, places the snack bar on the shelf, then retracts upward away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1621, "tasks": ["place food"], "length": 213, "global_instruction": "Place the purple packaged snack bar from the counter onto the upper white shelf.", "scene_description": "A white kitchen counter holds a stainless steel sink, a green lime left of the sink, and a purple packaged snack bar left of the lime. A white shelf is mounted on the orange backsplash above the counter, with a white robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward to grasp the purple snack bar on the counter, lifts it upward, moves it over the upper white shelf, lowers it onto the shelf, releases it, then retracts away from the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1622, "tasks": ["place food"], "length": 236, "global_instruction": "Pick up the small purple snack bar from the counter and place it on the white wall shelf", "scene_description": "A white kitchen counter holds a stainless steel sink, a small purple snack bar, and a dark snack package with yellow markings. An empty white shelf is mounted on the orange wall above the counter, and a white robotic arm is positioned to the left of the counter.", "global_instruction_dense": "The left robotic arm moves down to grasp the small purple snack bar on the counter, lifts it upward, moves it over the empty white wall shelf, releases it onto the shelf, then moves back toward its original position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1623, "tasks": ["place food"], "length": 227, "global_instruction": "Place the small dark wrapped snack bar from the kitchen counter onto the upper white wall shelf.", "scene_description": "A white kitchen counter holds a stainless steel sink on its right, a blue plastic cup left of the sink, and a small dark wrapped snack bar left of the cup. An orange wall with white horizontal shelves is behind the counter, and a right robotic gripper is positioned above the counter.", "global_instruction_dense": "The right robotic arm first adjusts the position of the blue plastic cup on the counter, then grasps the small dark wrapped snack bar, lifts it upward, moves it to the upper white wall shelf, releases it onto the shelf, and retracts back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1624, "tasks": ["place food"], "length": 238, "global_instruction": "Pick up the snack package from the counter and place it into the left sink basin.", "scene_description": "A white kitchen counter has a double stainless steel sink, a dark multicolored snack package left of the sink, a small green cup next to the package, a white soap dispenser on the tiled backsplash by the faucet, a clear bottle right of the sink, blue upper cabinets above, and a robotic arm at the left edge of the frame.", "global_instruction_dense": "The left robotic arm moves toward the snack package on the counter left of the sink, grasps it, lifts it, moves it over the left sink basin, lowers and releases it into the sink, then moves back to its initial position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1625, "tasks": ["place food"], "length": 228, "global_instruction": "Place the dark packaged snack from the kitchen counter into the left sink basin.", "scene_description": "A dark packaged snack, a small pink cup, and a double stainless steel sink are on a white kitchen counter. A white robotic arm is positioned above the left counter area, with blue upper cabinets, a white tiled wall, and a wall-mounted soap dispenser in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the dark packaged snack on the left of the counter, grasps it with its gripper, lifts it, moves it over the left sink basin, lowers it, releases it into the basin, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1626, "tasks": ["place food"], "length": 234, "global_instruction": "Pick up the colorful snack packet from the counter and place it into the left sink basin.", "scene_description": "A white kitchen counter holds a central double stainless steel sink. To the left of the sink, an orange plastic cup and a colorful patterned snack packet rest on the counter. A left-mounted robotic gripper is positioned above the counter, with blue upper cabinets, white tiled backsplash, a wall soap dispenser next to the sink faucet, and a spray bottle to the right of the sink in the background.", "global_instruction_dense": "The left robotic gripper moves downward toward the snack packet on the counter, grasps it, lifts and moves it over the left sink basin, releases the packet into the basin, then retracts upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1627, "tasks": ["place food"], "length": 202, "global_instruction": "Place the dark snack packet on the counter into the stainless steel sink.", "scene_description": "A white kitchen countertop holds a dark patterned snack packet and a small pink cup next to a double stainless steel sink. A white robotic arm is at the left of the frame, with blue upper cabinets and white tiled backsplash behind the counter.", "global_instruction_dense": "The left robotic arm moves toward the dark snack packet on the counter, grasps it, lifts it, carries it over the left sink basin, releases it into the sink, then retracts back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1628, "tasks": ["place food"], "length": 274, "global_instruction": "Pick up the crumpled snack packet from the kitchen counter and place it into the left sink basin.", "scene_description": "A crumpled dark snack packet, a small green can, a double stainless steel sink, and a wall-mounted soap dispenser are on or above a white kitchen counter, with blue upper cabinets above the tiled backsplash, and a robotic gripper positioned at the top left.", "global_instruction_dense": "The left robotic gripper moves downward toward the crumpled dark snack packet on the left side of the kitchen counter, grasps the packet, lifts and moves it over the left sink basin, lowers it, releases it into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1629, "tasks": ["place food"], "length": 249, "global_instruction": "Place the dark patterned snack package from the counter into the left sink basin.", "scene_description": "A white kitchen counter holds a stainless steel double sink, a dark patterned snack package left of the sink, and a small orange bottle against the white tiled backsplash. A wall-mounted soap dispenser is above the sink, blue upper cabinets are in the background, and a robotic arm is positioned at the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the dark patterned snack package on the counter, grasps it with its gripper, lifts and moves it over the left sink basin, lowers it, releases the package into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1630, "tasks": ["place food"], "length": 235, "global_instruction": "Place the foil-wrapped snack packet from the countertop into the left basin of the double sink.", "scene_description": "A double stainless steel sink is on a white kitchen countertop, a green packaged item and a small foil-wrapped snack packet are left of the sink, a white soap dispenser is mounted on the white tiled backsplash above the sink, and blue upper cabinets are above the tiles.", "global_instruction_dense": "The left robotic arm moves down from the top of the frame, approaches the foil-wrapped snack packet on the countertop left of the sink, grasps it with its gripper, lifts it, moves it over the left sink basin, and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1631, "tasks": ["place food"], "length": 250, "global_instruction": "Pick up the colorful snack packet from the counter and place it into the left basin of the double sink", "scene_description": "A white robotic arm is positioned above a white kitchen counter. A colorful snack packet with orange and yellow prints sits on the left side of the counter, a double stainless steel sink is centered, a soap dispenser is mounted on the tiled wall behind the sink, a spray bottle is to the right of the sink, with blue upper cabinets and wooden lower cabinets.", "global_instruction_dense": "The left robotic gripper moves downward toward the colorful snack packet on the left kitchen counter, grasps the packet, lifts it, moves it rightward over the left sink basin, lowers it, releases it into the basin, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1632, "tasks": ["place food"], "length": 169, "global_instruction": "Pick up the patterned snack bag on the counter and place it into the left sink basin.", "scene_description": "A white kitchen counter with a double stainless steel sink at its center, a patterned orange-yellow-black snack bag left of the sink, a small purple object further left, a white soap dispenser on the tiled wall above the sink, a clear spray bottle right of the sink, and a robotic arm at the upper left above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the patterned snack bag left of the sink, grasps it with its gripper, lifts it, moves it over the left sink basin, lowers and releases it into the basin, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1633, "tasks": ["place food"], "length": 234, "global_instruction": "Pick up the green packaged snack and place it into the left sink basin.", "scene_description": "A green packaged snack rests on a white kitchen counter left of a double stainless steel sink, with a small purple item behind it, a wall-mounted soap dispenser above the sink, a spray bottle to the sink's right, blue upper cabinets, and a white tiled backsplash, with a left robotic gripper positioned above the left counter.", "global_instruction_dense": "The left robotic gripper moves downward to grasp the green packaged snack on the counter left of the sink, lifts it, moves it over the left sink basin, releases the snack into the basin, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1634, "tasks": ["place food"], "length": 256, "global_instruction": "Place the green snack package on the counter into the sink.", "scene_description": "A white kitchen counter holds a green snack package and a small dark packet left of a double stainless steel sink. A white and grey robotic arm is positioned above the left counter, with a soap dispenser on the tiled backsplash, a faucet at the sink, a spray bottle to the sink's right, and blue upper cabinets above the tiles.", "global_instruction_dense": "The left robotic arm lowers its gripper toward the green snack package on the counter, grasps the package, lifts it, moves it over the left sink basin, releases it into the sink, then moves back upward toward the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1635, "tasks": ["place food"], "length": 293, "global_instruction": "Pick up the green snack packet on the counter and place it into the sink.", "scene_description": "A white kitchen counter holds a green snack packet, a pink cup to the left of the packet, and a double stainless steel sink to the right of the packet. A soap dispenser is mounted on the white tiled backsplash above the sink, a spray bottle sits on the counter right of the sink, and blue upper cabinets are above the backsplash, with a robotic arm positioned above the left counter area.", "global_instruction_dense": "The left robotic arm moves downward to grasp the green snack packet on the counter, lifts and moves it over the left sink basin, lowers it into the basin, releases the packet, then moves back toward the pink cup on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1636, "tasks": ["place food"], "length": 293, "global_instruction": "Place the yellow-orange snack package on the counter into the stainless steel sink.", "scene_description": "A red soda can and a yellow-orange snack package are on a white kitchen counter next to a double stainless steel sink, with a robotic gripper above the counter and a soap dispenser on the tiled backsplash.", "global_instruction_dense": "The left robotic gripper moves down to grasp the yellow-orange snack package on the counter, lifts it, moves it over the sink, releases it into the sink, then moves back toward the red soda can.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1637, "tasks": ["place food"], "length": 263, "global_instruction": "Pick up the yellow-and-red snack packet from the counter and place it into the left sink basin.", "scene_description": "A white kitchen counter has a dual stainless steel sink at its center, a yellow-and-red snack packet left of the sink, an orange cup behind the snack packet, a wall-mounted soap dispenser above the sink, a spray bottle right of the sink, blue cabinets above the tiled backsplash, and a robotic arm at the top left corner.", "global_instruction_dense": "The left robotic arm descends to the yellow-and-red snack packet on the left of the counter, grasps it with its gripper, lifts and moves it rightward over the left sink basin, lowers and releases the packet into the basin, then retracts back toward the left side of the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1638, "tasks": ["place food"], "length": 284, "global_instruction": "Place the yellow and red packaged snack into the kitchen sink.", "scene_description": "A white kitchen counter has a yellow and red packaged snack on the left, a small dark rectangular object beside the snack, a double stainless steel sink on the right, a soap dispenser on the tiled wall behind the counter, and a robotic arm in the upper left area.", "global_instruction_dense": "The left robotic arm moves down toward the yellow and red packaged snack on the counter, grasps it, lifts it, moves it right over the left sink basin, lowers and releases it into the sink, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1639, "tasks": ["place food"], "length": 256, "global_instruction": "Place the yellow-red snack packet from the kitchen counter into the sink", "scene_description": "A white kitchen counter holds a small dark packet and a yellow-red snack packet to the left of a double stainless steel sink; a robotic arm is positioned above the left counter, with tiled walls, a soap dispenser, and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the yellow-red snack packet on the counter, grasps it, lifts and moves it over the left sink basin, lowers and releases it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1640, "tasks": ["place food"], "length": 239, "global_instruction": "Place the yellow and red snack package on the kitchen counter into the sink.", "scene_description": "A white kitchen counter holds a double stainless steel sink, a yellow and red snack package left of the sink, a blue plastic cup next to the package, a spray bottle right of the sink, and a white soap dispenser on the tiled backsplash above the sink. A white and grey robotic gripper is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the yellow and red snack package on the counter left of the sink, grasps the package, lifts it, moves it right over the left basin of the double sink, lowers it into the sink, releases the package, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1641, "tasks": ["place food"], "length": 208, "global_instruction": "Place the red snack packet on the kitchen counter into the sink.", "scene_description": "A white kitchen counter with a double stainless steel sink is shown. A red snack packet rests on the left of the counter, a yellow-orange snack packet sits near the sink, a soap dispenser is mounted on the tiled backsplash next to the sink, and a robotic arm is positioned above the counter left of the sink.", "global_instruction_dense": "The left robotic arm moves downward toward the red snack packet on the kitchen counter, grasps it with its gripper, lifts and moves it over the left sink basin, lowers it, releases it into the sink, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1642, "tasks": ["place food"], "length": 344, "global_instruction": "Place the red snack bag from the counter into the left basin of the double sink.", "scene_description": "A red snack bag rests on the left side of a white kitchen countertop next to a stainless steel double sink, with a robotic gripper above the counter, a soap dispenser on the tiled backsplash, and blue upper cabinets in the background.", "global_instruction_dense": "The left robotic arm moves toward the red snack bag on the kitchen counter, grasps it with its gripper, carries it over the left sink basin, releases it into the basin, then moves upward away from the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1643, "tasks": ["place food"], "length": 260, "global_instruction": "Place the red snack package on the kitchen counter into the sink.", "scene_description": "A white kitchen counter has a red snack package, a green snack package to the right of the red package, a stainless steel double sink further right, a white soap dispenser mounted on the tiled wall above the sink, a spray bottle to the right of the sink, and a robotic arm at the far left of the frame.", "global_instruction_dense": "The left robotic arm moves toward the red snack package on the counter, grasps it, lifts and moves it over the sink, lowers and releases it into the sink basin, then moves toward the green snack package on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1644, "tasks": ["place food"], "length": 179, "global_instruction": "Place the green packaged snack into the black bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a black bowl, an orange plastic cup, and a small green packaged snack, with a double stainless steel sink to the right, a coffee maker to the left, and a soap dispenser on the white tiled backsplash.", "global_instruction_dense": "The left robotic gripper first moves downward to grasp and move the orange cup aside, then grasps the green packaged snack, lifts it, moves it over the black bowl, releases it into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1645, "tasks": ["place food"], "length": 231, "global_instruction": "Place the small green snack packet into the black bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver coffee maker on the far left, followed by a pink plastic cup, a small green snack packet, and a small black three-footed bowl, with a double stainless steel sink and white tiled wall behind the counter, and a robotic arm positioned above the counter initially.", "global_instruction_dense": "The left robotic arm moves down toward the small green snack packet on the counter, grasps it, lifts it, moves it horizontally above the black bowl, lowers it, and releases the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1646, "tasks": ["place food"], "length": 208, "global_instruction": "Place the small green packaged snack into the black three-footed bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a yellow packaged food item, a small green packaged snack, and a small black three-footed bowl. A double stainless steel sink is to the right of the bowl, a white tiled wall with a soap dispenser is behind the counter, a coffee maker sits at the left end of the counter, and a robotic arm is positioned at the upper left above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the small green packaged snack on the kitchen counter, grasps it with its gripper, lifts it, moves it rightward over the small black bowl, releases the snack into the bowl, then lifts upward and moves back to the left.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1647, "tasks": ["place food"], "length": 217, "global_instruction": "Place the green packaged snack into the black bowl on the kitchen countertop", "scene_description": "A black three-footed bowl, a green packaged snack, and a green Sprite soda can are on a white kitchen countertop. A double stainless steel sink is to the right of the items, a gray-white soap dispenser is mounted on the tiled backsplash, a silver-black coffee maker sits on the far left of the counter, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward from its initial position to the green packaged snack on the counter, grasps the snack with its gripper, lifts it, moves leftward over the black bowl, releases the snack into the bowl, then lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1648, "tasks": ["place food"], "length": 257, "global_instruction": "Place the green packaged snack into the black bowl on the kitchen counter.", "scene_description": "A black bowl, an orange soda can, and a green packaged snack are placed on a white kitchen counter, with a double stainless steel sink on the right of the counter, a robotic arm on the upper left, and a white soap dispenser mounted on the tiled backsplash behind the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the green packaged snack on the counter, grasps it, lifts it, moves it left over the black bowl, releases the snack into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1649, "tasks": ["place food"], "length": 270, "global_instruction": "Place the green packaged snack into the black bowl on the kitchen counter", "scene_description": "A black three-footed bowl, a green packaged snack, and a blue packaged snack are arranged left to right on a white kitchen counter. A double stainless steel sink sits on the right of the counter, a soap dispenser is mounted on the tiled back wall, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the green packaged snack on the counter, grasps it, lifts it, moves it left over the black bowl, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1650, "tasks": ["place food"], "length": 287, "global_instruction": "Pick up the small green packaged snack and place it into the black bowl on the counter.", "scene_description": "A white kitchen counter has a small black bowl, green plastic cup, and small green packaged snack arranged left to right; a stainless steel double sink is on the counter's right, a white tiled wall with a soap dispenser is behind the counter, a coffee maker sits on the counter's far left, and a robotic arm is in the upper left of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the small green packaged snack on the kitchen counter, grasps it, lifts it, moves it left over the black bowl, lowers it, and releases it into the black bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1651, "tasks": ["place food"], "length": 252, "global_instruction": "Place the small green packaged snack into the small black bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a dark blue cloth on the left, a small black bowl in the center, a small green packaged snack next to the bowl, a double stainless steel sink on the right, a soap dispenser on the tiled backsplash, and a coffee machine on the far left, with a robotic arm above the counter.", "global_instruction_dense": "The left robotic arm lowers toward the small green packaged snack on the counter, grasps it, lifts it, moves it over the small black bowl, lowers it, releases it into the bowl, then moves away toward the dark blue cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1652, "tasks": ["place food"], "length": 268, "global_instruction": "Pick up the green packaged snack and place it into the black bowl.", "scene_description": "A small green packaged snack, dark grey cloth, and black three-legged bowl are on a white kitchen countertop, with a double stainless steel sink, soap dispenser, and spray bottle on the right, and a coffee maker with a silver kettle on the far left.", "global_instruction_dense": "The right robotic arm moves downward toward the green packaged snack on the counter, grasps it, lifts and moves it over the black bowl, then releases it into the bowl before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1653, "tasks": ["place food"], "length": 206, "global_instruction": "Place the yellow packaged snack into the small black bowl on the kitchen counter.", "scene_description": "A white kitchen countertop holds an orange snack packet, a small black bowl, and a yellow packaged snack. A double stainless steel sink is to the right of the counter, a coffee maker is to the left, and white tiled walls with a soap dispenser are behind the counter.", "global_instruction_dense": "The left robotic arm moves down toward the yellow packaged snack on the counter, grasps it, lifts it, moves it over the small black bowl, releases the snack into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1654, "tasks": ["place food"], "length": 201, "global_instruction": "Place the orange packaged snack into the small black bowl on the kitchen counter", "scene_description": "A silver beverage can, a small black bowl, and an orange packaged snack are arranged left to right on a white kitchen counter; a double sink sits on the counter's right, a coffee maker is on the far left, and a white tile wall with a soap dispenser is behind the counter.", "global_instruction_dense": "The left robotic gripper moves down toward the orange packaged snack on the counter, grasps the snack, lifts it, moves it over the small black bowl, releases the snack into the bowl, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1655, "tasks": ["place food"], "length": 174, "global_instruction": "Place the yellow snack packet into the black bowl on the kitchen counter", "scene_description": "A black small bowl, a yellow snack packet, and an orange plastic cup are placed on a white kitchen counter from left to right. A double stainless steel sink sits on the right of the counter, a soap dispenser is mounted on the white tiled wall behind, a coffee maker is on the left end of the counter, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the yellow snack packet on the counter, grasps the packet, lifts it, moves it over the black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1656, "tasks": ["place food"], "length": 194, "global_instruction": "Place the yellow packaged snack into the black bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a black bowl on the left, a yellow packaged snack, a blue packaged snack near the center, a double stainless steel sink on the right, a coffee maker on the far left, with a tiled wall and mounted soap dispenser in the background, and a robotic gripper above the counter.", "global_instruction_dense": "The right robotic gripper descends toward the yellow packaged snack on the counter, grasps it, lifts it, moves left over the black bowl, and releases the snack into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1657, "tasks": ["place food"], "length": 200, "global_instruction": "Pick up the colorful snack packet on the kitchen counter and place it into the black bowl.", "scene_description": "A white kitchen counter holds a colorful small snack packet, a black small bowl, and a red soda can arranged left to right, with a double stainless steel sink on the counter's right end, a white tiled backsplash with a soap dispenser, a coffee machine on the far left of the counter, and blue upper cabinets above the backsplash.", "global_instruction_dense": "The left robotic arm moves down toward the colorful snack packet on the left of the kitchen counter, grasps it with its gripper, lifts it and moves it over the black bowl, releases the packet into the bowl, then lifts its arm away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1658, "tasks": ["place food"], "length": 209, "global_instruction": "Place the small yellow packaged snack on the counter into the black bowl.", "scene_description": "A white kitchen counter holds a black coffee maker on the far left, a black bowl, a purple cloth, a small yellow packaged snack, and a double stainless steel sink on the right, with a white tiled wall and soap dispenser behind the counter.", "global_instruction_dense": "The left robotic gripper descends from the upper left, moves toward the yellow packaged snack on the counter, grasps it, lifts it, moves it over the adjacent black bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1659, "tasks": ["place food"], "length": 184, "global_instruction": "Place the yellow packaged snack into the black bowl on the kitchen counter.", "scene_description": "A white kitchen countertop has a silver coffee maker on the far left, a black bowl, a purple cloth, and a yellow packaged snack in the middle, and a double stainless steel sink on the right; a white robotic arm is positioned above the left side of the counter, with a gray tiled backsplash behind the counter.", "global_instruction_dense": "The left robotic arm moves down toward the yellow packaged snack on the counter, grasps it with its gripper, lifts it, moves it over the adjacent black bowl, and releases it to drop the snack into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1660, "tasks": ["place food"], "length": 170, "global_instruction": "Place the long yellow food packet into the small black three-legged bowl.", "scene_description": "A white kitchen counter holds a small black three-legged bowl, a red flat food packet, a long yellow food packet to the right of the red packet, and a stainless steel coffee maker on the far left. A double stainless steel sink is on the right side of the counter, with a soap dispenser on the tiled wall above the sink. A robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the long yellow food packet on the kitchen counter, grasps it with its gripper, lifts it, moves it over the small black three-legged bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1661, "tasks": ["place food"], "length": 184, "global_instruction": "Place the orange carrot on the countertop into the small black bowl.", "scene_description": "An orange carrot, a small black bowl, and a green-and-yellow cleaning sponge are on a white kitchen countertop, with a double stainless steel sink to the right of the objects, a soap dispenser on the tiled backsplash, and a coffee maker on the far left of the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the orange carrot on the countertop, grasps the carrot, lifts it, moves rightward over the small black bowl, releases the carrot into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1662, "tasks": ["place food"], "length": 237, "global_instruction": "Pick up the packaged snack bar on the kitchen counter and place it into the small black bowl.", "scene_description": "A small black bowl, a packaged brown snack bar, and a double stainless steel sink are on a white kitchen counter, with a coffee maker to the left of the bowl, a wall-mounted soap dispenser above the counter, and a robotic gripper suspended above the counter.", "global_instruction_dense": "The left robotic gripper moves downward toward the packaged snack bar on the counter, grasps it, lifts it, moves it over the small black bowl, releases it into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1663, "tasks": ["place food"], "length": 209, "global_instruction": "Place the red packaged snack into the black small bowl.", "scene_description": "A white kitchen countertop holds a purple plastic cup, orange plastic cup, black small bowl, and red packaged snack, with a double sink on the right, coffee maker on the left, and a robotic arm positioned above the counter against a white tiled backsplash.", "global_instruction_dense": "The left robotic arm moves down toward the red packaged snack on the counter, grasps it, lifts and moves it over the black bowl, releases it into the bowl, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1664, "tasks": ["place food"], "length": 258, "global_instruction": "Place the purple packaged snack into the clear plastic bowl on the counter.", "scene_description": "A white kitchen countertop holds a black-and-silver coffee maker on the left, a purple packaged snack, an orange packaged snack, a clear plastic bowl, and an orange soda can from left to right, adjacent to a double stainless steel sink, with a white tiled backsplash and blue upper cabinets behind the counter.", "global_instruction_dense": "The left robotic gripper moves down toward the purple packaged snack on the counter, grasps it, lifts and moves it over the clear plastic bowl, releases it into the bowl, then retracts back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1665, "tasks": ["place food"], "length": 262, "global_instruction": "Place the purple packaged snack bar into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver coffee maker on the left, a clear plastic bowl, a purple packaged snack bar, a green sponge with yellow trim, an orange packaged snack, and a double stainless steel sink on the right. White tiled walls with a soap dispenser and blue upper cabinets are behind the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the purple snack bar on the counter, grasps it, lifts it, moves it over the clear plastic bowl, and releases the snack bar into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1666, "tasks": ["place food"], "length": 264, "global_instruction": "Place the small dark snack bar on the kitchen counter into the clear white bowl.", "scene_description": "A white kitchen counter holds a black coffee maker with a silver kettle, a purple plastic cup, a small dark snack bar, a gray cloth, and a clear white bowl, adjacent to a double stainless steel sink, with a white tiled backsplash and blue upper cabinets above.", "global_instruction_dense": "The left robotic arm enters the scene from the upper left, moves first above the purple cup then to the small dark snack bar, grasps it, lifts it, moves it over the clear white bowl, releases it into the bowl, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1667, "tasks": ["place food"], "length": 239, "global_instruction": "Pick up the dark snack bar on the counter and place it into the clear plastic bowl.", "scene_description": "A white kitchen counter holds a coffee maker with a silver carafe on the far left, a clear plastic bowl, a beige paper towel, a red soda can, and a dark snack bar from left to right; a double stainless steel sink is on the right of the counter, a white soap dispenser is mounted on the white tiled backsplash, with blue cabinets above, and a robotic arm is positioned in the upper left.", "global_instruction_dense": "The left robotic arm moves downward, displaces the red soda can on the counter, grasps the dark snack bar, lifts it, moves it over the clear plastic bowl, releases the bar into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1668, "tasks": ["place food"], "length": 213, "global_instruction": "Place the small green snack packet into the clear plastic bowl", "scene_description": "A white kitchen counter holds a stainless steel coffee maker on the far left, a clear plastic bowl, a red snack packet, a green plastic cup, a small green snack packet, and a double-basin stainless steel sink on the right. A white soap dispenser is mounted on the white tiled wall behind the counter, with blue upper cabinets above the wall.", "global_instruction_dense": "The left robotic arm moves down toward the small green snack packet on the kitchen counter, grasps it with its gripper, lifts it, moves it over the clear plastic bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1669, "tasks": ["place food"], "length": 208, "global_instruction": "Pick up the green snack packet and place it into the clear plastic bowl", "scene_description": "A white kitchen countertop holds a green snack packet, yellow snack packet, red snack packet, and clear plastic bowl from left to right; a coffee maker with a silver kettle is on the far left, a double stainless steel sink is on the far right, and a white soap dispenser is mounted on the tiled wall behind the counter.", "global_instruction_dense": "The left robotic gripper moves down toward the green snack packet on the counter, grasps it, lifts it, moves right over the clear plastic bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1670, "tasks": ["place food"], "length": 198, "global_instruction": "Place the green packaged snack into the clear plastic bowl on the kitchen counter.", "scene_description": "A kitchen countertop holds a coffee maker with a metallic kettle on the far left, a clear plastic bowl, a green packaged snack, an orange soda can, a sponge behind the soda, and a double stainless steel sink on the far right, with a soap dispenser on the tiled backsplash and blue upper cabinets above.", "global_instruction_dense": "The right robotic arm moves downward toward the green packaged snack on the counter, grasps the snack with its gripper, lifts the snack, moves it over the clear plastic bowl, and releases the snack to drop it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1671, "tasks": ["place food"], "length": 202, "global_instruction": "Pick up the green packaged snack and place it into the transparent bowl", "scene_description": "On a white kitchen countertop, a transparent bowl, orange soda can, blue plastic cup, and small green packaged snack are arranged left to right, with a double stainless steel sink to the right of these items, a coffee maker to the left, a soap dispenser on the tiled rear wall, and a robotic arm positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down to the green packaged snack on the counter, grasps it with its gripper, lifts it, moves it left over the transparent bowl, then releases the snack into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1672, "tasks": ["place food"], "length": 187, "global_instruction": "Place the green snack package into the clear plastic bowl on the counter.", "scene_description": "A white kitchen counter holds a black coffee maker with metal kettle, a green snack package, a clear plastic bowl, a blue cup, a purple cloth, and a stainless steel double sink below blue upper cabinets and a tiled backsplash with a soap dispenser.", "global_instruction_dense": "The left robotic arm descends toward the green snack package, grasps it, lifts it, moves it right over the clear plastic bowl, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1673, "tasks": ["place food"], "length": 192, "global_instruction": "Pick up the green snack packet and place it into the clear plastic bowl", "scene_description": "A white kitchen counter holds a stainless steel coffee maker on the far left, a clear plastic bowl, a small green snack packet, and a blue cloth from left to right, with a double stainless steel sink to the right of the cloth, white tile backsplash and blue upper cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the green snack packet on the kitchen counter, grasps the packet with its gripper, lifts it, moves it left over the clear plastic bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1674, "tasks": ["place food"], "length": 202, "global_instruction": "Place the orange packaged snack into the clear plastic bowl.", "scene_description": "A clear plastic bowl, an orange packaged snack, and a red soda can are on a white kitchen countertop. The bowl is leftmost, the snack is right of the bowl, the soda can is right of the snack, a double stainless steel sink is on the far right, with blue upper cabinets, a tiled backsplash, and a robotic arm positioned above the left counter.", "global_instruction_dense": "The left robotic arm lowers toward the orange packaged snack on the counter, grasps it with its gripper, lifts the snack, moves left over the clear plastic bowl, releases the snack into the bowl, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1675, "tasks": ["place food"], "length": 242, "global_instruction": "Pick up the orange snack package and place it into the clear plastic bowl", "scene_description": "A white kitchen countertop has a stainless steel double sink on the right, a clear empty plastic bowl left of the sink, a dark blue cloth left of the bowl, an orange snack package left of the cloth, a coffee maker with a silver carafe on the far left, a robotic gripper above the left counter, blue upper cabinets, and a white tiled backsplash.", "global_instruction_dense": "The left robotic gripper moves downward toward the orange snack package on the counter, grasps it, lifts it, moves right over the clear plastic bowl, releases the snack into the bowl, then moves back toward the left.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1676, "tasks": ["place food"], "length": 163, "global_instruction": "Place the gold wrapped snack bar into the clear plastic bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a black and silver coffee maker on the left, a gold wrapped snack bar near the front left, a clear plastic bowl at the center, a green plastic cup right of the bowl, and a double stainless steel sink on the right. A robotic arm is positioned above the counter, with blue upper cabinets and a tiled wall (with a soap dispenser) in the background.", "global_instruction_dense": "The left robotic arm moves downward toward the gold snack bar, grasps it with its gripper, lifts the snack bar and moves it right over the clear plastic bowl, releases the snack bar into the bowl, then lifts away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1677, "tasks": ["place food"], "length": 154, "global_instruction": "Place the small orange packet on the kitchen counter into the adjacent clear plastic bowl.", "scene_description": "A clear plastic bowl, a small orange packet, and a yellow packet rest on a white kitchen countertop, with a double stainless steel sink to the right of the items, a coffee maker on the counter's left, a soap dispenser on the tiled back wall, and blue upper cabinets above.", "global_instruction_dense": "The left robotic arm moves down toward the small orange packet on the kitchen counter, grasps it, moves it over the clear plastic bowl, releases the packet into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1678, "tasks": ["place food"], "length": 152, "global_instruction": "Pick up the small orange-yellow snack packet and place it into the clear plastic bowl on the kitchen counter.", "scene_description": "A small orange-yellow snack packet, a crumpled beige cloth, and a clear empty plastic bowl are placed on a white kitchen countertop, with a stainless steel double sink on the right of the counter, a coffee maker on the far left, and a robotic arm positioned at the top left above the counter.", "global_instruction_dense": "The left robotic arm moves downward toward the small orange-yellow snack packet on the counter, grasps it with its gripper, lifts it, moves it rightward over the clear plastic bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1679, "tasks": ["place food"], "length": 182, "global_instruction": "Take the small orange object out of the dark green cup and place it on the white table.", "scene_description": "A white lab table holds a dark green cup with a small orange object inside, a light blue bowl, a brown cardboard box, and a red package, with Dell monitors to the left of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the dark green cup, grasps the small orange object inside the cup, lifts the object out of the cup, moves it next to the cup, and places it onto the white table surface before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1680, "tasks": ["place food"], "length": 209, "global_instruction": "Place the small orange object from the dark green mug into the light blue bowl.", "scene_description": "A white table has a dark green mug in the foreground, a light blue bowl, an open brown cardboard box, assorted small boxes, and a red packet further along the table. A right robotic arm is positioned at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from the right side of the frame toward the dark green mug, lowers its gripper into the mug to grasp the small orange object inside, lifts the object out of the mug, moves it over the light blue bowl, and releases the object into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1681, "tasks": ["place food"], "length": 215, "global_instruction": "Remove the small orange object from the teal mug and place it on the white table.", "scene_description": "A teal mug with a black rim sits on a white table marked with blue lines, a small orange object is inside the mug, and a right robotic arm is positioned above the table in a robotics lab.", "global_instruction_dense": "The right robotic arm moves toward the teal mug, lowers its gripper into the mug to grasp the small orange object inside, lifts the object out of the mug, moves it to the adjacent table surface, and releases the object onto the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1682, "tasks": ["place food"], "length": 249, "global_instruction": "Remove the small orange object from the green mug and place it on the table next to the mug.", "scene_description": "A dark green mug containing a small orange object sits on a white table marked with blue tape lines, a robotic arm is positioned above the far end of the table, and a stationary Franka robotic arm is on the right edge of the frame.", "global_instruction_dense": "The left robotic arm moves downward toward the green mug, grasps the small orange object inside the mug, lifts the object out of the mug, places it on the white table to the left of the mug, then releases the object and moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1683, "tasks": ["place food"], "length": 186, "global_instruction": "Remove the orange object from the teal mug and place it on the white table beside the mug.", "scene_description": "A speckled dark teal mug containing an orange small object sits on a white table, a stationary Franka robotic arm is positioned to the right of the table, and other lab robotic equipment is visible in the background.", "global_instruction_dense": "The left robotic arm moves toward the teal mug, lowers its gripper into the mug to grasp the orange object, lifts the object out of the mug, moves it to the table surface beside the mug, releases the object onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1684, "tasks": ["place food"], "length": 143, "global_instruction": "Remove the small orange cylindrical object from the dark teal mug and place it on the white table.", "scene_description": "A dark teal mug holding a small orange cylindrical object is on the left of a white lab table, a white Franka robotic arm is on the right edge of the table, with other lab equipment in the background.", "global_instruction_dense": "The left robotic gripper moves downward toward the dark teal mug, grasps the orange cylindrical object inside the mug, lifts the object out of the mug, moves it to the table surface next to the mug, releases the object onto the table, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1685, "tasks": ["place food"], "length": 126, "global_instruction": "Remove the small orange object from the gray mug and place it on the white table.", "scene_description": "A dark gray mug holding a small orange object sits on a white table, with a robotic gripper hovering above the table near the mug.", "global_instruction_dense": "The right robotic arm moves its gripper down toward the dark gray mug, lowers the gripper into the mug to grasp the small orange object, lifts the object out of the mug, moves the object above the table surface, and releases it onto the white table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1686, "tasks": ["place food"], "length": 196, "global_instruction": "Place the brown food piece on the counter into the open toaster oven.", "scene_description": "A white kitchen countertop has a green rice cooker on the far left, an open white toaster oven next to it, a brown food piece, two red packets, a green circular scrubber in the middle, and a sink with purple dish soap and white cabinets in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the brown food on the counter, grasps it with its gripper, lifts and moves it left toward the open toaster oven, places the food inside the oven, then retracts its gripper back above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1687, "tasks": ["place food"], "length": 230, "global_instruction": "Place a small brown food item into the white toaster oven.", "scene_description": "A white tiled kitchen counter holds a white toaster oven on its left side, a silver spray can in the lower foreground, small green containers further along the counter, and white wall-mounted cabinets above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the toaster oven, pulls the toaster oven rack outward to open it, grasps a small brown food item from the counter, places the item onto the toaster oven rack, pushes the rack back into the oven, then lifts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1688, "tasks": ["place food"], "length": 564, "global_instruction": "Place the small brown food item into the toaster oven on the kitchen counter.", "scene_description": "A white tiled kitchen counter holds a closed small white toaster oven, an upright green glass, a small brown food item, and white cloths. White upper kitchen cabinets and a sink are visible in the background, with a robotic arm positioned at the upper right.", "global_instruction_dense": "The right robotic arm first moves downward to knock over the green glass on the counter, then opens the toaster oven door, grasps the small brown food item, places it inside the toaster oven, and finally retracts upward away from the oven.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1689, "tasks": ["place food"], "length": 306, "global_instruction": "Pick the orange from the black tray and place it next to the water bottle on the side table.", "scene_description": "A grey couch sits on the left, next to a small side table holding a clear water bottle, two remote controls, and a black tray with an orange fruit. A right robotic arm is positioned at the upper right, with windows with blinds in the background.", "global_instruction_dense": "The right robotic arm extends downward toward the orange in the black tray on the side table, grasps the orange, lifts it, moves it left to the area next to the clear water bottle, lowers it, releases the orange onto the table, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1690, "tasks": ["place food"], "length": 213, "global_instruction": "Place a green apple on the cabinet's upper open shelf, then open the cabinet's glass front door.", "scene_description": "A white cabinet with a left glass-front door and right open shelving sits next to a white brick fireplace. The upper open shelf holds a dark metallic candlestick, and the cabinet top has books, a white spray bottle, and small decorative items.", "global_instruction_dense": "The right robotic arm moves downward into the cabinet's open upper shelf, places a green apple next to the dark candlestick on the shelf, then moves to the glass door's silver handle, grasps it, and pulls the door open to the left.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1691, "tasks": ["place food"], "length": 444, "global_instruction": "Place the green snack packets from the table into the beige bowl.", "scene_description": "A kitchen table with a lemon-patterned tablecloth holds a brown McDonald's paper bag on the left, yellow bananas, a striped tissue box, a white bowl, small yellow cheese cubes, a metal spoon, multiple green snack packets, and a beige bowl at the lower center, with a Franka robotic arm positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm moves down from its initial raised position toward the table, grasps green snack packets from the table surface, drops the first two grasped packets onto the table, then successfully grasps a green packet, moves it over the beige bowl, releases it into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1692, "tasks": ["place food"], "length": 473, "global_instruction": "Pick up snack packets from the dining table and place them into the white decorated plate on the left side of the table.", "scene_description": "A dining table with a lemon-patterned tablecloth holds a brown paper bag on the left, a white mug with orange floral prints, a metal spoon, green packets, small snack items, a white decorated plate, and a small white bowl. A robotic arm is positioned at the right edge of the table in a raised initial position, with wooden chairs, floral window curtains, and a gold-framed wall picture in the background.", "global_instruction_dense": "The right robotic arm lowers toward snack packets on the dining table, grasps each snack packet individually, moves each packet over the white decorated plate on the left of the table, releases the packet into the plate, then returns to its initial raised position after placing three packets.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1693, "tasks": ["place food"], "length": 334, "global_instruction": "Retrieve the purple snack from under the patterned cloth and place it on the wooden table.", "scene_description": "A folded patterned cloth with red decorative edges, a small black square container, white papers, and yellow and red pens are placed on a light brown wooden table. A robotic arm is positioned above the background bed area, to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the folded patterned cloth on the wooden table, grasps and lifts the cloth to reveal a purple snack underneath, positions its gripper to grasp the purple snack, lifts the snack, places it on the wooden table next to the cloth, then moves back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1694, "tasks": ["place food"], "length": 377, "global_instruction": "Lift the small orange object from the black tray on the desk then return it to the tray.", "scene_description": "A light wooden desk holds a white clothes hanger, folded light blue fabric, and a black tray with a small orange object at its rear. A wooden chair with a yellow cushion sits in front of the desk, a white side table with a lamp is in the background, and a bed is to the right, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves from the upper right of the frame toward the small orange object in the black tray at the rear of the wooden desk, grasps the orange object, lifts it briefly, then lowers and releases it back into the tray before moving upward away from the desk.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1695, "tasks": ["place food"], "length": 872, "global_instruction": "Transfer food from the white plate to the black small pot on the blue cloth.", "scene_description": "A white tiled kitchen counter holds a red lidded container on the left, a wall-mounted vintage clock, a white plate with food, two black small pots on a blue cloth, cutlery, and a coffee maker, with a robotic arm positioned on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white plate with food, grasps pieces of food, lifts them, moves them over the black small pot on the blue cloth, releases the food into the pot, and repeats this transfer action multiple times.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1696, "tasks": ["place food"], "length": 162, "global_instruction": "Place the bunch of yellow bananas on the kitchen counter onto the adjacent white plate.", "scene_description": "A white tiled kitchen counter holds a red lidded container on the left, a black vintage clock against the tiled backsplash, a blue cloth with two small black cups, a bunch of yellow bananas, a white plate, and a coffee maker at the back, with a right robotic arm at the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the bunch of yellow bananas on the counter, grasps them, lifts the bananas, moves them over the nearby white plate, lowers and releases the bananas onto the plate, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1697, "tasks": ["place food"], "length": 216, "global_instruction": "Pick up the yellow bananas from the white plate and place them on the blue cloth on the kitchen counter.", "scene_description": "A white tiled kitchen counter holds a red lidded container on a white left-side appliance, a vintage black clock on the tiled backsplash, a blue cloth with two dark cups and cutlery, a white plate with yellow bananas, a white drip coffee maker at the counter's far end, and a robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the yellow bananas on the white plate, grasps them with its gripper, lifts the bananas, moves them over the blue cloth on the kitchen counter, lowers the bananas, and releases them onto the blue cloth next to the dark cups.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1698, "tasks": ["place food"], "length": 225, "global_instruction": "Place the light green apple on the table next to the green-lidded container", "scene_description": "A table covered with a lemon-patterned blue tablecloth holds a white coffee maker, several soda cans, a light green apple, a green-lidded plastic container, a cardboard carton, and small cleaning bottles. A white and black Franka robotic arm is positioned on the right of the table, with floral-curtained windows and framed art on the background wall.", "global_instruction_dense": "The right robotic gripper moves toward the light green apple on the table, grasps it, lifts it, moves it to the area next to the green-lidded container, then lowers and releases the apple onto the table there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1699, "tasks": ["place food"], "length": 500, "global_instruction": "Place the crumpled metallic snack packet from the table into the light green lidded trash bin.", "scene_description": "A table covered with a blue tablecloth printed with yellow lemons and green leaves holds a white drip coffee maker, two silver soda cans, a white trash bin with a closed light green lid, multiple crumpled metallic snack packets, a yellow carton, a small red candy, a plastic cleaning bottle, and plastic bags. A white robotic arm is positioned on the right side of the table, with grey walls, framed artworks, floral curtained windows, and yellow wooden chairs in the background.", "global_instruction_dense": "The right robotic arm lowers toward the crumpled metallic snack packets on the table, grasps a crumpled bronze snack packet, lifts it, moves toward the trash bin, raises the bin's light green lid, drops the packet into the bin, then moves away from the trash bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1700, "tasks": ["place food"], "length": 462, "global_instruction": "Place the green packaged snack and the green ball into the black cup on the desktop.", "scene_description": "A wooden desktop partially covered with a beige cloth holds a black keyboard, black mouse, pink-and-white striped cloth, green tube, white over-ear headphones, small red bowl, small white bottle, black cup with a metal spoon inside, green packaged snack, and a white plate with a green ball. A white toaster oven and white cabinetry are in the background, with a robotic arm at the top right above the desk.", "global_instruction_dense": "The right robotic arm moves to grasp the green packaged snack on the desk, lifts it, moves it over the black cup and releases it into the cup, then moves to grasp the green ball from the white plate and lifts it above the black cup to place it inside.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1701, "tasks": ["place food"], "length": 306, "global_instruction": "Place the green apple from the white plate into the small light blue bowl on the table.", "scene_description": "A table with a lemon-patterned tablecloth holds a black keyboard, a white plate with a green apple, a white mug, a small light blue bowl, a spatula, and a snack packet. Three wooden chairs are against the wall below floral-curtained windows, and a robotic arm is in the upper right corner.", "global_instruction_dense": "The right robotic arm moves toward the green apple on the white plate, grasps it with its gripper, lifts it, moves it over the small light blue bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1702, "tasks": ["place food"], "length": 238, "global_instruction": "Pick the light green fruit from the white plate and place it into the small pink cup.", "scene_description": "A table with a lemon-patterned tablecloth holds a white plate with a light green fruit, small pink cup, blue scoop, black keyboard, snack packet, and white mug, with wooden chairs and floral-curtained windows in the background; the robotic arm is positioned at the upper right initially.", "global_instruction_dense": "The right robotic arm moves from its upper-right starting position toward the white plate, grasps the light green fruit on the plate, lifts it, moves it toward the small pink cup, and places it onto the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1703, "tasks": ["place food"], "length": 15, "global_instruction": "Place the light green round fruit onto the white plate on the table", "scene_description": "A table covered with a blue tablecloth printed with yellow fruits holds a black keyboard, white plate, beige slotted spatula, small pink cup, blue spatula, light green round fruit, white patterned mug, small blue measuring cup, and an organic snack packet. Two wooden lattice-back chairs stand behind the table below windows with floral curtains, and a mounted camera setup is visible on the right.", "global_instruction_dense": "The robotic arm moves toward the light green round fruit on the table, grasps it, lifts it, moves it over the white plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1704, "tasks": ["place food"], "length": 137, "global_instruction": "Move the yellow banana on the table closer to the white cloth", "scene_description": "A light brown wooden table is next to a window with white blinds. On the table: a blue Connect Four game with draped white paper, a yellow banana, a metal spoon, small colorful discs, a white cloth, and a gray spatula. A white robotic arm is positioned to the right of the table, with a door and yellow-black caution barrier in the background.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the table, grasps it, moves it rightward closer to the white cloth, releases it, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1705, "tasks": ["place food"], "length": 230, "global_instruction": "Pick up the yellow banana at the far end of the table and place it on the left area of the table", "scene_description": "A light brown wooden table sits below a window with white horizontal blinds. On the table are a blue vertical Connect 4 game board, an open book, silver utensils, a white patterned roll, a small red disc, white napkins, and a yellow banana near the far end of the table. A white chair with a fuzzy white seat cover is positioned in front of the table.", "global_instruction_dense": "The right robotic arm moves down toward the yellow banana at the far end of the table, grasps the banana with its gripper, lifts it, moves it leftward over the table, lowers it, and releases it onto the left surface of the table near the white patterned roll.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1706, "tasks": ["place food"], "length": 275, "global_instruction": "Pick up the small circular orange object on the table and move it to another position on the tabletop.", "scene_description": "A light brown wooden table sits next to a window with horizontal white blinds. Scattered on the table are a white plastic cup, yellow banana, silver foil tray, white papers, metal spoons, a book, plastic bags, a small circular orange object, a blue object, and a Franka Emika robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves from its starting position at the right side of the table toward the small circular orange object on the lower right of the table, grasps the object with its gripper, lifts it, and moves it to a different location on the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1707, "tasks": ["place food"], "length": 201, "global_instruction": "Move the yellow banana on the black table to a position near the white patterned cup", "scene_description": "A black table holds a yellow banana, a white patterned cup, a metal spoon, and a pile of small white square pieces. A robotic arm is positioned to the right of the table, with orange benches along the table's left side, and a background worktable with white chairs near a bright window.", "global_instruction_dense": "The right robotic arm extends toward the yellow banana on the black table, grasps it, moves it leftward to a position adjacent to the white patterned cup, places the banana on the table, then releases it and retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1708, "tasks": ["place food"], "length": 716, "global_instruction": "Place small orange objects into the slots of the metal dish rack.", "scene_description": "A clear TopCare hand sanitizer bottle, wooden bowl, and aluminum foil tray rest on a dark brown left counter, a metal dish rack sits on a light wood table in the center, a closed door is in the background with a black bag hung on the adjacent wall.", "global_instruction_dense": "The right robotic arm moves into position above the light wood table, grasps small orange objects behind the metal dish rack, repeatedly places each object into separate slots of the dish rack, then retracts to a resting position away from the rack.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1709, "tasks": ["place food"], "length": 231, "global_instruction": "Pick the yellow banana from the sofa armrest and place it on the left edge of the sofa against the wall.", "scene_description": "An orange sofa sits below a window with white horizontal blinds. A yellow banana rests on the sofa's right armrest, a small pink dotted paper cup sits on the sofa seat, two white chairs with a dark gray cloth on one are beside the sofa, a light wooden desk with scattered items is in the background, and a robotic arm is visible on the right near a glowing green work surface.", "global_instruction_dense": "The right robotic arm extends toward the yellow banana on the sofa armrest, grasps the banana, lifts and moves it left to the edge of the sofa against the wall, releases the banana, and retracts away from the sofa.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1710, "tasks": ["place food"], "length": 229, "global_instruction": "Pick the yellow banana from the sofa and place it into the aluminum foil tray on the wooden counter.", "scene_description": "A brown sofa holds a gray blanket, a yellow banana, and two patterned pillows. To the sofa's left is a wooden counter with a printed paper cup, aluminum foil tray, and blue curved object. A white robotic arm is positioned to the right of the sofa, with two orange armchairs in the background.", "global_instruction_dense": "The right robotic arm extends toward the yellow banana resting on the gray blanket on the brown sofa, grasps the banana, lifts it, moves it leftward over the adjacent wooden counter, and releases the banana into the aluminum foil tray on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1711, "tasks": ["place food"], "length": 350, "global_instruction": "Retrieve the orange package from the upper wall cabinet shelf and place it on the counter below.", "scene_description": "A light green wall-mounted cabinet with a partially open left section is above a white tiled kitchen counter. The cabinet's open section has a red Quaker Oats container on the middle shelf and a small white container on the top shelf. A white microwave sits on the counter below the cabinet, white horizontal blinds are to the left of the cabinet, and a robotic arm is positioned to the right of the cabinet near sink fixtures.", "global_instruction_dense": "The right robotic arm moves left toward the open upper shelf of the light green wall cabinet, grasps the orange package on the shelf, pulls the package out of the cabinet, lowers it down toward the kitchen countertop, and releases the package onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1712, "tasks": ["place food"], "length": 296, "global_instruction": "Place an orange package into the upper empty shelf of the open wall cabinet.", "scene_description": "A light green wall-mounted cabinet with its right door open (holding a red container on the middle shelf) is positioned above a white microwave, white horizontal blinds are to the left of the cabinet, a sink area is to the right, and a robotic arm is near the open cabinet door.", "global_instruction_dense": "The right robotic arm moves downward to grasp an orange package, lifts the package, moves it upward to the upper empty shelf of the open cabinet, places the package onto the shelf, then retracts away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1713, "tasks": ["place food"], "length": 934, "global_instruction": "Pick up the red apple to place it into the light blue basket, then adjust the tall clear glass on the table.", "scene_description": "A light wooden table holds a light blue plastic basket with a black item inside at the center left, a red apple to the right of the basket, a tall clear glass near the window, plus crumpled cloths, wires, a yellow bag, and a metal spatula. A robotic arm is positioned at the right edge of the table.", "global_instruction_dense": "The right robotic arm moves toward the red apple on the table, grasps it, lifts it, moves it over the light blue basket, releases it into the basket, then moves to the tall clear glass near the window and repeatedly adjusts the glass's position for the rest of the episode.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1714, "tasks": ["place food"], "length": 331, "global_instruction": "Place the orange object from the kitchen counter into the open wall cabinet.", "scene_description": "An open white wall cabinet with stored food containers is mounted above a white microwave on a white kitchen counter. A purple cup, small miscellaneous items, an orange object, and a robotic arm are on the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange object on the kitchen counter, grasps it, lifts it, moves it into the open wall cabinet above the microwave, places it on a cabinet shelf, then retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1715, "tasks": ["place food"], "length": 1106, "global_instruction": "Pick up the small orange scoop from the kitchen counter, move it, and place it back on the counter.", "scene_description": "An open white wall cabinet holding mugs and glasses sits above a white kitchen counter. On the counter: a white microwave is on the left, next to a clear glass, a dark bottle with a red cap, a small orange scoop, and small metal items. A window is behind the counter, a white sink is on the right, and a right robotic arm is positioned above the sink.", "global_instruction_dense": "The right robotic arm moves down from above the sink toward the kitchen counter, adjusts its position over the sink and counter, grasps the small orange scoop on the counter, lifts it, moves it around the sink and counter area, then lowers and releases it back onto the kitchen counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1716, "tasks": ["place food"], "length": 275, "global_instruction": "Pick up the packaged snack from the sofa and place it on the left wooden counter.", "scene_description": "A gray sofa with dark fabric and patterned pillows sits next to a wooden counter on its left, the counter holds a book, a spray bottle, plastic containers, and a white basin; a Franka robotic arm is positioned to the right of the sofa with an orange armchair in the background.", "global_instruction_dense": "The right robotic arm moves down to the sofa surface, grasps a purple and white packaged snack, lifts it, moves left over the adjacent wooden counter, lowers the snack, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1717, "tasks": ["place food"], "length": 185, "global_instruction": "Pick up the orange ring and place it on the left side of the dark wooden table.", "scene_description": "A dark wooden table holds a white printed cup, a small red plier, a black marker, loose white papers, and a black book, with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward to grasp an orange ring, lifts the ring, moves leftward over the left portion of the dark wooden table, then releases the ring to place it adjacent to the black marker on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1718, "tasks": ["place food"], "length": 326, "global_instruction": "Pick up the small orange object on the lower bunk bedding and place it on the right edge of the lower bunk's wooden frame.", "scene_description": "A wooden bunk bed, with the lower bunk covered in pale yellow bedding. A white pillow rests at the left head of the lower bunk, a folded white duvet with a small booklet on top is positioned at the right side of the lower bunk, a small orange disc-shaped object lies on the center of the bedding. A window is on the left wall, a desk with a laptop is on the right, and a white robotic arm is at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves from the upper right of the frame down toward the small orange object on the lower bunk bedding, grasps the object, lifts it, moves right toward the lower bunk's wooden frame edge, places the object on the frame, and releases its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1719, "tasks": ["place food"], "length": 407, "global_instruction": "Pick up the small orange round chip from the lower bunk and place it beside the blue game board.", "scene_description": "The lower level of a wooden bunk bed has light yellow bedsheets, with a white pillow at the left end, a dark cubic puzzle box, a blue vertical hole-punched game board, and a small orange round chip on the sheets, with a robotic arm at the right edge of the bunk.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange chip on the lower bunk sheets, grasps the chip with its gripper, lifts and moves it to the right side of the blue game board, releases the chip, then returns to the right edge of the bunk bed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1720, "tasks": ["place food"], "length": 262, "global_instruction": "Take the orange package from the upper kitchen cabinet and place it on the countertop.", "scene_description": "A white open upper kitchen cabinet sits above a white microwave, the kitchen counter below has a Quaker Oats canister, green-lidded small container, and other kitchen items near a sink; the cabinet shelves hold various containers including an orange package, with a robotic gripper above the counter initially.", "global_instruction_dense": "The right robotic arm moves upward to the open upper cabinet, grasps the orange package from the middle shelf, pulls it out of the cabinet, lowers it down to the kitchen counter, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1721, "tasks": ["place food"], "length": 195, "global_instruction": "Pick up the orange packet on the counter and place it into the Quaker Oats canister.", "scene_description": "A kitchen counter holds a white microwave under an open white cabinet filled with storage containers. On the counter, an orange packet sits near a Quaker Oats canister, small packaged goods, and a green bucket, with a robotic arm positioned above the microwave.", "global_instruction_dense": "The right robotic gripper moves down toward the orange packet on the kitchen counter, grasps it, lifts it, moves it over the open Quaker Oats canister, lowers the packet into the canister, then releases the packet and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1722, "tasks": ["place food"], "length": 227, "global_instruction": "Pick up the orange pouch from the counter and place it inside the open upper cabinet.", "scene_description": "A white kitchen counter holds a microwave below an open upper wall cabinet. An orange standing pouch rests on a large cylindrical canister on the counter, with small kitchen items arranged nearby, and a robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the orange pouch on the cylindrical canister, grasps it, lifts it upward, moves it into the open upper cabinet, places it on the cabinet shelf, releases it, and moves away from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1723, "tasks": ["place food"], "length": 441, "global_instruction": "Move the orange package from the grey mug to the upper cabinet then place it on the kitchen counter", "scene_description": "A kitchen counter under an open white wall cabinet holds a white microwave, a green plastic cup left of the microwave, a grey mug with an orange package inside, yellow cleaning gloves, a white soap dispenser, a small orange scraper, a small purple container, and a silver sink faucet near a window. A robotic arm is positioned above the grey mug.", "global_instruction_dense": "The right robotic arm moves toward the orange package inside the grey mug on the kitchen counter, grasps the package, lifts it to place on the lower shelf of the open upper cabinet, adjusts its position on the shelf, then grasps the package again, removes it from the cabinet, moves it downward, places it upright on the counter next to the grey mug, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1724, "tasks": ["place food"], "length": 471, "global_instruction": "Take the orange object from the upper kitchen cabinet and place it into the gray mug on the countertop.", "scene_description": "An open upper kitchen cabinet is above a white countertop. The countertop has a white microwave on the left, a gray mug, yellow rubber gloves, and soap dispensers. The open cabinet's lower shelf holds a blue bowl and containers, while its upper shelf holds glassware, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves upward into the open upper kitchen cabinet, grasps the long orange object, lifts it out of the cabinet, moves it downward over the gray mug on the countertop, and releases it into the mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1725, "tasks": ["place food"], "length": 276, "global_instruction": "Close the microwave door, then move the orange object from the gray counter mug to the open upper cabinet shelf.", "scene_description": "A kitchen counter holds a white open microwave on the left, a gray mug with an orange object inside to the microwave's right, yellow cleaning gloves, liquid soap dispensers, and a faucet, with an open white upper cabinet above the microwave.", "global_instruction_dense": "The right robotic arm first closes the open microwave door, then moves to the gray counter mug, grasps the orange object inside it, lifts the object up, moves it to the open upper cabinet shelf, and releases the object onto the shelf.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1726, "tasks": ["place food"], "length": 304, "global_instruction": "Place the orange package on the kitchen counter into the open upper cabinet", "scene_description": "A white microwave with an open door sits under an open upper kitchen cabinet on a white countertop. The counter holds an orange package, green sponge, red spatula, grey utensil cup, yellow gloves, and soap bottles. The cabinet's lower shelf has a teal cup and blue-and-white bowl, with other items on the upper shelf, and a robotic arm is positioned above the microwave.", "global_instruction_dense": "The right robotic arm first closes the open microwave door, then moves down to grasp the orange package on the counter, lifts it, moves it upward into the open upper cabinet, and places it inside the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1727, "tasks": ["place food"], "length": 518, "global_instruction": "Place the orange package from the kitchen counter into the open wall cabinet.", "scene_description": "An open white wall-mounted kitchen cabinet holds packaged goods, a gray mug, and a blue bowl on its inner shelves. A white kitchen counter below holds bananas, wooden kitchen utensils, a soap dispenser, small bottles, and dishes near the sink. A robotic arm is positioned over the counter, and a microwave sits to the left under the cabinet.", "global_instruction_dense": "The left robotic arm moves down to grasp the orange package on the kitchen counter, lifts it upward, positions it inside the open wall cabinet, adjusts its placement to sit properly, then releases the package and retracts from the cabinet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1728, "tasks": ["place food"], "length": 163, "global_instruction": "Pick up the colorful packaged snack from the cutting board and place it into the brown trash bag below the stove.", "scene_description": "In a kitchen, a small colorful packaged snack rests on a white cutting board placed on a white gas stove. Multiple metal spice racks filled with spice containers are mounted on the light yellow wall above the stove. To the right of the racks is a window with closed white blinds, and further right, a white microwave sits on a light-colored counter. A right robotic arm is positioned in the upper right area of the frame.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the colorful packaged snack on the white cutting board atop the stove, grasps the snack, lifts it, moves it over the brown trash bag positioned below the cutting board, and releases the snack to drop it into the trash bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1729, "tasks": ["place food"], "length": 292, "global_instruction": "Place the orange box from the transparent storage box on the bed into the gray plastic bag.", "scene_description": "A bed with floral patterned sheets holds a transparent plastic storage box (with small items including an orange box inside), a black bag, a checkerboard keyboard, white pillows, a gray plastic bag, and a beige cloth. A white robotic arm is positioned on a table next to the bed, with a window in the background.", "global_instruction_dense": "The right robotic arm moves toward the transparent storage box on the bed, grasps the orange box inside it, lifts the box, moves it over the gray plastic bag, and releases the box into the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1730, "tasks": ["place food"], "length": 269, "global_instruction": "Take the plastic-wrapped snack package from the open black backpack and place it on the bed.", "scene_description": "A bed with white floral-patterned sheets holds an open black backpack, a checkerboard-patterned board, packaged goods, assorted clothing, a white pillow, and a clear plastic bin with a brown box inside. A white Franka Emika robotic arm sits to the right of the bed next to a window, with a green indicator light on its base.", "global_instruction_dense": "The right robotic arm moves toward the open black backpack on the bed, reaches inside to grasp a plastic-wrapped snack package, lifts the package out of the backpack, moves it to the bed surface beside the backpack, and releases it onto the sheet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1731, "tasks": ["place food"], "length": 244, "global_instruction": "Pick the orange box from the black bag on the bed and place it on the bed surface outside the bag.", "scene_description": "A floral-patterned bed holds a black bag with an orange box, white round container, yellow box, and light green package on it, plus a checkerboard board, plastic bags, pillows, a cardboard box, and folded clothes near a window, with a robotic arm to the bed's right.", "global_instruction_dense": "The right robotic arm moves from its starting position near the window toward the orange box on the black bag, grasps the box, lifts it, moves it leftward over the bed, and releases it to place it on the bed surface next to the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1732, "tasks": ["place food"], "length": 770, "global_instruction": "Pick up a coffee pod from the left rack and a small silver cup near the sink, then place them on the right side of the counter.", "scene_description": "A stainless steel sink with a blue sponge inside sits on a white kitchen counter, with a silver faucet above it. Multiple coffee pods are arranged on a rack to the sink's left. A clear spray bottle, small silver metal cup, clear dish soap bottle, and white storage boxes are on the counter near the window, and a robotic arm is positioned above the counter's upper right.", "global_instruction_dense": "The right robotic arm moves left to the coffee pod rack left of the sink, grasps a coffee pod, moves right to place it on the counter near the window, then moves left to grasp the small silver cup next to the faucet to place it on the right counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1733, "tasks": ["place food"], "length": 220, "global_instruction": "Remove a coffee pod from the rotating tower and place it on the countertop.", "scene_description": "A white countertop has a rotating coffee pod tower at its center, a wooden holder left of the tower, one coffee pod on the counter below the tower, wires on the left counter edge, and a right robotic gripper in the top right frame.", "global_instruction_dense": "The right robotic gripper moves toward the rotating coffee pod tower, grasps a coffee pod, extracts it from the tower, moves it down to the countertop, and releases it next to the existing coffee pod on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1734, "tasks": ["place food"], "length": 418, "global_instruction": "Remove a coffee pod from the rotating carousel and place it on the countertop.", "scene_description": "A white kitchen counter holds a black rotating coffee pod carousel stocked with assorted coffee pods, two loose coffee pods in front of the carousel, a brown wooden organizer to the left of the carousel, loose cables on the far left, and a robotic gripper at the upper right.", "global_instruction_dense": "The right robotic gripper moves toward the coffee pod carousel, grips the carousel frame to rotate it, grasps a coffee pod from the carousel, pulls it free, moves it down toward the counter, and releases it next to the other loose coffee pods.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1735, "tasks": ["place food"], "length": 149, "global_instruction": "Pick up the packaged snack on the napkins and place it into the open stainless steel trash bin.", "scene_description": "A white countertop holds a wooden rack of stacked disposable white cups on the left, an open stainless steel trash bin with a green indicator light, a coffee machine with a paper cup under its spout and headphones atop it, a coffee pod holder, a stack of white napkins with a small packaged snack on top, and a sink area in the background.", "global_instruction_dense": "The right robotic arm moves toward the small packaged snack resting on the white napkins, grasps the snack, lifts it, moves it over the open stainless steel trash bin, releases the snack into the bin, then moves away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1736, "tasks": ["place food"], "length": 207, "global_instruction": "Place the orange stick from the plastic packet into the white patterned paper cup.", "scene_description": "On a white kitchen counter, a wooden holder with stacked white paper cups sits on the far left, next to a stainless steel storage container, a silver-and-black coffee maker, a white patterned paper cup with a white straw inside, a plastic packet holding an orange stick, a wooden coffee pod rack, and a robotic arm at the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the plastic packet on the counter, grasps the orange stick inside the packet, lifts the stick, moves it to the white patterned paper cup, inserts the stick into the cup, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1737, "tasks": ["place food"], "length": 347, "global_instruction": "Pick a coffee pod from the rotating black stand and place it into the grey ceramic mug on the counter.", "scene_description": "A white countertop holds a wooden stand with stacked white paper cups on the far left, a silver open-lidded container with a green light next to it, a black and silver coffee machine with headphones resting on top, a small wooden shelf with assorted items, a grey ceramic mug, and a black rotating stand holding multiple coffee pods on the right side, with small accessories and plastic bags scattered on the counter between items.", "global_instruction_dense": "The right robotic gripper enters the frame from the upper right, moves to the black rotating coffee pod stand, grasps a coffee pod from the stand, lifts the pod, moves it left to position over the grey ceramic mug, releases the pod to drop it into the mug, then moves away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1738, "tasks": ["place food"], "length": 164, "global_instruction": "Place an orange stirrer from the open lower drawer onto the round gray tray on the kitchen counter.", "scene_description": "A white kitchen countertop holds a black metal mug rack with red and white hanging mugs, a round gray tray with a patterned paper cup on it, a small white cup with red rim next to the tray, a wooden paper cup dispenser to the right of the tray, an open lower drawer filled with orange stirrers, and a coffee machine at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves down to the open lower drawer under the counter, grasps an orange stirrer, lifts it, moves it over the round gray tray on the counter, and releases the stirrer onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1739, "tasks": ["place food"], "length": 807, "global_instruction": "Place orange sticks from the open under-counter drawer into the patterned paper cup on the counter tray.", "scene_description": "A white kitchen counter holds a round gray tray with a patterned paper cup and three orange sticks on it, a left-side mug rack with red-and-white hanging mugs, an open drawer under the counter filled with orange sticks, and paper cup dispensers plus coffee appliances on the right.", "global_instruction_dense": "The right robotic gripper reaches into the open under-counter drawer, grasps multiple orange sticks, lifts and places them into the patterned paper cup on the counter tray, accidentally knocks the cup over while adding another stick, then retrieves an additional orange stick from the drawer and places it next to the toppled cup on the tray before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1740, "tasks": ["place food"], "length": 270, "global_instruction": "Pick an orange straw from the cup and place it on the round tray.", "scene_description": "A white countertop holds a round tray with a white rim and dark gray surface, a white patterned cup filled with orange straws sits at the center of the tray, a small white cup with a red rim is behind the straw cup, stacked paper cups and a coffee machine are to the right of the tray, and a large window with outdoor greenery is behind the counter.", "global_instruction_dense": "The right robotic arm moves toward the cup of orange straws on the tray, grasps a single orange straw, lifts it out of the cup, moves it over the tray surface, lowers it, releases it onto the tray, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1741, "tasks": ["place food"], "length": 326, "global_instruction": "Pick an orange strip from the patterned cup on the tray and place it on the right side of the countertop.", "scene_description": "A white kitchen countertop holds a dark circular tray with a white rim on its left side. A white cup with green decorative patterns sits on the tray, filled with orange long strips; three additional orange strips lie on the tray to the cup's right. A white mug with a red rim and handle sits behind the tray near a window with green bushes visible outside, and coffee-making equipment is on the counter's right side.", "global_instruction_dense": "The right robotic arm moves into the frame from above, lowers toward the patterned cup of orange strips, grasps one orange strip, lifts it, moves it right across the counter, lowers it to place it on the right counter surface, then releases the strip and moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1742, "tasks": ["place food"], "length": 273, "global_instruction": "Pick an orange strip from the tray and place it into the patterned cup holding other orange strips.", "scene_description": "A white countertop has a dark round tray with white rim, a white patterned cup holding multiple orange strips, three orange strips lying on the tray, a red-rimmed white mug behind the tray, a disposable cup stack and coffee-making equipment to the tray's right, and a window with greenery outside in the background.", "global_instruction_dense": "The right robotic arm moves down to the tray, grasps an orange strip lying on the tray, lifts the strip, moves it over the patterned cup, and releases it into the cup with the other orange strips.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1743, "tasks": ["place food"], "length": 196, "global_instruction": "Place the orange package from the counter tray into the open drawer below the counter", "scene_description": "A white kitchen counter holds a round dark grey tray with a white rim, a printed paper cup and two orange packages on the tray, an open drawer below the counter's right side with more orange packages inside, a wooden stand with stacked paper cups near the window, red and grey chairs to the left of the counter, and a robotic arm positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the longer orange package on the round counter tray, grasps it, lifts it, moves it rightward and downward to the open drawer, releases the package into the drawer, then moves upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1744, "tasks": ["place food"], "length": 398, "global_instruction": "Transfer the orange object from its containing paper cup to the adjacent empty paper cup on the countertop.", "scene_description": "A white kitchen countertop has a stainless steel sink with a patterned paper cup inside on the left, a silver faucet, a blue dish soap bottle with a green cap next to the faucet, two patterned paper cups (one holding an orange object) and a white paper towel roll to the right of the sink, and a small potted plant at the far right edge.", "global_instruction_dense": "The right robotic gripper approaches the patterned paper cup holding an orange object, grasps and lifts the orange object out of the cup, moves it over the adjacent empty patterned paper cup, lowers and places the orange object into the empty cup, then retracts away from the cups.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1745, "tasks": ["place food"], "length": 326, "global_instruction": "Pick up the green snack packet from the right counter and place it into the left multi-tier snack basket.", "scene_description": "A white kitchen countertop has a multi-tier wooden snack basket on the left holding assorted colored snack packets, a metal mug rack and white utensil mug in the middle, a paper cup holder and small green snack packet on the right, with a robotic gripper above the white mug.", "global_instruction_dense": "The right robotic arm moves right toward the green snack packet on the right of the counter, grasps it with its gripper, lifts it, moves left across the counter over the multi-tier wooden snack basket, lowers it, and releases it into the basket with other green packets.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1746, "tasks": ["place food"], "length": 226, "global_instruction": "Place the orange snack packet from the counter into the top tier of the snack rack.", "scene_description": "A white L-shaped kitchen counter holds a three-tiered wicker snack rack (with orange, red, green, purple packaged snacks) on the left, a single orange snack packet on the counter near the corner, a rotating cup rack, several small cups, and a wooden disposable cup dispenser by the window, with a small green potted plant at the far left of the counter.", "global_instruction_dense": "The right robotic arm moves down to the orange snack packet on the counter, grasps it, lifts it, moves it over the top tier of the left snack rack, places the packet into the tier, then releases the gripper and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1747, "tasks": ["place food"], "length": 204, "global_instruction": "Pick an orange snack package from the top of the 3-tier snack rack and place it on the white counter near the small cups.", "scene_description": "A white kitchen counter holds a 3-tier snack rack (top: orange snack packages, middle: red snack packages, bottom: green and purple snack packages) on the left, a cup stand with white-red cups, small cups (one holding pens) in the center, and a stacked paper cup dispenser on the right. A robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves left toward the top tier of the snack rack, grasps an orange snack package, lifts it, moves right over the counter near the small cups, lowers the package, releases it onto the counter, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1748, "tasks": ["place food"], "length": 449, "global_instruction": "Place small colorful food pieces into the white bowl next to the sink", "scene_description": "A grey tiled kitchen counter holds a central stainless steel sink, a white bowl with faint food residue to the sink's left, a white plastic spoon on the counter in front of the sink, a chrome faucet above the sink, cleaning supplies on the counter behind the sink, and a white robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves from its starting position at the right of the kitchen counter down toward the countertop, adjusts its position above the white plastic spoon, maneuvers to pick up small colorful food pieces, moves over the white bowl left of the sink, releases the food pieces into the bowl, then moves away from the bowl toward the counter edge.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1749, "tasks": ["place food"], "length": 397, "global_instruction": "Place the yellow fruit and red apple onto the larger white plate on the kitchen counter.", "scene_description": "A stainless steel sink is on a white kitchen counter. To the left of the sink: a dark air fryer, a white decorated bowl, a white patterned cup, and an orange snack bag. To the right of the sink: a yellow fruit, a red apple, multiple white plates, a clear dish soap bottle, a blue sponge near the silver faucet, and a white robotic arm at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves to grasp the yellow fruit on the counter, lifts it, places it onto the larger white plate, then moves to grasp the red apple on the counter, lifts it, and places it onto the same white plate next to the yellow fruit.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1750, "tasks": ["place food"], "length": 187, "global_instruction": "Reposition the yellow banana on the white plate to the right of the sink.", "scene_description": "A white kitchen counter with a central stainless steel sink. To the sink's left: a blue bowl filled with colorful small items, two white paper cups, a silver electric kettle, an empty white bowl, a small plate with brown snack pieces, and a blue packaged snack. To the sink's right: an orange plastic strip, a white plate holding a red apple and yellow banana, dish soap, a blue sponge, stacked white containers, and a robotic arm at the upper right edge.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the white plate to the right of the sink, grasps the banana, lifts it, adjusts its position, places it back on the same white plate, then retracts upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1751, "tasks": ["place food"], "length": 229, "global_instruction": "Place the orange rectangular strip from the counter edge into the patterned white cup near the cereal bowl.", "scene_description": "A white kitchen countertop holds a blue cereal bowl, two patterned white cups, utensils, snacks, and a stainless steel sink at the back right. An orange rectangular strip lies on the counter edge near the sink.", "global_instruction_dense": "The right robotic gripper moves to grasp the orange rectangular strip on the sink-adjacent counter edge, lifts it, moves left to position above the patterned white cup, lowers it, releases it into the cup, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1752, "tasks": ["place food"], "length": 193, "global_instruction": "Grasp the orange food package and place it on the right side of the kitchen counter.", "scene_description": "A white kitchen countertop holds a black appliance on the far left, a silver metal storage container, a yellow lidded McCafe cup, a white cutting board with a black stand, black food tongs, a metal fork, a white plastic spoon, a blue bowl filled with colorful cereal, a crumpled white napkin, two white patterned drinking cups, an orange food package, a small plate of snacks, a blue snack package, a white paper towel roll on a metal stand, a wooden cup organizer behind the cups, and a sink with a chrome faucet on the right, against a grey tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves down toward the orange food package on the counter, grasps it, lifts it, moves rightward knocking over one of the white patterned cups in the process, places the orange package on the right section of the counter near the blue cereal bowl, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1753, "tasks": ["place food"], "length": 179, "global_instruction": "Pick up the red apple on the kitchen counter and place it onto the white plate with the yellow food item.", "scene_description": "A white kitchen counter holds a white patterned lidded disposable cup at left, a blue plastic bowl, a metal fork, a red apple, a small orange object, a white plate with a yellow food item, a paper towel roll on a holder, and stacked paper cups at the far right, with a right robotic arm positioned at the upper right of the counter.", "global_instruction_dense": "The right robotic arm moves left from its starting position at the right side of the counter toward the red apple, grasps the apple with its gripper, lifts the apple, moves it over to the white plate with the yellow food, lowers the apple onto the plate, releases the apple, then moves upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1754, "tasks": ["place food"], "length": 313, "global_instruction": "Place a food item from the blue bowl onto the white plate with red fruit at the back of the counter.", "scene_description": "A white countertop holds stacked white paper trays on the left, a patterned disposable cup in the foreground, a white bowl, a blue bowl, and a white plate with red fruit at the far end; a robotic arm is at the upper right.", "global_instruction_dense": "The right robotic arm moves down to the blue bowl, grasps a food item inside it, lifts and moves the item to the far white plate with red fruit, places the item on the plate, then retracts upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1755, "tasks": ["place food"], "length": 480, "global_instruction": "Place the small brown square package from the counter into the wooden snack organizer's empty slot.", "scene_description": "A white kitchen counter holds a tiered wooden snack organizer filled with assorted colored packaged snacks on the left, a small brown square package on the counter in front of the organizer, and cups, coffee equipment, a purple packaged snack further to the right.", "global_instruction_dense": "The right robotic arm moves into frame toward the small brown square package on the kitchen counter, grasps the package, lifts it, moves it to the tiered wooden snack organizer, inserts it into an empty slot of the organizer, releases the package, and retracts away from the organizer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1756, "tasks": ["place food"], "length": 185, "global_instruction": "Pick a packaged snack from the wooden storage rack and place it on the white kitchen counter.", "scene_description": "A white kitchen counter holds a multi-slot wooden storage rack filled with assorted packaged snacks, stacked white cups, a coffee machine, and small kitchen items, with a right robotic arm at the upper right frame edge.", "global_instruction_dense": "The right robotic arm moves toward the lower right slot of the wooden snack rack, grasps a small silver packaged snack, lifts it out of the slot, moves it over the empty counter surface, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1757, "tasks": ["place food"], "length": 527, "global_instruction": "Place the small silver-white packaged snack on the counter into the matching compartment of the wooden snack rack.", "scene_description": "A white kitchen counter holds a wooden multi-compartment snack rack filled with assorted packaged snacks, a small silver-white packaged snack and a purple-orange snack bag on the open counter surface, with coffee preparation supplies (stacked cups, coffee machine, capsule holder) behind the rack, and a right robotic arm positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small silver-white packaged snack on the open counter, grasps it with its gripper, lifts it, moves it to the appropriate open compartment of the wooden snack rack, adjusts its position repeatedly to align the snack with the compartment, and releases the snack into the compartment.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1758, "tasks": ["place food"], "length": 730, "global_instruction": "Scoop colorful food from the blue bowl and place it onto the blue and white patterned paper plate.", "scene_description": "A white kitchen counter holds a silver toaster on the far left, a wooden coffee supply rack, a white patterned paper cup, a brown kettle, a blue bowl filled with colorful food, a blue and white patterned paper plate with a chopstick resting on it, and a sink with a faucet in the background, with a right robotic arm positioned at the upper right of the frame.", "global_instruction_dense": "The right robotic arm lowers toward the blue bowl on the kitchen counter, scoops colorful food from the bowl using a spoon attached to its gripper, lifts the spoon, moves it over the blue and white patterned paper plate, releases the food onto the plate, then moves the arm back up and away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1759, "tasks": ["place food"], "length": 558, "global_instruction": "Scoop purple food from the blue bowl and place it onto the blue-and-white patterned paper plate.", "scene_description": "A white kitchen counter has a stainless steel appliance on its left end, a wooden storage rack, a white patterned paper cup, a small blue-and-white patterned paper plate with a chopstick, a blue plastic bowl filled with purple food and a spoon, and a sink with a faucet behind the bowl; a white robotic arm is positioned above the sink at the right.", "global_instruction_dense": "The right robotic arm moves toward the spoon inside the blue bowl, grasps the spoon, scoops purple food from the bowl, lifts the spoon and moves it over the paper plate, pours the scooped food onto the plate, then moves the spoon into the blue bowl and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1760, "tasks": ["place food"], "length": 155, "global_instruction": "Pick a food item from the counter near the striped plate and place it into the blue bowl", "scene_description": "A white kitchen counter holds a silver appliance at left, a wooden coffee caddy, a white-and-black striped paper plate, a printed disposable cup, a blue bowl with food, and a sink with faucet against a gray tiled backsplash.", "global_instruction_dense": "The right robotic arm moves from the right edge of the frame over the blue bowl, descends to the counter near the striped paper plate, grasps a small food item, lifts it, moves back over the blue bowl, and releases the food item into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1761, "tasks": ["place food"], "length": 262, "global_instruction": "Place small items from the kitchen counter into the blue bowl", "scene_description": "A white kitchen counter holds a silver appliance, a black-and-white toothpick dispenser, a white-and-blue patterned paper plate, a printed white cup, and a blue bowl with food arranged left to right. A tiled wall, wooden cup rack, and sink are in the background, with a right robotic gripper positioned above the counter near the bowl.", "global_instruction_dense": "The right robotic gripper moves down to grasp small items on the counter next to the blue bowl, lifts each item, moves over the bowl to release the item inside, repeats this action twice, then moves away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1762, "tasks": ["place food"], "length": 588, "global_instruction": "Pick up the small brown food piece from the parchment paper on the kitchen counter and dispose it below the counter edge.", "scene_description": "A white kitchen counter holds a blue bowl of multicolored cereal with a spoon, a black-and-white ArUco calibration grid, a tall roll of white paper towels, a small white bowl of food, small condiment packets on parchment paper, a red-rimmed white mug, and a Franka robotic arm on the counter's right side, with a gray tiled backsplash behind the counter.", "global_instruction_dense": "The right Franka robotic arm moves toward the small brown food piece on the kitchen counter's parchment paper, grasps the piece, presses it against the parchment repeatedly, moves the piece over the counter edge, releases it to drop below the counter, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1763, "tasks": ["place food"], "length": 517, "global_instruction": "Pick up the red food packet on the kitchen counter and place it into the drawer below the counter.", "scene_description": "A white kitchen counter holds a black and white checkered calibration board, a blue bowl of colorful cereal, a standing paper towel roll, assorted drinking cups, a small red food packet on white parchment paper, and a robotic arm at the counter's right edge.", "global_instruction_dense": "The right robotic gripper moves toward the red food packet on the white parchment paper on the kitchen counter, grasps the packet, lifts it, lowers it into the open drawer under the counter, releases the packet, then retracts upward away from the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1764, "tasks": ["place food"], "length": 333, "global_instruction": "Pick a piece of food waste from the white countertop bowl and place it into the under-counter trash bin.", "scene_description": "A white kitchen countertop holds a black-and-white checkerboard calibration mat, a blue bowl with colorful food, a clear water bottle, a paper cup, stacked white napkins, a roll of white paper towels, a small patterned plate, a white bowl with brown food waste, a red-rimmed white mug, and a paper cup. A gray trash bin is positioned under the counter to the right of the white bowl.", "global_instruction_dense": "The right robotic gripper moves toward the white bowl of food waste on the kitchen counter, grasps a piece of the waste, lifts it, moves it downward to the gray trash bin under the counter, releases the waste into the bin, then retracts upward away from the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1765, "tasks": ["place food"], "length": 801, "global_instruction": "Place the green apple, orange, and banana at the lower table into the brown wooden tray.", "scene_description": "A white tabletop has a brown wooden tray holding a small green packet, a light gray rectangular open container, a black-and-white striped small bowl, two small blue cylindrical blocks, a small gray cube, a white plate with a paper napkin, and green apple, yellow banana, orange fruits at the lower edge of the table, with a robotic arm at the right of the table.", "global_instruction_dense": "The right robotic arm sequentially moves to grasp the green apple, orange, and banana at the lower edge of the table, adjusts each fruit's position, and moves them toward the brown wooden tray on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1766, "tasks": ["place food"], "length": 513, "global_instruction": "Pick up scattered coffee beans from the kitchen counter and place them onto the white plate.", "scene_description": "A white kitchen countertop with a light gray tile backsplash holds a glass pour-over coffee carafe, black electric coffee grinder, small bottles, an orange, a red-orange fruit, a green apple, a green packet, and a red long packet on its left side; scattered small dark coffee beans, two white cups, and a white plate sit further back, and a robotic arm extends from the right above the counter.", "global_instruction_dense": "The right robotic arm moves across the kitchen counter, grasps scattered coffee beans one by one with its gripper, lifts each bean, moves it above the white plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1767, "tasks": ["place food"], "length": 605, "global_instruction": "The right robotic arm picks up small coffee beans from the counter and places them near the white plate.", "scene_description": "A white kitchen counter holds a black coffee grinder, glass pour-over carafe, three fruits (small orange, red-orange fruit, green lime), small containers, a white plate with dark coffee bean specks, a blue-rimmed bowl with brown coffee contents, a green sachet, a red strip, and a right robotic arm hovering above the counter.", "global_instruction_dense": "The right robotic arm lowers toward the kitchen counter, grasps small coffee bean particles from the surface, lifts and moves them over to the area near the white plate, releases them, then repeats the pick-and-place motion for another particle before retracting upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1768, "tasks": ["place food"], "length": 336, "global_instruction": "Pick up the yellow banana on the counter and place it into the top tier of the black fruit basket.", "scene_description": "A white kitchen counter with a light grey tiled backsplash holds a two-tiered black wire fruit basket (top tier with bananas, lower tier with assorted fruits), a yellow banana, green apple, orange, red apple, green packet, coffee grinder, pour-over coffee maker, silver lid, black spoon, and white spoon, with a robotic arm on the counter's right side.", "global_instruction_dense": "The right robotic arm moves toward the yellow banana on the counter, grasps it with its gripper, lifts the banana, moves it over the top tier of the black fruit basket, and releases the banana into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1769, "tasks": ["place food"], "length": 208, "global_instruction": "Place the green apple on the kitchen counter into the fruit basket", "scene_description": "A white kitchen counter holds a multi-level fruit basket filled with assorted fruits, a green apple, an orange, a red-yellow apple, a coffee grinder, and a glass coffee dripper. The fruit basket is near the tiled back wall, with the green apple in the foreground of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the green apple on the kitchen counter, grasps it with its gripper, lifts it, moves it backward over the fruit basket, and releases the apple into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1770, "tasks": ["place food"], "length": 268, "global_instruction": "Place a yellow banana from the top tier of the two-tiered fruit basket onto the kitchen counter.", "scene_description": "A white kitchen counter holds a two-tiered black fruit basket (top tier has yellow bananas, bottom tier has assorted green/orange/red fruits), a black coffee grinder, a glass pour-over coffee maker, an orange tangerine, a red-yellow apple, a green packet, an orange packet, a white plastic spoon, a silver round lid, and a black long spoon, with a right robotic arm positioned at the right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the top tier of the two-tiered fruit basket, grasps a yellow banana, lifts it out of the basket, moves it down to the empty area of the counter, places the banana on the counter, and releases its grip.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1771, "tasks": ["place food"], "length": 268, "global_instruction": "Take a green apple from the fruit basket and place it on the kitchen counter.", "scene_description": "A white kitchen counter against light gray tiled walls holds a coffee grinder, pour-over coffee pot, silver lid, black spoon, loose orange, red-yellow apple, banana, sachets, and a multi-tier black fruit basket with assorted fruits, with a robotic arm at the right side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the lower tier of the fruit basket, grasps a green apple, lifts it out of the basket, moves it over the empty counter space, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1772, "tasks": ["place food"], "length": 195, "global_instruction": "Place the loose green apple on the kitchen counter into the lower tier of the black wire fruit basket", "scene_description": "A white kitchen countertop holds a glass pour-over coffee maker, black electric coffee grinder, loose orange, red apple, green sachet, white plastic spoon, yellow banana, loose green apple, and a two-tiered black wire fruit basket with assorted fruits at its far end. A robotic arm base is visible to the right of the counter.", "global_instruction_dense": "The right robotic arm moves from the right side of the counter toward the loose green apple, grasps the apple with its gripper, lifts it, moves it over the lower tier of the black fruit basket, lowers the apple into the basket, releases the gripper to set the apple down, then retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1773, "tasks": ["place food"], "length": 304, "global_instruction": "Pick up the small orange on the counter and place it into the rear fruit basket.", "scene_description": "A white kitchen counter holds a small orange, a red apple, a green packet, a yellow banana, a black coffee grinder, a glass coffee pot, and a black metal fruit basket filled with assorted fruits at the rear, with a robotic arm positioned near the basket.", "global_instruction_dense": "The right robotic arm moves toward the small orange on the counter, grasps it with its gripper, lifts the orange, moves it over the rear fruit basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1774, "tasks": ["place food"], "length": 215, "global_instruction": "Pick up the loose orange on the counter and place it into the lower tier of the fruit basket", "scene_description": "A white kitchen counter with light grey tiled backsplash holds a two-tiered black metal fruit basket (upper tier has bananas, lower tier has assorted fruits), a loose orange, yellow banana, red apple, black coffee grinder, glass pour-over carafe, and small kitchen items; a robotic arm base is at the counter's right edge, with no arm visible initially.", "global_instruction_dense": "The right robotic arm moves from off-screen onto the counter, approaches and grasps the loose orange, lifts it, moves left to the lower tier of the fruit basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1775, "tasks": ["place food"], "length": 358, "global_instruction": "Take an orange from the lower fruit basket and place it on the white countertop.", "scene_description": "A white kitchen counter holds a two-tier black wire fruit basket (upper tier with bananas, lower tier with mixed fruits), a yellow banana, a red-orange apple, a coffee grinder, a pour-over coffee carafe, and small kitchen items, with a right robotic arm positioned above the lower fruit basket.", "global_instruction_dense": "The right robotic arm moves down into the lower tier of the two-tier fruit basket, grasps an orange with its gripper, lifts the orange out of the basket, moves it forward over the counter, and releases it onto the counter near the silver lid.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1776, "tasks": ["place food"], "length": 209, "global_instruction": "Place the red apple on the kitchen counter into the fruit basket.", "scene_description": "A white kitchen counter holds a two-tier fruit basket at the back, a red apple, yellow banana, small orange, coffee grinder, glass coffee carafe, and snack packets; a robotic arm is positioned above the fruit basket.", "global_instruction_dense": "The left robotic arm moves downward from above the fruit basket toward the red apple on the counter, grasps the apple, lifts and moves it over the fruit basket, then releases the apple into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1777, "tasks": ["place food"], "length": 495, "global_instruction": "Place the scattered brown snack pieces on the kitchen counter into the open beige takeout box", "scene_description": "A white kitchen counter holds a black coffee grinder on the left, a white patterned paper cup next to the grinder, an open beige disposable takeout box at the center front, scattered brown circular snack pieces, a blue packaged snack, a blue-and-white patterned bowl with snacks, and a small white bowl near the right sink.", "global_instruction_dense": "The right robotic gripper descends toward the scattered brown snack pieces on the kitchen counter, grasps a snack piece, lifts it, moves it over the open beige takeout box, releases the snack into the box, then moves back toward the remaining snacks on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1778, "tasks": ["place food"], "length": 798, "global_instruction": "Place the brown food patty on the counter into the open beige takeout container.", "scene_description": "A white kitchen counter holds an open beige takeout container on the left, a white paper cup with green text next to a black coffee grinder, a small purple packaged snack, an open blue snack bag, a blue-and-white patterned bowl with food, a small empty white bowl, and a sink in the background; no robotic arm is present in the initial view.", "global_instruction_dense": "The right robotic arm enters from the top of the frame, moves toward the brown food patty on the counter, adjusts its position to grasp the patty, lifts the patty, moves it over the open beige takeout container, releases the patty into the container, then moves away from the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1779, "tasks": ["place food"], "length": 432, "global_instruction": "Pick up a piece of food from the white bowl and place it into the open beige takeout container.", "scene_description": "A white kitchen countertop holds a black coffee grinder on the left, a white printed paper cup next to the grinder, an open beige takeout container in the center, a small orange packaged snack, an open blue snack bag, a white bowl with brown food pieces, a small white lid, and a sink on the far right, with a right robotic arm positioned above the blue snack bag.", "global_instruction_dense": "The right robotic arm moves from above the open blue snack bag toward the white bowl with brown food, lowers its gripper into the bowl to grasp a piece of food, lifts the food out of the bowl, moves left over the open beige takeout container, and releases the food into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1780, "tasks": ["place food"], "length": 431, "global_instruction": "Pick a brown snack from the blue-and-white patterned bowl and place it into the open beige takeout container", "scene_description": "A black coffee grinder, white patterned paper cup, open beige disposable takeout container, small blue snack packet, open blue chip bag, blue-and-white patterned bowl with brown snacks, and small white round dish are arranged on a white kitchen counter, with a sink at the far right of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the blue-and-white patterned bowl with brown snacks, grasps a brown snack, lifts the snack, moves it over the open beige takeout container, and releases the snack into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1781, "tasks": ["place food"], "length": 304, "global_instruction": "Pick an orange snack from the blue and white striped bowl and place it into the open beige takeout container.", "scene_description": "A white kitchen counter holds a black coffee grinder, a white printed paper cup, two open beige takeout containers, a small orange packet, an open blue snack bag, a blue-and-white striped bowl of orange snacks, a small white dish, and a sink in the background, with an open drawer under the counter holding white items.", "global_instruction_dense": "The right robotic gripper moves into the frame from above the sink, descends to the blue and white striped bowl, grasps an orange snack, lifts it, moves left over the open beige takeout container, and releases the snack into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1782, "tasks": ["place food"], "length": 731, "global_instruction": "Place a brown snack from the blue-and-white striped bowl into the open beige takeout container", "scene_description": "A white kitchen counter holds a black coffee grinder, a white printed paper cup, an open beige takeout container, a small orange-blue snack packet, an open blue chip bag, a blue-and-white striped bowl of brown snacks, a small white round dish, a sink at the back right, and an open drawer with paper rolls below the counter.", "global_instruction_dense": "The right robotic arm moves toward the blue-and-white striped bowl of brown snacks, grasps a snack from the bowl, lifts the snack, moves it over the open beige takeout container, and releases the snack into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1783, "tasks": ["place food"], "length": 551, "global_instruction": "Place brown food pieces from the beige takeout container into the blue-and-white patterned bowl.", "scene_description": "A white kitchen counter has a black coffee grinder on the left, a patterned white paper cup next to the grinder, an open two-compartment beige takeout container holding brown food pieces, a small plain white bowl, a blue-and-white patterned small bowl, a blue snack packet near the takeout container, and a sink at the far right end of the counter.", "global_instruction_dense": "The right robotic arm moves down toward the beige takeout container on the counter, grasps a brown food piece, lifts it, moves it right over the blue-and-white patterned bowl, releases the food into the bowl, then returns to the takeout container to grasp a brown food piece, moves it to the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1784, "tasks": ["place food"], "length": 220, "global_instruction": "Place an orange snack piece from the left beige takeout tray into the empty right beige takeout tray.", "scene_description": "A white kitchen counter holds a black coffee grinder, a printed paper cup, two white plastic spoons, a roll of white paper towels, and two beige takeout trays: the left tray has orange and purple snack pieces, the right tray is empty, with a blue packet and sink in the background.", "global_instruction_dense": "The right robotic arm moves toward the left beige takeout tray, grasps an orange snack piece from it, lifts the snack, moves it over the empty right beige takeout tray, and releases the snack into the right tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1785, "tasks": ["place food"], "length": 390, "global_instruction": "Place an orange snack piece from the left tray's package into the right white tray", "scene_description": "A white kitchen countertop has a black coffee grinder on the left, a white printed paper cup, a white plastic spoon, two adjacent white food trays: the left tray holds a purple packaged snack with orange pieces, the right tray has one orange snack piece, with a sink in the background.", "global_instruction_dense": "The right robotic arm moves down toward the purple packaged snack in the left tray, grasps an orange snack piece from the package, lifts it, moves it over the adjacent right white tray, and releases the snack piece into the right tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1786, "tasks": ["place food"], "length": 355, "global_instruction": "Transfer an orange food piece from the right tray to the left tray and adjust the packaged snack in the left tray.", "scene_description": "A black coffee grinder, a white patterned paper cup, disposable cutlery, two light beige disposable food trays, and a black robotic arm are positioned on a white kitchen counter. The right tray holds orange food pieces, while the left tray contains a packaged food item.", "global_instruction_dense": "The right robotic gripper moves toward the right tray holding orange food pieces, grasps one orange piece, lifts and moves it into the left tray, releases it, adjusts the packaged food item in the left tray, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1787, "tasks": ["place food"], "length": 213, "global_instruction": "Place the small orange food piece from the right beige takeout tray into the left beige takeout tray.", "scene_description": "A white kitchen counter holds a black coffee grinder on the left, a patterned paper cup, a white paper sheet, a yellow plastic spoon, two light beige takeout trays (the right tray has a small orange food piece, the left tray has a packaged snack), a blue packet, a patterned bowl, and a sink at the far end, with a robotic gripper near the sink in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the right beige takeout tray, grasps the small orange food piece inside it, lifts the food, moves it leftward over the left beige takeout tray, releases the food into the left tray, briefly touches the packaged snack in the left tray, then lifts upward away from the trays.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1788, "tasks": ["place food"], "length": 295, "global_instruction": "Place the single orange food piece from the right beige takeout tray into the left beige takeout tray.", "scene_description": "A white kitchen countertop holds a black coffee grinder on the left, a printed paper cup, two beige takeout trays, white plastic spoons, and a white paper napkin. The right takeout tray has a single orange food piece, the left takeout tray has multiple orange and purple food pieces.", "global_instruction_dense": "The right robotic gripper enters the frame from above, moves toward the right beige takeout tray, grasps the single orange food piece in it, lifts the piece, moves it over the left beige takeout tray, releases the piece into the left tray, then retracts upward out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1789, "tasks": ["place food"], "length": 471, "global_instruction": "Place the orange food pieces from the right beige takeout tray into the adjacent left takeout tray holding wrapped snacks.", "scene_description": "A white kitchen countertop has a black coffee grinder on the left, a printed paper cup, two adjacent beige takeout trays (the right tray holds two orange food pieces, the left tray holds wrapped snack packets), plastic utensils, a white napkin roll, and a robotic arm positioned near the sink at the back right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the right beige takeout tray holding orange food pieces, grasps an orange food piece, lifts and transfers it to the adjacent left takeout tray with wrapped snacks and releases it, grasps and transfers a second orange food piece to the left tray, attempts to grasp a wrapped snack from the left tray, then moves toward the blue packet at the back of the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1790, "tasks": ["place food"], "length": 331, "global_instruction": "Pick up the small orange food piece and packaged snack from the beige trays and place them on the counter behind the trays.", "scene_description": "A white kitchen countertop holds a black coffee grinder on the far left, a printed white paper cup next to it, two beige disposable food trays (one with a small orange food piece, the other with a blue and orange packaged snack), two white plastic spoons, and a roll of white paper towel, with a sink in the background.", "global_instruction_dense": "The right robotic gripper enters the frame from the top, moves to the small orange food piece in the right beige tray, grasps and lifts it, places it on the counter behind the trays, then moves to the blue and orange packaged snack in the left beige tray, grasps and lifts it, places it next to the orange food piece on the counter, then moves away from the work area.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1791, "tasks": ["place food"], "length": 416, "global_instruction": "Place an orange slice onto the yellow plastic spoon on the kitchen counter.", "scene_description": "A white kitchen countertop holds a black coffee grinder on the left, a printed white paper cup beside it, two beige disposable food trays, a small purple sachet, a patterned white bowl, yellow and white plastic spoons, a paper towel roll, with a sink at the far end of the counter.", "global_instruction_dense": "The right robotic gripper moves toward an orange slice at the far end of the counter, grasps the slice, moves it left to position over the yellow plastic spoon next to the paper cup, lowers the slice, and releases it onto the spoon.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1792, "tasks": ["place food"], "length": 526, "global_instruction": "Move the orange food slice from the left beige takeaway box into the adjacent beige takeaway box using a plastic spoon.", "scene_description": "A white kitchen counter holds a black coffee grinder, a printed paper cup, a white napkin, two open beige takeaway boxes with an orange food slice in the left box, plastic spoons, and small snack items, with a right robotic arm positioned at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves down to grasp an orange food slice from the left beige takeaway box, carries the slice to place it on a white plastic spoon, adjusts its position to grasp the spoon holding the food, lifts the spoon and moves it over the takeaway box to transfer the food, then releases the spoon back onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1793, "tasks": ["place food"], "length": 541, "global_instruction": "Use the plastic fork to transfer a snack piece from the farther patterned bowl to the closer patterned bowl, then place the fork in the closer bowl and adjust the napkin over the farther bowl.", "scene_description": "A white table holds two black-and-white geometric patterned paper bowls, a white plastic fork in the closer bowl, one light-colored snack piece in each bowl, two stacked white takeout boxes, a patterned white cup, a small yellow-green block tower, a white rectangular basket with a black base, and a light wood box containing blue and yellow blocks on the right, with dark cushioned bench seating behind the table.", "global_instruction_dense": "The right robotic gripper enters the scene, moves toward the white plastic fork in the closer patterned paper bowl, grasps the fork, moves it to the farther patterned bowl, uses the fork to pick up a light snack piece, transfers the snack to the closer bowl and releases it, places the fork into the closer bowl, adjusts the white napkin over the farther bowl, then lifts and moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1794, "tasks": ["place food"], "length": 381, "global_instruction": "Pick a beige food item from the upper patterned bowl and place it into the lower patterned bowl.", "scene_description": "A white table holds two black-and-white patterned bowls (the closer lower bowl has two beige food items, the upper bowl holds similar food items), a white patterned cup, stacked white containers, a yellow-green stacked block, a small white box, and a wooden box with colorful blocks on the right side.", "global_instruction_dense": "The right robotic arm enters the scene from the upper right, moves toward the upper patterned bowl on the white table, grasps a beige food item from the upper bowl, lifts it, moves it over the lower patterned bowl, and releases the food item into the lower bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1795, "tasks": ["place food"], "length": 477, "global_instruction": "Place a beige snack from the front patterned bowl into the rear empty patterned bowl using the plastic fork.", "scene_description": "Two blue and white zigzag patterned bowls are on a white table: the front bowl holds light beige round snacks and a white plastic fork, the rear bowl is empty. Additional items on the table include a patterned paper cup, stacked white boxes, a small block toy, a napkin, a small gray container, and a light wooden box with blue and yellow blocks. A dark cushioned sofa is behind the table next to windows.", "global_instruction_dense": "The right robotic arm moves down to grasp the white plastic fork in the front bowl, stabs a beige round snack with the fork, lifts the fork holding the snack, moves it over the rear empty patterned bowl, and releases the snack into the rear bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1796, "tasks": ["place food"], "length": 238, "global_instruction": "Place the sealed white snack packet into the blue-and-white patterned paper plate.", "scene_description": "A white kitchen countertop holds a stainless steel coffee machine on the far left, a blue-and-white patterned paper plate, a small white pitcher with red interior, two white mugs with red interiors, and a sealed white snack packet, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm lowers its gripper toward the white snack packet on the counter, grasps the packet, lifts and moves it left over the blue-and-white patterned paper plate, lowers the packet, releases it onto the plate, and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1797, "tasks": ["place food"], "length": 297, "global_instruction": "Grasp the white coffee pod and place it upright on the kitchen counter.", "scene_description": "A white kitchen counter holds a blue-and-white patterned paper plate, a white pitcher with red interior, two white mugs (one red inside, one patterned), a white paper towel roll, a stainless steel coffee machine with a left digital screen, and a robotic arm in the upper frame.", "global_instruction_dense": "The right robotic arm moves from its upper initial position to grasp a white coffee pod, lowers the pod toward the counter, releases it upright on the counter surface, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1798, "tasks": ["place food"], "length": 183, "global_instruction": "Pick up the snack packet from the paper plate and place it on the kitchen counter near the wooden box.", "scene_description": "A white kitchen counter holds a blue-and-white patterned paper plate with a small snack packet on it, a white pitcher with red interior, a white mug with red rim, a paper towel roll, and a wooden storage box. A robotic arm is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the snack packet on the paper plate, grasps the packet with its gripper, lifts it, moves right toward the area near the wooden storage box, and releases the snack packet onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1799, "tasks": ["place food"], "length": 295, "global_instruction": "Place the small white coffee pod into the KEURIG coffee machine", "scene_description": "A silver and black KEURIG coffee machine is on the left of a white kitchen counter, a small white coffee pod sits on the middle of the counter, a left robotic arm is positioned at the back of the counter, a red-rimmed white cup, paper towel roll and other kitchen items are arranged along the counter, and a stationary right robotic arm base is on the right side of the frame.", "global_instruction_dense": "The left robotic arm moves toward the small white coffee pod on the kitchen counter, grasps it with its gripper, lifts it, moves it left to the open slot of the KEURIG coffee machine, lowers it into the slot, and releases the pod into the machine.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1800, "tasks": ["place food"], "length": 158, "global_instruction": "Place the coffee pod into the white patterned cup on the kitchen counter.", "scene_description": "A Keurig coffee machine, K-cup pod rack, red-rimmed white cup, white patterned cup, and paper towel roll are placed on a white kitchen counter. The left robotic arm is positioned above the right side of the counter, the right robotic arm is stationary on the far right of the frame.", "global_instruction_dense": "The left robotic arm moves toward the coffee pod on the counter near the paper towel roll, grasps it, lifts it, moves it left over the white patterned cup, and releases it into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1801, "tasks": ["place food"], "length": 154, "global_instruction": "Pick up the white coffee pod from the patterned paper plate and place it on the adjacent countertop.", "scene_description": "A white kitchen countertop holds a silver and black Keurig coffee machine, a rotating stand of K-cup pods on the far left, a blue and white patterned paper plate with a white coffee pod on it, a red-rimmed white cup, a small patterned mug, and a paper towel roll. A left robotic arm is at the far end of the counter, and a stationary right robotic arm is on the right side of the frame.", "global_instruction_dense": "The left robotic arm moves from the far end of the kitchen counter toward the patterned paper plate, lowers its gripper to grasp the white coffee pod on the plate, lifts the pod, moves it to the right of the plate, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1802, "tasks": ["place food"], "length": 198, "global_instruction": "Pick up a coffee pod from the counter and place it into the top white paper cup.", "scene_description": "A silver and black Keurig coffee machine, a coffee pod holder, stacked white paper cups, and a paper towel roll are arranged on a white kitchen countertop, with a white robotic arm positioned to the right of the counter.", "global_instruction_dense": "The right robotic arm moves left from its initial position, lowers to grasp a coffee pod on the counter, lifts the pod, moves it over the stacked paper cups, lowers it into the top cup, releases the pod, and lifts back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1803, "tasks": ["place food"], "length": 169, "global_instruction": "Place the small white coffee pod into the Keurig coffee machine.", "scene_description": "A silver and black Keurig coffee machine sits on the left of a white kitchen counter, a small white coffee pod is placed between two cups on the counter, and a left robotic arm is positioned at the far end of the counter.", "global_instruction_dense": "The left robotic arm moves down toward the small white coffee pod on the counter, grasps it, lifts it, moves it over to the Keurig coffee machine, and places it into the machine's pod slot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1804, "tasks": ["place food"], "length": 209, "global_instruction": "Retrieve a coffee pod from the Keurig coffee machine and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee machine on the left, a paper towel roll next to the machine, assorted small containers and a white cup along the counter, with a white robotic arm positioned to the right of the counter.", "global_instruction_dense": "The left robotic gripper moves toward the Keurig coffee machine, opens the machine's lid to grasp a white coffee pod, then moves the pod to the center of the counter and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1805, "tasks": ["place food"], "length": 182, "global_instruction": "Pick orange packets from the open drawer and place them on the kitchen counter", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee maker on the left, a small blue object, and assorted cups and items further back. An open drawer below the counter contains orange long packets and light wooden stir sticks, with a dual-arm robot positioned to the right of the counter.", "global_instruction_dense": "The left robotic arm moves toward the open drawer beneath the kitchen counter, grasps multiple orange packets with its gripper, lifts the packets, moves them over the counter surface, and releases them onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1806, "tasks": ["place food"], "length": 458, "global_instruction": "Place the long orange strip on the kitchen counter into the open drawer below the counter, then close the drawer.", "scene_description": "A white kitchen counter holds a silver and black KEURIG coffee maker, a white paper towel roll, a small blue square object, and a single long orange strip. An open drawer below the counter contains multiple identical long orange strips and light-colored wooden stir sticks, with the robot's left arm positioned at the back of the counter near the sink.", "global_instruction_dense": "The left robotic arm moves toward the long orange strip on the kitchen counter, grasps the strip, lifts it, lowers it into the open drawer with other orange strips, then pushes the drawer fully closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1807, "tasks": ["place food"], "length": 221, "global_instruction": "Pick the coffee pod from the bowl and place it into the Keurig coffee machine.", "scene_description": "A white kitchen countertop holds a silver Keurig coffee machine on the left, a small white patterned bowl with a white coffee pod in the center, various cups and kitchen supplies, and two white robotic arms on the right.", "global_instruction_dense": "The left robotic gripper moves toward the coffee pod in the small bowl on the counter, grasps the pod, lifts it, moves left toward the Keurig machine, and places the pod into the machine's opening.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1808, "tasks": ["place food"], "length": 161, "global_instruction": "Place an orange packet from the open drawer onto the kitchen counter", "scene_description": "A white kitchen counter holds a silver Keurig coffee machine, cups, a small patterned dish, and other small items. An open drawer below the counter contains orange long packets and light beige wooden items. A left robotic arm is positioned above the counter.", "global_instruction_dense": "The left robotic arm moves down into the open drawer, grasps an orange packet, lifts the packet, moves it over the kitchen counter, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1809, "tasks": ["place food"], "length": 215, "global_instruction": "Place a coffee pod into the Keurig coffee machine on the kitchen counter.", "scene_description": "A white kitchen counter holds a silver-and-black Keurig coffee machine on the left, a grey toaster beside it, small green and blue caps, a patterned white dish, red-and-white cups, a utensil caddy, and a sink at the far end. A white robotic arm is positioned at the right edge of the frame with its end effector near the sink.", "global_instruction_dense": "The right robotic arm lifts its end effector holding a coffee pod, moves left across the counter toward the Keurig coffee machine, positions the pod over the machine's top opening, and lowers the pod into the Keurig's pod compartment.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1810, "tasks": ["place food"], "length": 185, "global_instruction": "Pick a coffee pod from the Keurig machine and place it on the kitchen countertop", "scene_description": "A silver and black Keurig coffee machine, a gray appliance, a patterned white cup, a white utensil holder, and a sink are arranged on a white kitchen countertop. A left robotic gripper is positioned above the counter near the sink.", "global_instruction_dense": "The left robotic arm moves from its initial position near the sink toward the Keurig coffee machine, grasps a small white coffee pod from the machine, lifts the pod, moves it rightward across the counter, lowers it, and releases it onto the countertop between the Keurig machine and the patterned white cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1811, "tasks": ["place food"], "length": 139, "global_instruction": "Pick up the small white coffee pod from the counter and place it into the Keurig coffee machine", "scene_description": "A silver Keurig coffee machine is on the left of a white kitchen countertop, a small white coffee pod, patterned plate, and utensil cup sit on the counter, a sink is at the far end of the counter, and a robotic arm base is on the right.", "global_instruction_dense": "The left robotic arm moves into view above the counter, lowers to grasp the small white coffee pod, lifts it, and moves the pod toward the Keurig coffee machine to insert it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1812, "tasks": ["place food"], "length": 141, "global_instruction": "Pick up the orange on the small plate and place it on the empty counter next to the other orange.", "scene_description": "A white kitchen counter has a black coffee maker with a glass pot of dark coffee on the far left, followed by a dark bag, a metallic kettle lid, a small plate with one orange, a loose orange, a green pear, a short patterned cup, and a taller patterned cup. A sink is at the counter's far end, and a white robotic arm is positioned above the right counter area with its base on the far right.", "global_instruction_dense": "The right robotic arm moves downward toward the orange resting on the small plate, grasps the orange, lifts it, moves it rightward above the counter, lowers it, and releases it onto the empty counter space beside the other orange.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1813, "tasks": ["place food"], "length": 269, "global_instruction": "Pick up the pear on the kitchen counter and place it next to the silver kettle lid on the left section of the counter.", "scene_description": "A black food processor with a transparent container of dark contents sits on the left end of a white kitchen counter. On the middle of the counter, there is a silver kettle lid, a purple patterned cloth, two oranges, a greenish-yellow pear, and two printed cups. A robotic arm is positioned on the right side above the counter, with a sink visible in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the pear in the middle of the kitchen counter, grasps it with its gripper, lifts the pear and moves it leftward to the area next to the silver kettle lid, lowers the pear, releases it, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1814, "tasks": ["place food"], "length": 351, "global_instruction": "Move the cup from the coffee maker to the counter, then place a coffee pod into the cup.", "scene_description": "A white kitchen counter has a silver Keurig coffee maker on the far left, a striped paper plate with coffee pods, a utensil cup, a small brown box, and a robotic arm mounted to the counter's right.", "global_instruction_dense": "The left robotic arm grasps the patterned white cup from the top of the Keurig coffee machine, places it on the white counter, then grasps a coffee pod from the striped plate, moves it to the placed cup, and releases the pod into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1815, "tasks": ["place food"], "length": 177, "global_instruction": "Pick an orange from the kitchen counter and place it into the open clear food container on the left side of the counter.", "scene_description": "A white kitchen counter holds a black food processor with a transparent bowl (leftmost), an open clear food container with dark contents, a silver lid, a white decorated metal can, two orange oranges, a purple-and-white patterned circular lid, a printed paper cup, and a small white spoon, with a stainless steel sink along the gray tiled back wall, and a right robotic arm positioned on the far right of the counter.", "global_instruction_dense": "The right robotic arm moves from its starting position on the right toward the oranges on the counter, grasps the closer orange with its gripper, lifts it, moves left above the open clear food container, releases the orange into the container, then moves back to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1816, "tasks": ["place food"], "length": 252, "global_instruction": "Take a green pear from the wicker basket and place it on the kitchen counter.", "scene_description": "A white kitchen counter holds a dark brown wicker basket, a shiny silver kettle lid, an orange, two small cylindrical containers, a blue and white patterned plate, a plastic spoon, a white printed cup, and a sideways light green cup, with a robotic arm positioned above the middle of the counter.", "global_instruction_dense": "The right robotic arm moves toward the wicker basket on the left side of the kitchen counter, grasps a green pear from inside the basket, lifts it, moves it over the empty counter space near the white printed cup, lowers it, and releases it onto the counter surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1817, "tasks": ["place food"], "length": 287, "global_instruction": "Pick up the left orange and place it next to the orange near the un-lidded paper cup.", "scene_description": "A white kitchen counter holds a woven basket with a silver kettle lid, a lidded paper cup, a green pear, a purple-white patterned plate, two oranges, two small white containers, an un-lidded paper cup on a saucer, and a sink at the far end.", "global_instruction_dense": "The right robotic arm moves toward the left orange on the kitchen counter, grasps it, lifts it, moves it rightward to the area near the other orange next to the un-lidded paper cup, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1818, "tasks": ["place food"], "length": 156, "global_instruction": "Place the reddish-orange apple onto the blue-and-white patterned plate", "scene_description": "A white kitchen counter holds a green pear, a chrome kettle, a blue-and-white patterned plate, a patterned paper cup on a white saucer, a reddish-orange apple, a smaller bright orange fruit, two small containers near a stainless steel sink, with a robotic arm at the right side of the scene.", "global_instruction_dense": "The right robotic arm moves from its initial position toward the reddish-orange apple on the counter, grasps the apple, lifts it, moves it over the blue-and-white patterned plate, lowers and releases it onto the plate, then moves upward away from the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1819, "tasks": ["place food"], "length": 248, "global_instruction": "Place the orange from the blue patterned plate next to the orange near the sink.", "scene_description": "A white kitchen counter holds a metallic lidded container on the far left, a green pear, a blue-and-white patterned paper plate with an orange, two patterned disposable cups, a small white plate with dark food pieces, a second orange near the stainless steel sink, with a robotic arm positioned at the right edge of the frame.", "global_instruction_dense": "The left robotic arm extends from the right side of the frame toward the blue patterned plate, grasps the orange resting on the plate, lifts it, moves it to the area near the sink, places it next to the orange already on the counter, then releases the orange and retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1820, "tasks": ["place food"], "length": 200, "global_instruction": "Place the orange snack package into the sink below the countertop", "scene_description": "A white kitchen countertop holds two patterned oven mitts on the left, a clear spray bottle, a large glass jar full of blue packets, a yellow plastic spoon, a white napkin, an orange snack package on the right, a white plate, a square black slot, with a sink below the counter and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves toward the orange snack package on the right of the countertop, grasps it, lifts it, moves it over the adjacent sink, releases the package into the sink, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1821, "tasks": ["place food"], "length": 139, "global_instruction": "Place the orange snack packet on the countertop into the inset trash opening.", "scene_description": "A white countertop against a light gray horizontally tiled wall holds two patterned paper cups, a clear hand sanitizer pump bottle, a large glass jar filled with blue wrapped items, a plastic spoon, a white napkin, an inset square trash opening, and an orange snack packet to the right of the trash opening.", "global_instruction_dense": "The right robotic arm moves toward the orange snack packet on the right of the countertop, grasps it with its gripper, lifts it, moves it over the inset trash opening, releases it into the trash, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1822, "tasks": ["place food"], "length": 529, "global_instruction": "Place the orange snack packet into the countertop sink.", "scene_description": "A white kitchen counter holds two patterned paper cups on the left, a clear hand sanitizer pump bottle, a large glass jar filled with blue sachets, a beige plastic spoon, a white napkin, a white plate, and an orange snack packet near the sink cutout, with a robotic arm positioned above the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves downward toward the orange snack packet on the counter, grasps it, lifts it over the sink, releases the packet to drop it into the sink, then moves back upward to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1823, "tasks": ["place food"], "length": 744, "global_instruction": "Pick up the orange snack package and place it into the square trash chute embedded in the countertop.", "scene_description": "A white kitchen countertop has two beige patterned gloves with brown swirls and green accents on its left side, a small clear pump bottle and a large clear jar filled with sachets at the back, an embedded square trash chute opening, and a right robotic gripper positioned at the top right above the counter.", "global_instruction_dense": "The right robotic gripper descends toward the lower counter, grasps an orange snack package, lifts it onto the counter, adjusts its grip on the package, moves it over the embedded square trash chute, releases the package into the chute, and then returns to its raised starting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1824, "tasks": ["place food"], "length": 188, "global_instruction": "Pick up the orange and silver snack package and place it into the sink.", "scene_description": "A white kitchen counter holds two patterned oven mitts on the left, a small clear pump bottle, a large glass jar filled with blue packets, a plastic spoon, a white napkin, an orange-silver snack package on the right, and an embedded sink, with a light grey tiled wall behind the counter.", "global_instruction_dense": "The right robotic arm moves down toward the orange-silver snack package on the kitchen counter, grasps it with its gripper, lifts the package, moves it over the embedded sink, releases it to drop into the sink, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1825, "tasks": ["place food"], "length": 123, "global_instruction": "Pick up the green and orange snack bag on the countertop and place it into the counter cutout.", "scene_description": "Two patterned paper cups, a small orange package, a clear hand sanitizer bottle, a large transparent jar filled with blue packets, a white plastic spoon, and a green-and-orange snack bag are placed on a white kitchen countertop with two square cutouts, against a light gray tiled wall and dark brown wooden panel background.", "global_instruction_dense": "The right robotic arm moves down toward the green-and-orange snack bag on the white countertop, grasps the bag with its gripper, lifts the bag, moves it over the square counter cutout, releases the bag into the cutout, then moves upward away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1826, "tasks": ["place food"], "length": 308, "global_instruction": "Place the orange snack bag into the larger square disposal opening on the countertop.", "scene_description": "A white countertop against a light gray tiled wall holds two patterned paper cups on the left, a small clear spray bottle, a large clear jar filled with blue packets at the back, an orange snack bag, a small crumpled white object, and two square embedded disposal openings, with dark wood paneling in the background.", "global_instruction_dense": "The right robotic arm enters from the right side of the scene, pushes the small crumpled white object into a disposal opening, grasps the orange snack bag, lifts it, drops it into the larger square disposal opening on the countertop, then retracts to the right.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1827, "tasks": ["place food"], "length": 396, "global_instruction": "Scoop dark food pieces from the white tray and place them into the blue patterned cup.", "scene_description": "A white kitchen counter with a gray tiled backsplash has clear plastic sheets on its left side, stacked white boxes left of center, a white tray holding a blue-patterned cup on a striped coaster to the right, a clear glass bottle at the far left, and a robotic arm at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves downward toward the white tray, uses a scoop to pick up dark food pieces from the tray, lifts the scoop, moves it over the blue patterned cup, tilts the scoop to release the food into the cup, then moves the scoop back toward the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1828, "tasks": ["place food"], "length": 141, "global_instruction": "Place the long orange strip into the open beige takeout container on the counter.", "scene_description": "A gray tiled wall with electrical outlets sits behind a white kitchen counter, which holds a gray napkin holder with stacked white napkins, a small red-and-white marked block, a blue-and-white patterned circular object, a gray box of stacked white sheets, a white plate, stacked patterned disposable cups at the rear right, an open beige takeout container, a small box of colorful items, and a long orange strip on the right counter edge near a robotic arm at the far right.", "global_instruction_dense": "The right robotic arm moves toward the long orange strip on the right counter edge, grasps it, lifts it, moves it over the open beige takeout container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1829, "tasks": ["place food"], "length": 577, "global_instruction": "Place small food items from the patterned plate near the sink into the clear plastic bag on the counter.", "scene_description": "A white kitchen counter has a metallic silver lidded container on its left, a large glass jar of brown coffee beans next to the container, a clear sealed plastic bag to the right of the jar, and patterned plates, cups, a sink and paper towel roll near the back grey tiled wall; a robotic arm is visible at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm moves to the clear plastic bag on the counter, opens its top seal, repeatedly picks small food items from the patterned plate near the sink and drops them into the open bag, then moves away from the counter to the right.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1830, "tasks": ["place food"], "length": 436, "global_instruction": "Place scattered food bits from the kitchen counter into the empty blue-and-white patterned bowl near the sink.", "scene_description": "A silver trash bin sits on the left side of a white kitchen countertop. Two blue-and-white patterned paper bowls are on the counter: the closer bowl holds dark brown food, the further bowl near the sink is empty. A wooden rack with small containers, a brown coffee jar, a paper towel roll, and a sink with a faucet are also present, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves down toward the bowl of dark food, grasps scattered food bits from the counter between the two bowls one by one, transfers each bit to the empty blue-and-white bowl near the sink, and releases each bit into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1831, "tasks": ["place food"], "length": 571, "global_instruction": "Pick a small dark coffee bean from the counter and place it into the rear smaller blue-and-white patterned bowl.", "scene_description": "A white kitchen counter has a silver container with a black top on the left, a blue-and-white patterned bowl holding dark brown contents in the center foreground, a second smaller blue-and-white patterned bowl near the sink at the back, a white plastic spoon next to the foreground bowl, a white paper towel roll, a stainless steel sink with a faucet, and a small wooden shelf holding small containers. A robotic arm is positioned at the right side of the counter.", "global_instruction_dense": "The right robotic gripper first lowers into the front blue-and-white bowl containing dark coffee beans, lifts upward, moves to grasp a small dark coffee bean from the counter adjacent to the front bowl, transports the bean over the smaller rear blue-and-white patterned bowl near the sink, releases the bean into the rear bowl, and then moves away from the bowls.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1832, "tasks": ["place food"], "length": 388, "global_instruction": "Reposition the dark packaged snack bag on the white countertop.", "scene_description": "A white countertop sits in front of a large window with red tinsel along its ledge. On the counter: a dark packaged snack bag near the window, two white paper napkins, a yellow plastic spoon, a patterned mug, a small blue card, a blue-and-white small dish, and a large wooden bowl on the far right; residential buildings and trees are visible outside the window.", "global_instruction_dense": "The right robotic arm moves toward the dark packaged snack bag on the counter, grasps it, lifts and adjusts its position, then places it back on the counter and retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1833, "tasks": ["place food"], "length": 441, "global_instruction": "Place scooped food into the small blue and white patterned bowl on the countertop.", "scene_description": "A white countertop next to a large window holds a black snack bag with a yellow band, two white paper napkins, a small blue card, a green patterned cup, a small blue and white patterned bowl, a large wooden bowl on the right, and red tinsel lines the window ledge.", "global_instruction_dense": "The right robotic arm moves right across the counter, grasps a white spoon, uses it to scoop food from a dish, moves the spoon over the small patterned bowl to drop the food into it, then places the spoon onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1834, "tasks": ["place food"], "length": 450, "global_instruction": "Transfer coffee beans from the front patterned bowl and countertop into the rear patterned bowl.", "scene_description": "A white kitchen countertop holds a silver lidded container on the left, two blue-and-white patterned paper bowls (the front bowl holds brown coffee beans, the rear bowl near the sink is empty), plus background items including a paper towel roll, sink faucet, small wooden shelf with containers, and wall electrical outlets.", "global_instruction_dense": "The right robotic arm first moves to the front blue-and-white bowl holding coffee beans, grasps beans from the bowl, then grasps scattered beans from the countertop, moves to the rear empty blue-and-white bowl to release the beans, repeats grasping scattered countertop beans and releasing them into the rear bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1835, "tasks": ["place food"], "length": 510, "global_instruction": "Place the loose coffee beans on the kitchen counter into the empty blue-and-white patterned bowl.", "scene_description": "A white kitchen counter holds a silver-and-black rectangular appliance on the left, a large brown storage jar with a silver lid, two blue-and-white patterned paper bowls (one filled with dark brown coffee beans, one empty), several loose dark brown coffee beans on the counter between the bowls, and kitchen supplies including a paper towel roll, sink, and cups in the background. A robotic arm is positioned at the far right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the loose coffee beans on the white kitchen counter, grasps a bean with its gripper, lifts it, moves it over the empty blue-and-white patterned bowl, releases the bean into the bowl, then moves back toward the remaining loose beans on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1836, "tasks": ["place food"], "length": 395, "global_instruction": "Place the white coffee pod with a red top into the silver storage tin.", "scene_description": "A white kitchen counter holds a silver rectangular storage tin with a black lid, a small white coffee pod with a red top in front of the tin, a white patterned cup to the pod's right, and background items including a sink, paper towel roll, and assorted dishware, with a robotic arm at the upper right of the frame.", "global_instruction_dense": "The right robotic arm moves to the silver storage tin, opens its lid, moves to grasp the white coffee pod with a red top on the counter, lifts the pod, moves it over the open tin, and drops the pod inside the tin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1837, "tasks": ["place food"], "length": 467, "global_instruction": "Place the small white coffee pod on the counter into the silver trash bin.", "scene_description": "A white kitchen counter holds a silver trash bin with a black lid, a small white coffee pod with a dark red top, multiple patterned white cups, and a sink against gray tiled walls.", "global_instruction_dense": "The right robotic arm approaches the silver trash bin, opens its lid, grasps the small white coffee pod on the counter, drops the pod into the open bin, closes the bin lid, then moves away toward the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1838, "tasks": ["place food"], "length": 186, "global_instruction": "Place the dark snack package onto the stacked white paper napkins on the countertop.", "scene_description": "A white countertop adjacent to a window lined with red tinsel holds a dark snack package left of stacked white paper napkins, plus a white red-interior mug, golden bowl, patterned plate, and small container in the background, with buildings and trees visible outside the window.", "global_instruction_dense": "The right robotic arm lowers toward the dark snack package on the counter, grasps it, drags it onto the stack of white paper napkins, adjusts its position, then releases the package and lifts upward out of view.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1839, "tasks": ["place food"], "length": 456, "global_instruction": "Place the small white coffee pod on the kitchen counter into the silver rectangular storage box.", "scene_description": "A white kitchen counter holds a black and silver Keurig coffee machine on the far left, a closed silver rectangular storage box in the center, a small white coffee pod and dishes near the sink on the right side of the counter, with gray tiled walls behind the counter.", "global_instruction_dense": "The right robotic gripper first moves to the closed silver rectangular storage box on the kitchen counter, lifts its lid to open the box, moves to the small white coffee pod on the counter, grasps the pod, moves it over the opened box, and releases the pod into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1840, "tasks": ["place food"], "length": 305, "global_instruction": "Place a coffee pod into the Keurig coffee machine", "scene_description": "A white kitchen counter holds a silver and black Keurig coffee machine on the left, a stainless steel storage box adjacent to the machine, a circular wire rack filled with coffee pods at the center, small dishes and cups near the sink on the right, and a robotic arm positioned above the right side of the counter, with a gray tiled backsplash behind the counter.", "global_instruction_dense": "The right robotic arm moves toward a coffee pod on the kitchen counter, grasps it, lifts it, moves it to the Keurig coffee machine, inserts the pod into the machine's slot, then releases the pod and retracts its arm.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1841, "tasks": ["place food"], "length": 487, "global_instruction": "Place a food item from the blue-and-white patterned dish into the wooden bowl on the countertop.", "scene_description": "A white countertop sits next to large windows, with a red and silver tinsel garland along the window edge, a blue-and-white patterned dish, a white mug with red interior and handle, a yellow snack packet, and a wooden bowl arranged on the counter.", "global_instruction_dense": "The right robotic gripper enters the frame, moves down to the blue-and-white patterned dish on the white countertop, grasps a food item, lifts and moves it right over the wooden bowl, releases the food into the bowl, then retracts upward and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1842, "tasks": ["place food"], "length": 363, "global_instruction": "Pick pieces of food from the small patterned bowl and place them onto the white napkins on the counter.", "scene_description": "A white countertop sits in front of large windows, with red and silver tinsel along the window ledge. A grey mug with red rim and handle is on the left of the counter, a small patterned bowl, a plate with dark food bits, and a large wooden bowl are arranged further right, with two white napkins placed on the front of the counter.", "global_instruction_dense": "The right robotic arm holding a fork enters the scene, picks pieces of food from the small patterned bowl on the counter, moves each piece over to the white napkins on the counter, releases the food onto the napkins, and repeats this process before moving away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1843, "tasks": ["place food"], "length": 130, "global_instruction": "Place the packaged snack from the patterned bowl onto the adjacent white plate", "scene_description": "A white countertop holds a grey mug with red rim and handle, two patterned bowls, a metal spoon, two folded white cloths, a white plate, and red tinsel along the window ledge behind. A potted plant in a wooden bowl sits at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the patterned bowl on the countertop, grasps the packaged snack inside the bowl, lifts the snack, moves it to the adjacent white plate, releases the snack onto the plate, then lifts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1844, "tasks": ["place food"], "length": 580, "global_instruction": "Place the food pieces from the napkin into a patterned bowl, then scoop contents between the two patterned bowls.", "scene_description": "A white countertop has a white mug with a red rim, two light-colored food pieces on stacked white napkins, two patterned white bowls, a wooden bowl, a small potted plant, and red-green tinsel garland along the window ledge in the background.", "global_instruction_dense": "The right robotic gripper descends to the napkin on the counter, grasps a long food piece, lifts and places it into a patterned bowl, then grasps a shorter food piece from the napkin and places it into the same bowl, then grasps a spoon from the bowl, scoops contents, pours the contents into the second patterned bowl, then moves out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1845, "tasks": ["place food"], "length": 541, "global_instruction": "Place light-colored snack pieces from the right bowl onto the white napkin near the mug.", "scene_description": "A white table has red decorative tinsel along its back edge, a white mug with a red rim positioned left-of-center near the tinsel, two stacked white napkins in front of the mug, patterned small bowls to the right of the mug, and a wooden plant pot with a small evergreen tree at the far right near the window.", "global_instruction_dense": "The right robotic arm repeatedly reaches to the rightmost bowl on the table, grasps light-colored snack pieces, moves them over to the white napkin in front of the red-rimmed mug, and releases them onto the napkin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1846, "tasks": ["place food"], "length": 451, "global_instruction": "Place the light-colored snack sticks from the napkin into the patterned ceramic bowl.", "scene_description": "A white countertop has red decorative garland along the window ledge behind it, a white mug with red interior and handle, two white napkins, light-colored snack sticks on the upper napkin, several patterned ceramic bowls, and a wooden planter with a small plant at the far end of the counter.", "global_instruction_dense": "The right robotic gripper moves to the snack sticks on the napkin, grasps individual sticks, moves each to the patterned bowl at the counter's far end, releases them into the bowl, and repeats the process for multiple sticks.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1847, "tasks": ["place food"], "length": 212, "global_instruction": "Place the dark food packet from the rear plate onto the front white napkin on the counter.", "scene_description": "A white countertop holds a white mug with red rim and handle, two white paper napkins, red decorative tinsel along the rear window ledge, patterned bowls, a small potted plant in a wooden bowl at the right, and a dark food packet resting on a plate near the bowls.", "global_instruction_dense": "The right robotic gripper moves toward the dark food packet on the rear plate near the counter's back edge, grasps the packet, lifts it, moves it horizontally over the front white napkin, lowers it, and releases it onto the napkin before moving upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1848, "tasks": ["place food"], "length": 307, "global_instruction": "Place the dark snack bag and its loose fragments onto the white plate on the table.", "scene_description": "A white table holds a grey mug with red rim and handle, a dark sealed snack bag, two white napkins, a white ceramic plate, a printed paper cup, and a wooden planter with a small decorative tree near a window lined with red tinsel garland.", "global_instruction_dense": "The right robotic gripper descends to grasp the dark snack bag from the table, moves it to the white plate and sets it down, then picks up loose snack fragments from the napkin and places them on top of the bag on the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1849, "tasks": ["place food"], "length": 191, "global_instruction": "Take the dark packaged food out of the white bowl and place it on the table next to the small green potted plant.", "scene_description": "A white table holds a small green potted plant on its left, a white bowl with dark packaged food inside, two blue-and-white patterned paper bowls, a small white cup, and a red-interior mug, with a static robotic arm at the table's right edge.", "global_instruction_dense": "The left robotic arm descends toward the dark packaged food in the white bowl, grasps it, lifts and moves it left to the table surface next to the small green potted plant, lowers and releases the food, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1850, "tasks": ["place food"], "length": 548, "global_instruction": "Scoop mixed snacks from the white plate and place them into the upper blue-white patterned paper bowl.", "scene_description": "A white table holds a small green potted plant, a black-yellow packaged snack, two blue-white patterned paper bowls, a white plate with mixed black and white snacks, two white plastic spoons, a white printed cup, a white cup with red interior, and two robotic arms positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the white plastic spoons on the table, grasps a spoon, moves to the white plate of mixed black and white snacks, scoops a portion of snacks, moves over the upper blue-white patterned paper bowl, and releases the snacks into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1851, "tasks": ["place food"], "length": 248, "global_instruction": "Pick food from the white plate and place it into the blue-and-white patterned paper bowl.", "scene_description": "A white table holds two blue-and-white chevron patterned paper bowls, a white plate with light-colored food, a white mug with red interior, a plain white mug, a white plastic spoon, a white plastic fork, a small green potted plant, a dark yellow-accented snack package, and a right-side robotic arm, with a second small white table with a green potted plant in the background.", "global_instruction_dense": "The right robotic arm moves left from its initial position toward the white plate of food, grasps a portion of the food, lifts it, moves over the upper blue-and-white patterned paper bowl, and releases the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1852, "tasks": ["place food"], "length": 240, "global_instruction": "Scoop popcorn from the large white bowl and place it into the empty patterned paper bowl.", "scene_description": "A white table holds a large bowl of popcorn, two empty blue-and-white patterned paper bowls, a red cup, a small green potted plant, a black snack package, a white printed cup, two light plastic utensils on folded napkins, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic gripper moves down to grasp a plastic fork from the napkins, lifts the fork, moves it to the large popcorn bowl to scoop popcorn, then moves the fork over the empty patterned paper bowl and releases the popcorn into it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1853, "tasks": ["place food"], "length": 156, "global_instruction": "Place the orange object held by the robotic arm into the striped bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a stacked rack of Keurig K-cup coffee pods on the left, a silver and black Keurig coffee machine at the center, a silver storage container, metal spoons, a white napkin, and a white striped bowl on the right, with a sink area in the background and a robotic arm at the upper right.", "global_instruction_dense": "The right robotic arm moves leftward from the upper right of the counter toward the striped bowl, lowers, releases the orange object it is holding into the bowl, then lifts upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1854, "tasks": ["place food"], "length": 160, "global_instruction": "Pick popcorn from the large white bowl and place it into the smaller patterned paper bowl.", "scene_description": "A white tabletop holds a small green potted plant, a white cup, a red cup, dark snack packs, a large white bowl full of popcorn, two blue-and-white patterned paper bowls, napkins, and a plastic spoon. A robot base is positioned to the right of the table, and a smaller side table with a green potted plant is to the left.", "global_instruction_dense": "The right robotic arm moves toward the large white bowl of popcorn, grasps a portion of popcorn, moves over the smaller blue-and-white patterned paper bowl, releases the popcorn into the bowl, then lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1855, "tasks": ["place food"], "length": 117, "global_instruction": "Pick up the small white coffee pod and place it onto the patterned blue and white plate.", "scene_description": "A silver and black Keurig coffee machine sits on a white kitchen countertop. A stack of K-cup pods is to the left of the machine, a patterned paper cup under its spout, a small white coffee pod to the right of the machine, and patterned blue and white plates further right near the sink area.", "global_instruction_dense": "The right robotic arm moves toward the small white coffee pod on the countertop to the right of the Keurig machine, grasps the pod, lifts it, moves it over the patterned blue and white plate, and releases the pod onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1856, "tasks": ["place food"], "length": 273, "global_instruction": "Place the white k-cup coffee pod into the open Keurig coffee maker's pod compartment", "scene_description": "A white kitchen counter holds a silver open-lid Keurig coffee maker, a patterned paper cup under its spout, a white k-cup pod right of the cup, a stack of k-cups left of the maker, and kitchen items like plates and a sink in the background, with no robot visible initially.", "global_instruction_dense": "The right robotic arm first moves the paper cup from under the Keurig spout to the right side of the counter, then grasps the white k-cup pod, lifts it, positions it over the open coffee maker, and releases it into the pod compartment.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1857, "tasks": ["place food"], "length": 108, "global_instruction": "Place the coffee pod from the blue patterned dish onto the empty countertop space.", "scene_description": "A white kitchen countertop has a stack of K-cup coffee pods on the left, a silver-black Keurig coffee machine with a white patterned cup under its spout in the center, and a blue patterned dish holding a coffee pod on the right.", "global_instruction_dense": "The right robotic gripper enters the scene from the right, moves to the blue patterned dish on the counter, grasps the coffee pod in the dish, lifts it, moves it to a clear counter area, and releases it onto the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1858, "tasks": ["place food"], "length": 219, "global_instruction": "Place a coffee pod into the open Keurig coffee machine.", "scene_description": "A black and silver Keurig coffee machine sits on a white kitchen counter, a K-cup pod rack is to its left, two white patterned paper cups are to its right, with a sink and paper towel roll in the background.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, grasps a coffee pod, moves it over the open Keurig machine, lowers the pod into the machine's slot, releases it, then retracts out of the frame.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1859, "tasks": ["place food"], "length": 269, "global_instruction": "Transfer orange food pieces from the far blue-and-white patterned plate into the plain white bowl on the kitchen counter.", "scene_description": "A white kitchen counter holds a rack of Keurig K-cup pods on the left, a silver Keurig coffee machine with a patterned paper cup under its spout, a clear plastic water bottle, a plain white bowl, two blue-and-white patterned small plates (one holding orange food pieces), another patterned paper cup, and a paper towel roll near the background sink, with no robotic arm visible initially.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, grasps orange food pieces from the far blue-and-white patterned plate, moves them left to the plain white bowl, releases them into the bowl, and completes two such transfer actions in total.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1860, "tasks": ["place food"], "length": 125, "global_instruction": "Pick a small snack from the patterned plate and place it into the white bowl on the kitchen counter.", "scene_description": "On a white kitchen counter, a stack of Starbucks coffee capsules in black netting sits on the left, a silver Keurig coffee machine with a white red-handled mug of dark coffee under its spout is at center, and a clear water bottle, two white cups, patterned small plates, and a sink with faucet are arranged to the right; no robotic arm is visible.", "global_instruction_dense": "The right robotic arm enters from the upper right of the frame, moves down to grasp a small snack resting on the rightmost patterned plate, lifts the snack, moves left to position it above the white bowl next to the printed disposable cup, and releases the snack into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1861, "tasks": ["place food"], "length": 131, "global_instruction": "Pick up a food piece from the small patterned paper plate and place it into the coffee grinder hopper.", "scene_description": "A white kitchen counter holds a stack of Starbucks K-cup pods on the left, a silver Keurig coffee machine with a white paper cup under its spout, a clear plastic water bottle, small patterned paper plates, a brown coffee grinder, sink-area dishes, a faucet, and a paper towel roll in the background.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves down to the small patterned paper plate on the counter, grasps a food piece from the plate, lifts it, moves left to the coffee grinder hopper, and drops the food piece into the hopper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1862, "tasks": ["place food"], "length": 134, "global_instruction": "Place an orange snack piece from the patterned plate into the open silver container next to the Keurig coffee machine.", "scene_description": "A white kitchen counter holds a mesh K-cup carousel left of center filled with coffee pods, a Keurig coffee machine at the center, a water bottle, open silver container, white bowl with a spoon, patterned plate with orange snack pieces, and brown coffee canister from center to right; stacked paper cups sit behind the carousel, snack shelves are on the far left, a sink area is on the far right, and dark wood cabinets are under the counter.", "global_instruction_dense": "The right robotic arm enters the frame from the top right, moves downward to the patterned plate holding orange snack pieces, grasps one orange snack piece, lifts it, moves leftward to the open silver container adjacent to the Keurig coffee machine, and drops the snack piece into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1863, "tasks": ["place food"], "length": 333, "global_instruction": "Place the dark food pieces from the front blue-and-white patterned bowl into the back empty blue-and-white patterned bowl.", "scene_description": "A white kitchen counter holds two white boxes on the left, a silver tissue holder, a white printed cup, a green-and-white shopping bag, a blue box, a plastic spoon, two blue-and-white patterned paper bowls (one with dark food pieces in front, one empty behind it), and a white printed cup in the front right, with a robotic arm at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves toward the plastic spoon on the counter, grasps it, scoops dark food pieces from the front blue-and-white patterned paper bowl, moves to the back empty blue-and-white patterned paper bowl to release the food into it, and repeats the scooping and placing action.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1864, "tasks": ["place food"], "length": 366, "global_instruction": "Take a snack bar out of the blue food box and place it on the countertop", "scene_description": "A white kitchen counter holds a white rectangular storage box, stainless steel napkin holder, two patterned paper cups, two blue-and-white patterned plates, a green shopping bag, white paper bag, and closed blue food packet from left to right, with a grey tiled wall behind and a robotic arm at the top right.", "global_instruction_dense": "The right robotic gripper repeatedly pries open the top of the blue food packet, grasps a blue snack bar from inside, lifts it out of the packet, moves it to the adjacent counter surface, and releases the snack bar onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1865, "tasks": ["place food"], "length": 216, "global_instruction": "Pick up the small dark packaged snack bar and place it to the left of the patterned paper cups on the counter.", "scene_description": "A white kitchen counter holds a clear spray bottle, a clear bottle with a green cap on the left, two patterned white paper cups, two tissue boxes, a small dark packaged snack bar, a blue-white patterned dish, a clear storage container, a stack of paper cups, and a power strip with wires at the far right, against a grey tiled backsplash.", "global_instruction_dense": "The right robotic gripper moves toward the small dark packaged snack bar to the right of the paper cups, grasps it, lifts it, moves it left to the area left of the patterned paper cups, lowers it, releases it onto the countertop, then moves upward away from the surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1866, "tasks": ["place food"], "length": 376, "global_instruction": "Take a snack packet from the upright blue box and place it into the light blue bowl on the table.", "scene_description": "A white table in the foreground holds two white patterned paper cups, a small black-and-white patterned bowl, an upright blue rectangular printed box, and a light blue bowl partially hidden behind the box. A second white table with two small potted plants sits in the background next to seating along a frosted window, with a grey bench to the left of the foreground table.", "global_instruction_dense": "The right robotic arm moves toward the upright blue printed box on the white table, opens the box's top, grasps a small snack packet inside the box, lifts the packet out, moves it over the light blue bowl, releases it into the bowl, then retracts.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1867, "tasks": ["place food"], "length": 208, "global_instruction": "Place the small silver food packet into the left black-and-white patterned paper bowl on the table.", "scene_description": "A white table holds a blue food package, two black-and-white patterned paper bowls, a blue bowl with two patterned white cups atop it, and a plastic spoon on a paper napkin. A smaller white table with two small potted plants sits in the background beside a window-side black bench.", "global_instruction_dense": "The right robotic arm moves toward the small silver packet resting on the table, grasps it, lifts it, moves it over the left black-and-white patterned paper bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1868, "tasks": ["place food"], "length": 354, "global_instruction": "Pick up the small blue snack packet on the table and place it into the empty patterned white bowl.", "scene_description": "A white table holds a small blue snack packet, a patterned white bowl with dark food, a white plastic spoon, a white paper cup, a yellow-black can, a blue bowl with colorful snacks, a blue snack box, a small silver item, white napkins, and an empty patterned white bowl. A second white table with two small potted plants, black chairs, and a dark sofa are in the background.", "global_instruction_dense": "The right robotic arm moves toward the small blue snack packet on the table, grasps it with its gripper, lifts the packet, moves it over the empty patterned white bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1869, "tasks": ["place food"], "length": 179, "global_instruction": "Pick up the orange package on the table and place it upright next to the blue box.", "scene_description": "A white table holds two patterned bowls, two paper cups, a blue bowl, a blue box, an orange standing package, a plastic spoon, and small silver packets. A second white table with small purple and green plants, a black leather booth, and a robotic arm are in the background.", "global_instruction_dense": "The right robotic gripper moves toward the orange standing package on the table, grasps it, lifts it, moves it to the area next to the blue box, lowers it, and releases it to stand upright next to the blue box before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1870, "tasks": ["place food"], "length": 157, "global_instruction": "Move the orange food packet to the area next to the left white patterned cup on the table.", "scene_description": "A white table holds a wooden spoon with dark granules, a white patterned cup, a small black round object, a blue bowl of colorful cereal, two patterned bowls (one with dark food pieces, one with a blue packet), an orange food packet, a blue box, and another white patterned cup. A robotic arm is positioned above the right of the table, with a dark leather sofa, a small side table with two potted plants, and chairs in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange food packet at the back of the table, grasps it, lifts it, moves it left to the area next to the left white patterned cup, places it down, then retracts upward away from the packet.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1871, "tasks": ["place food"], "length": 204, "global_instruction": "Pick up the blue packaged snack from the patterned bowl and place it near the blue box at the table rear.", "scene_description": "A white table holds two geometric-patterned bowls (one with dark snacks, one with a blue packaged snack), two white paper cups, an upright orange food pouch, a blue bowl with red contents, and a blue box at the table rear. A right robotic gripper is positioned above the table's right side, with a black chair left of the table and an open office background.", "global_instruction_dense": "The right robotic gripper moves down toward the blue packaged snack in the lower patterned bowl, grasps the snack, lifts it, moves it toward the rear of the table, and releases it next to the blue box on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1872, "tasks": ["place food"], "length": 138, "global_instruction": "Place the upright orange packet flat on top of the blue box on the white table.", "scene_description": "A white table holds a blue box with an upright orange packet on its top, and a blue bowl containing a paper cup to the right of the box. A black-seated white chair sits beside the table, with a dark booth seat behind the table and another table with two small potted plants in the background.", "global_instruction_dense": "The right robotic gripper approaches the upright orange packet standing on the blue box, grasps it, lifts and adjusts its position, then places it flat on top of the blue box before moving away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1873, "tasks": ["place food"], "length": 532, "global_instruction": "Place the orange funnel from its stand and the orange-handled knife from the knife block onto the kitchen counter.", "scene_description": "A dark patterned granite kitchen counter holds a silver Cuisinart coffee maker on the left, a small purple bowl, a yellow funnel, an orange funnel on a clear stand, and a purple cup to the coffee maker's right, with a silver wine rack and wooden knife block near the dark curtained window in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange funnel on its clear stand, grasps it, lifts and places it on the counter next to an orange cup, then moves to the wooden knife block, grasps the orange-handled knife, lifts and places it on the counter, before returning to its resting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1874, "tasks": ["place food"], "length": 488, "global_instruction": "Flip the upright orange cup upside down and place the small orange stick inside it.", "scene_description": "A dark granite kitchen countertop holds a silver coffee maker on the left, colorful dishware (purple cups/plates, pink-rimmed yellow bowl, light green cup, upright orange cup, small orange stick) in the center, and a wooden knife block at the back right.", "global_instruction_dense": "The right robotic arm moves toward the upright orange cup on the kitchen counter, flips it to rest upside down, moves to the small orange stick next to the light green cup, grasps the stick, inserts it into the opening of the inverted orange cup, then releases the stick and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1875, "tasks": ["place food"], "length": 172, "global_instruction": "Place a snack piece from the transparent granular container into the pink bowl.", "scene_description": "A dark table holds various items: left side has an orange cartoon-faced box and green-capped bottles, the tabletop has a green spoon, two playing cards, food sheets, a small brown bowl, a napkin stack, a transparent granular snack container, and a pink bowl, with a right robotic arm at the top right corner.", "global_instruction_dense": "The right robotic arm moves down toward the transparent snack container on the table, grasps a small snack piece from inside the container, lifts it, moves it horizontally over the adjacent pink bowl, releases the snack into the bowl, then moves back upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1876, "tasks": ["place food"], "length": 540, "global_instruction": "Place snack pieces from the clear glass container onto the white napkin using the green spoon.", "scene_description": "A black table holds a green spoon, clear glass container of snack pieces, pink plastic bowl, black cup with food, three playing cards, a stack of white napkins, a metal can, used napkins with residue, an orange cartoon-faced box on the left, and green-capped bottles on the left. A robotic arm is positioned off-screen to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the green spoon on the table, grasps it, scoops snack pieces from the clear glass container, moves the spoon over the white napkin, deposits the pieces onto the napkin, repeats the scooping and depositing motion once more, then lifts the spoon away from the napkin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1877, "tasks": ["place food"], "length": 324, "global_instruction": "Pick up the small orange food piece from the white napkin, dip it into the green tin, and place it into the white dish.", "scene_description": "A black tabletop holds an orange cartoon-faced drink carrier with green-capped bottles on the left, a small white and gray cutting tool, several playing cards, scattered white napkins, a red bowl with snacks, a small orange container, an open green tin, a white napkin with a small orange food piece on it, a green circular lid, stacked white napkins in a black tray, and a Franka robotic arm positioned at the back of the table near the green tin.", "global_instruction_dense": "The right robotic arm moves to the white napkin to grasp the small orange food piece, dips the piece into the open green tin, dips it into the adjacent white dish, dips it into the green tin a second time, then places the food piece into the white dish before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1878, "tasks": ["place food"], "length": 349, "global_instruction": "Extract a snack from the upright white food packet and place it on the black tabletop.", "scene_description": "A black tabletop holds multiple items: a white printed cup, red bowl of snacks, blue small snack packet, green plastic spoon, yellow pencil, upright white food packet, orange cereal box with a cartoon face, stacked white napkins, small dishes, and a yellow bottle. A Franka robotic arm is positioned to the right of the table, with its gripper initially out of view at the top of the frame.", "global_instruction_dense": "The right robotic arm descends to the upright white food packet on the black table, opens the packet's top, extracts a round snack, moves the snack to the empty right area of the table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1879, "tasks": ["place food"], "length": 224, "global_instruction": "Place an orange chip from the small beige bowl into the open standing food bag.", "scene_description": "A black tabletop holds various objects: an orange printed face box at the far left, stacks of white napkins, a gray printed cup, a red bowl of snacks, a green spoon, a yellow pencil, a blue snack packet, a green circular lid, a standing open food bag, a small beige bowl of orange chips, and assorted small containers, with a robotic gripper positioned above the table near the window in the background.", "global_instruction_dense": "The right robotic gripper moves downward toward the small beige bowl of orange chips, grasps one orange chip, lifts it, moves it over the open standing food bag, releases the chip into the bag, then moves upward away from the bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1880, "tasks": ["place food"], "length": 158, "global_instruction": "Adjust the light brown food pouch to stand upright on the black table.", "scene_description": "A black table holds multiple items: an orange cartoon-faced cereal box on the left, stacked white napkins, a grey cup, a clear popcorn container, a small dark bowl, a leaning light brown food pouch, a red snack bowl, small jars, a green spoon, a yellow pencil, a blue snack package, a playing card, a green lid, with a Franka robotic arm at the table's right side, its gripper near the top right window initially.", "global_instruction_dense": "The right robotic gripper moves downward from the upper right area above the table, grasps the leaning light brown food pouch, adjusts its position to stand upright on the table, then releases the pouch and moves upward away from it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1881, "tasks": ["place food"], "length": 172, "global_instruction": "Pick up the upright yellow food package and place it near the small white bowl on the table.", "scene_description": "A black table holds various items: an orange cartoon-faced box on the left, stacked white napkins, a gray cup, an upright yellow food package with an orange border, a clear container of white food, a small white bowl with a black exterior, a green plastic spoon, a small colorful figurine, an orange pencil, a blue small packaged item, a red snack bowl, a green round lid, a small white card, two jars (one blue-lidded, one clear-lidded). A robotic arm is positioned at the top right near windows with bamboo blinds.", "global_instruction_dense": "The right robotic arm moves toward the upright yellow food package on the black table, grasps it with its gripper, lifts it, moves it rightward toward the small white bowl, then lowers and places it upright on the table near the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1882, "tasks": ["place food"], "length": 335, "global_instruction": "Place garlic cloves from the seasoning rack into the frying pan on the gas stove.", "scene_description": "A kitchen countertop holds a stainless steel mixing bowl, metal spoon, orange measuring cup, black bowl with white interior, orange can, and a seasoning container rack, adjacent to a gas stove with a black frying pan on the burners, with a robotic arm above the seasoning rack.", "global_instruction_dense": "The right robotic arm picks garlic cloves from the seasoning rack one by one, moves each over the frying pan on the stove, drops them into the pan, then adjusts the pan's position on the stove.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1883, "tasks": ["place food"], "length": 302, "global_instruction": "Place sliced food from the counter container into the stainless steel pot on the stovetop.", "scene_description": "A stainless steel pot with a glass lid rests on a kitchen stovetop. To the left of the stovetop on the counter, there is a clear plastic container of light-colored sliced food, a small red cup, a rolled white package, and a small black bowl with a spoon. A Franka robotic arm is positioned on the right side of the scene.", "global_instruction_dense": "The right robotic arm moves toward the stainless steel pot on the stovetop, grasps and lifts the glass pot lid, places the lid on the stovetop surface, grasps sliced food from the clear plastic counter container, drops the food into the open pot, then adjusts the position of the pot on the stovetop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1884, "tasks": ["place food"], "length": 580, "global_instruction": "Use black food tongs to place scattered food pieces on the kitchen counter into the clear glass food tray.", "scene_description": "A dark green marble kitchen counter holds a clear glass tray of light frozen food, black food tongs to the tray's right, a stainless steel oven to the left, and a background sink with small potted plants.", "global_instruction_dense": "The right robotic arm moves toward the black food tongs on the kitchen counter, grasps them, uses them to collect scattered small food pieces from the counter, places the pieces into the clear glass tray of frozen food, then releases the tongs onto the tray.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1885, "tasks": ["place food"], "length": 181, "global_instruction": "Pick up the transparent snack bag and place it next to the silver coffee maker.", "scene_description": "A dark kitchen countertop holds a roll of white paper towels on the left, a clear water pitcher with a red lid to the right of the paper towels, a silver coffee maker against the tiled backsplash in the background, and two white robotic arms (one stationary at the right edge, one near the upper right window).", "global_instruction_dense": "The left robotic arm moves downward toward the transparent snack bag near the backsplash, grasps it, lifts it, moves it rightward to the area next to the silver coffee maker, lowers and releases it, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1886, "tasks": ["place food"], "length": 891, "global_instruction": "Place a small food item into the silver coffee maker after removing its lid.", "scene_description": "A dark kitchen counter holds a white paper towel roll on the left, a clear water pitcher with a red lid in the center, a black toaster, a silver coffee maker at the rear center, and a robotic arm on the right, with a dark tiled backsplash and window in the background.", "global_instruction_dense": "The right robotic arm moves to the silver coffee maker, grasps and removes its red lid, places the lid on the countertop, picks up a small food item, places the item inside the coffee maker, then adjusts the coffee maker's lid position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1887, "tasks": ["place food"], "length": 251, "global_instruction": "Pick up the small plastic snack package on the kitchen counter and place it into the clear plastic bowl.", "scene_description": "A dark granite kitchen counter holds a silver coffee maker near a dark-curtained window, a red lidded pitcher beside the coffee maker, a small transparent plastic snack package, a red plastic lid, a silver metal bowl, a clear plastic bowl, a silver toaster in the foreground, a knife block with knives at the far right, and a Franka Emika robotic arm on the right side of the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the small plastic snack package on the kitchen counter, grasps the package, lifts it, moves it left over the clear plastic bowl, and releases the package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1888, "tasks": ["place food"], "length": 378, "global_instruction": "Pick small colorful food items from the kitchen counter and place them into the open clear plastic container.", "scene_description": "A kitchen counter holds an open clear plastic container with food inside, a red container lid beside it, a silver metal bowl, a red water pitcher, a silver coffee maker, a toaster in the foreground, and a Franka robotic arm on the right side of the counter.", "global_instruction_dense": "The left robotic arm first adjusts the position of the open clear plastic container on the kitchen counter, then moves to grasp a small colorful food item from the counter, moves the item over the container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1889, "tasks": ["place food"], "length": 688, "global_instruction": "Pick small orange snacks from the pink plate and place them into the black trash bin.", "scene_description": "A black table holds a wooden spoon resting on a white napkin, a clear empty rectangular container, a container of white granular food, a disposable paper cup, a tall clear bottle, a dark square textured object, a pink round plate with small orange snacks, and a black trash bin lined with a plastic bag. A framed abstract picture hangs on the brown wall above the table.", "global_instruction_dense": "The right robotic gripper moves to the pink plate on the black table, repeatedly grasps small orange snacks from the plate, lifts each snack, moves it over the black trash bin, drops it into the bin, and finally moves away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1890, "tasks": ["place food"], "length": 216, "global_instruction": "Place the small orange snack packet into the clear cereal container on the table.", "scene_description": "A black table holds a purple plate of assorted colored pills, a wooden spoon on a white napkin, a clear rectangular cereal container, a small silver bowl, a small orange snack packet, a white mug, and a holder with black utensils. A robotic arm is positioned to the right of the table, with a trash bin and yellow-black caution barriers in the background.", "global_instruction_dense": "The right robotic arm moves from its position to the right of the table toward the small orange snack packet on the far end of the table, grasps the packet, lifts it, moves it horizontally over the clear cereal container, and lowers it toward the container's opening.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1891, "tasks": ["place food"], "length": 135, "global_instruction": "Place a food piece from the small clear plastic container onto the purple plate", "scene_description": "A black table holds a silver metal bowl on a gray block, a clear cup, a purple plate with white napkins, a small clear plastic container, a wooden spoon, a clear food container with white food, and metal tongs. A trash bin with a white liner sits behind the table, and a robotic arm is positioned at the right side of the scene.", "global_instruction_dense": "The left robotic arm moves toward the small clear plastic container on the black table, grasps the food piece inside it, lifts the food piece, moves it left over the purple plate, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1892, "tasks": ["place food"], "length": 160, "global_instruction": "Pick up the yellow-edged food package and place it at the back of the black table", "scene_description": "A black table against a white wall holds a yellow-edged food package, gray placemat, white grid-patterned cloth, small containers, a black utensil holder, and a clear glass on a brown coaster. A white robotic arm is mounted to the right of the table, and the left robotic gripper is positioned above the table near the wall.", "global_instruction_dense": "The left robotic gripper moves downward toward the yellow-edged food package leaning against the wall, grasps it, lifts it, moves it toward the back of the table, and places it upright near the glass.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1893, "tasks": ["place food"], "length": 199, "global_instruction": "Place the black packaged snack into the trash bin", "scene_description": "A white trash bin lined with a clear plastic bag sits on a wooden table. A left robotic arm holding a black packaged snack is positioned above the bin, and a stationary white robotic arm is to the right of the bin.", "global_instruction_dense": "The left robotic arm lowers the black packaged snack toward the trash bin, then releases the package to drop it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1894, "tasks": ["place food"], "length": 386, "global_instruction": "Pick up the sealed silver snack packet from the table, move it over the trash bin, then place it back on the table.", "scene_description": "A wooden table has a white plastic trash bin at its far end, a sealed silver snack packet in the middle, and an egg carton, metal spoon, fork, and black remote near the left edge. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the sealed silver snack packet on the wooden table, grasps it with its gripper, lifts the packet and moves it over the white trash bin at the table's far end, then lowers the packet back to the table and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1895, "tasks": ["place food"], "length": 246, "global_instruction": "Place the orange food package from the right side of the gray mat to the left side of the gray mat near the peeler.", "scene_description": "A black table against a white wall holds a gray mat with a white peeler, crumpled white checkered cloth, and orange food package. Next to the mat are a black bottle with yellow cap, small green container, round beige lid, and black-and-white striped bowl, with a robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the orange food package on the black table, grasps it with its gripper, lifts it, moves it leftward over the gray mat, lowers it to the left side of the mat near the white peeler, and releases the package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1896, "tasks": ["place food"], "length": 141, "global_instruction": "Pick up the white vegetable peeler from the gray mat and place it next to the dark green cup on the table.", "scene_description": "A black table against a light-colored wall holds a gray mat with a white checkered cloth and white vegetable peeler, a dark green cup, a small brown jar, a round brown coaster, and a large brown zigzag-patterned bowl, with a white robotic arm positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the white vegetable peeler on the gray mat, grasps it with its gripper, lifts it, and moves it toward the dark green cup on the black table to place it there.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1897, "tasks": ["place food"], "length": 198, "global_instruction": "Place the yellow fruit from the bowl into the black cup then lift and tilt the cup.", "scene_description": "A black table against a white wall holds a brown and black striped bowl with a yellow fruit inside, a horizontal black cup, a small open jar, a round wooden coaster, and a grey placemat with a crumpled white checkered cloth. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the patterned bowl on the black table, grasps the yellow fruit inside the bowl, lifts it, moves it to the horizontal black cup, places the fruit into the cup, then grasps the cup, lifts it, and tilts it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1898, "tasks": ["place food"], "length": 171, "global_instruction": "Place the food package onto the gray placemat on the black table.", "scene_description": "A black table against a light-colored wall holds a gray placemat, a crumpled white checkered cloth, a yellow-capped small bottle, a green avocado, a small dark cup, a brown round coaster, and a large wooden bowl with black stripe patterns. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves to grasp a yellow-orange food package, carries it over the gray placemat on the black table, lowers the package onto the placemat, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1899, "tasks": ["place food"], "length": 135, "global_instruction": "Remove a snack packet from the electric kettle and place it on the wooden table", "scene_description": "A silver electric kettle, a dark metal cylindrical container, and a white robotic arm are on a wooden table. The metal container is left of the kettle, the robotic arm is right of the kettle.", "global_instruction_dense": "The right robotic arm moves its gripper toward the silver electric kettle, grasps the snack packet inside the kettle, lifts the packet out of the kettle, moves the packet over the table to the right of the kettle, releases the packet onto the table, and retracts its gripper upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1900, "tasks": ["place food"], "length": 113, "global_instruction": "Pick up the orange food package on the table and place it into the striped bowl.", "scene_description": "A black table against a light-colored wall holds an orange food package, a crumpled white checkered cloth, a dark green cup, a round beige coaster, and a large black-and-beige striped bowl at the far end of the table, with a white robotic arm mounted to the right of the table.", "global_instruction_dense": "The right robotic arm moves leftward and downward to grasp the orange food package on the table, lifts the package, moves it over the striped bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1901, "tasks": ["place food"], "length": 129, "global_instruction": "Pick up the standing orange-white snack packet and place it into the black-and-white striped bowl on the table.", "scene_description": "A small black table sits against a light wall next to a white toilet. On the table, an orange and white standing snack packet rests on a grey grid mat, alongside a black-and-white striped bowl, a small golden tin, a dark green cup, a light green item, and a clear plastic lid. A white robotic arm is positioned to the right of the table.", "global_instruction_dense": "The left robotic arm moves toward the standing orange-white snack packet on the grey table mat, grasps it with its gripper, lifts it, moves it over the black-and-white striped bowl, releases the packet to drop it into the bowl, then moves upward away from the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1902, "tasks": ["place food"], "length": 91, "global_instruction": "Place the brown food package on the table into the zebra-striped bowl.", "scene_description": "A black table holds a zebra-striped bowl at its rear, a brown sealed food package on a grey placemat at its front left, a small dark bottle, an open small cup, and a small green object. A robotic gripper is positioned above the bowl, a white toilet is to the left of the table, and a room is visible through an open door in the background.", "global_instruction_dense": "The left robotic gripper moves from above the zebra-striped bowl toward the brown food package on the grey placemat, grasps the package, lifts it, moves it over the bowl, and releases it to drop into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1903, "tasks": ["place food"], "length": 232, "global_instruction": "Place the black packaged snack on the table into the open drawer below the table", "scene_description": "A wooden table holds a black packaged snack with yellow markings, three small metal cups with colorful contents, a transparent seasoning shaker, and a black remote control on a gray padded mat. An open wooden drawer under the table contains a plastic food container with a spoon. A robotic arm is positioned to the right of the table.", "global_instruction_dense": "The right robotic arm moves toward the black packaged snack on the wooden table, grasps it with its gripper, lifts it, carries it over the open drawer, lowers it, and releases it into the drawer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1904, "tasks": ["place food"], "length": 276, "global_instruction": "Place the orange-yellow labeled food package leaning against the stove control panel into the dark grey frying pan on the stovetop.", "scene_description": "A white gas stove in a kitchen has a black lidded pot on its left rear burner, a dark grey frying pan resting on a checkered cloth on its left front burner, a yellow and purple spray can between the front and right burners, a wooden cutting board on its right rear burner, and an orange-yellow labeled food package leaning against the stove's upper control panel. A dark counter with a zebra-patterned bowl, black mug, and small items is positioned behind the stove, with light tiled flooring and a door leading to another room in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange-yellow labeled food package leaning against the stove control panel, grasps it with its gripper, lifts it, moves it down over the dark grey frying pan on the left front stove burner, lowers it into the pan, and releases the package.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1905, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the orange and white food package from the frying pan and place it on the left side of the white stove top.", "scene_description": "A white gas stove top has a grey frying pan on the left burner (with a checkered cloth underneath), a standing orange and white food package inside the pan, a yellow and blue spray can next to the pan, and a dark pot with a red cap on the back right burner. A counter with a striped bowl and dark mug is behind the stove, and a tiled floor with an open door is visible to the right.", "global_instruction_dense": "The right robotic gripper moves toward the orange and white food package standing in the grey frying pan on the left stove burner, grasps the package, lifts it out of the pan, moves it leftward to the edge of the stove top, lowers it, and releases it onto the white stove surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1906, "tasks": ["place food"], "length": 186, "global_instruction": "Pick up the orange-edged food package next to the black pot and place it on the left side of the stovetop.", "scene_description": "A white gas stovetop holds a lidded dark frying pan on the left front burner, a yellow-and-silver spray can adjacent to the pan, and a black pot on the right rear burner. An orange-edged white food package rests on a small table next to the pot, with a tiled floor, bicycle wheel, and chair visible in the background, plus a glowing green device on a wooden surface to the right.", "global_instruction_dense": "The robotic gripper extends toward the orange-edged food package next to the black pot on the stovetop, grasps the package, lifts it, moves it left over the front of the stovetop, lowers it, and releases it onto the stovetop surface next to the lidded frying pan.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1907, "tasks": ["place food"], "length": 229, "global_instruction": "Move the round brown flatbread from the right rear stove burner to the rear left stovetop surface.", "scene_description": "A white gas stovetop holds a black pot with a yellow and blue drink can inside, a lidded gray frying pan, a small orange metal cup, and a round brown flatbread on a rack on the right rear burner. A small table behind the stove has a zebra-patterned bowl and black mug, with a robotic arm visible in the right background.", "global_instruction_dense": "The right robotic arm extends toward the round brown flatbread on the right rear stove burner, grasps it, lifts it, moves it left to the rear left area of the stovetop, lowers it, and releases it onto the stovetop surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1908, "tasks": ["place food"], "length": 133, "global_instruction": "Move the beige food package from the stove rear to above the left covered pan.", "scene_description": "A white kitchen stovetop has a white checkered cloth on a front burner, a black pan with a wooden lid on the left burner, a beige food package at the stove rear, small containers nearby, a black robotic arm above the right rear of the stove, with a tiled floor and bicycle wheel in the background.", "global_instruction_dense": "The right robotic arm moves toward the beige food package at the stove rear, grasps it, lifts it, and moves it leftward to position it above the black covered pan on the left burner.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1909, "tasks": ["place food"], "length": 218, "global_instruction": "Place the dark packaged snack from the top of the open microwave into the microwave interior.", "scene_description": "A white open microwave sits on a kitchen counter, a dark packaged snack rests on top of the microwave. A robotic arm is positioned to the right of the microwave, with a paper towel roll, yellow canned drink, and laptop on the left side of the counter, and a fridge and stove in the background.", "global_instruction_dense": "The right robotic arm moves toward the dark packaged snack on top of the open microwave, grasps it, lifts it, lowers it into the microwave's interior, releases the snack, and retracts its gripper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1910, "tasks": ["place food"], "length": 276, "global_instruction": "Remove the food packet from inside the microwave and place it on top of the microwave.", "scene_description": "A kitchen counter holds an open white microwave with a silver food packet inside. To the microwave's left are a white paper towel roll, a yellow-blue canned drink, a laptop, and a power strip. A robotic arm is positioned to the microwave's right, with a refrigerator, stove, and green shopping bag in the background.", "global_instruction_dense": "The right robotic arm moves toward the open microwave, reaches inside to grasp the silver food packet, lifts the packet out of the microwave, places it on the microwave's top surface, then retracts away from the microwave.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1911, "tasks": ["place food"], "length": 284, "global_instruction": "Place the food packet into the open microwave and close the microwave door.", "scene_description": "A white microwave with its door open sits on a kitchen counter, a yellow and blue can and a food packet are on top of the microwave, a paper towel roll is to the left of the microwave, and a robotic arm is on the right side of the scene, with a refrigerator and stove in the background.", "global_instruction_dense": "The right robotic arm moves toward the food packet on top of the microwave, grasps it, moves it into the open microwave, releases it inside, then moves to the microwave door and closes it fully.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1912, "tasks": ["place food"], "length": 441, "global_instruction": "Place the silver snack packet on the table into the microwave, then close the microwave door.", "scene_description": "A white microwave, silver crumpled snack packet, black bowl, white router, and black tape roll rest on a white table. A robotic arm is positioned at the right of the table, and a brown framed picture hangs on the wall above the microwave.", "global_instruction_dense": "The robotic arm first moves to the microwave door handle, pulls the door open, moves to grasp the silver snack packet on the table, lifts it, places it inside the microwave, then moves to the door and pushes it closed.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1913, "tasks": ["place food"], "length": 501, "global_instruction": "Place the snack package into the microwave and close the microwave door.", "scene_description": "A white microwave sits on the left of a white table, a printed snack package is in front of the microwave, a small black bowl is to the right of the package, a robotic arm is on the right side of the setup, and a framed picture hangs on the wall behind the table.", "global_instruction_dense": "The right robotic gripper pulls open the microwave door, grasps the snack package on the table, places the package inside the microwave cavity, then pushes the microwave door closed and moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1914, "tasks": ["place food"], "length": 322, "global_instruction": "Take the food package inside the microwave and place it into the black bowl on top of the microwave.", "scene_description": "A white microwave with a closed door sits on a white table. On top of the microwave, there is a black bowl, a blue pump bottle behind the bowl, and a roll of dark tape to the right of the bowl. A black kettle is next to the right side of the microwave, and a white robotic arm is positioned at the right of the scene.", "global_instruction_dense": "The right robotic arm first pulls open the microwave door, reaches inside the microwave to grasp the food package, lifts the package out of the microwave, moves it above the black bowl on top of the microwave, then releases the package into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1915, "tasks": ["place food"], "length": 139, "global_instruction": "Pick up the foil-wrapped snack from the black dish and place it on top of the microwave.", "scene_description": "A white table holds an open white microwave (with black tape inside, blue spray bottle on its top) on the left, a black dish with a foil-wrapped snack on the table to the right of the microwave, a silver kettle behind the dish, and a robotic arm positioned above the dish.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the foil-wrapped snack from the black dish on the table, lifts the snack, moves it leftward over the top of the microwave, lowers it, and releases it onto the microwave top.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1916, "tasks": ["place food"], "length": 168, "global_instruction": "Pick up the orange food package and place it on the dark gray tape roll.", "scene_description": "A white microwave sits on the left of a white kitchen table, with a black mug, small foil packet, and light blue bottle on top of the microwave. On the table in front of the microwave are a dark gray tape roll, black round lid, and an orange food package, with a robotic arm positioned on the right.", "global_instruction_dense": "The right robotic arm moves downward toward the orange food package on the table, grasps it, lifts it, moves it over to the dark gray tape roll, then lowers and releases the package onto the tape roll.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1917, "tasks": ["place food"], "length": 199, "global_instruction": "Place the orange-edged food package from the microwave top into the open microwave cavity.", "scene_description": "A white open microwave sits on a white kitchen counter, with a foil-wrapped item and an orange-edged food package on top of the microwave. A white and orange robotic arm is positioned above the counter, with black cups, black tape, a small white clip, a blue bottle, a black kettle, and a white refrigerator around the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the orange-edged food package on top of the microwave, grasps the package, moves it into the open microwave cavity, releases it onto the microwave turntable, then moves back away from the microwave.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1918, "tasks": ["place food"], "length": 155, "global_instruction": "Move the snack package from the top of the microwave onto the table surface.", "scene_description": "A white microwave sits on the left of a white table, a black printed snack package rests on top of the microwave, and a spray bottle, black tape roll, and black lid are on the table to the right of the microwave, with a robotic arm positioned above the table near the spray bottle.", "global_instruction_dense": "The right robotic arm moves left toward the snack package on the microwave top, grasps it, lifts and moves it right and down to the table, places it on the table surface, releases the package, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1919, "tasks": ["place food"], "length": 230, "global_instruction": "Pick up the white-orange food package from the table and place it on top of the microwave.", "scene_description": "A white microwave sits on the left of a white table, with a blue spray bottle and black mug on its top. To the right of the microwave on the table are a roll of black tape, a white-orange food package, a small green tool, and small white items. A robotic arm is positioned at the upper right of the scene.", "global_instruction_dense": "The right robotic gripper moves down toward the white-orange food package on the table, grasps it, lifts it, moves it over the microwave, and places it on top of the microwave.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1920, "tasks": ["place food"], "length": 219, "global_instruction": "Pick up the light brown food package from the microwave top and place it on the white napkin on the table.", "scene_description": "A white table holds a white microwave on its left side, a light brown food package and a black mug with a blue bottle inside are placed on top of the microwave, a glass kettle and a small metallic object on a white napkin are on the table to the right of the microwave, and a black and white robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves toward the light brown food package on top of the white microwave, grasps it, lifts it, moves it over the white napkin on the table surface, and releases the package onto the napkin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1921, "tasks": ["place food"], "length": 172, "global_instruction": "Pick up the rectangular food package and place it on the right side of the table.", "scene_description": "A white table holds a white microwave on its left, a black mug atop the microwave, a black bowl of popcorn in front of the microwave, a rectangular food package to the microwave's right, a glass coffee pot behind the package, a framed picture hangs on the wall behind the table, a refrigerator sits to the table's right, and a robotic arm is in the upper right area.", "global_instruction_dense": "The right robotic arm moves downward toward the rectangular food package on the table, grasps it with its gripper, lifts it, moves it to the right side of the table, lowers it, places it upright on the table surface, then releases it and moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1922, "tasks": ["place food"], "length": 526, "global_instruction": "Pick up scattered popcorn kernels on the white table and place them into the patterned paper cup at the back of the table.", "scene_description": "A white table holds scattered white popcorn kernels, two white patterned paper cups, a black Smartfood popcorn bag, two blue-and-white patterned small plates, a wooden spoon, and a transparent tray. A Franka Emika robot base is positioned to the right of the table, with office chairs and a kitchen area in the background.", "global_instruction_dense": "The left robotic arm extends from the right-side robot base, moves over the table, grasps scattered popcorn kernels one by one, lifts each kernel, moves it over the back patterned paper cup, and releases it into the cup for two pickup-place cycles before positioning to grasp another kernel.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1923, "tasks": ["place food"], "length": 380, "global_instruction": "Pick a piece of popcorn from the plastic tray and place it into the left patterned cup.", "scene_description": "A white table holds a black potato chip bag, two light-colored patterned cups, a blue-and-white patterned paper bowl, and a plastic tray of popcorn. A robotic arm is positioned off to the right of the table.", "global_instruction_dense": "The right robotic arm moves into view above the table, adjusts the plastic popcorn tray's position, grasps a piece of popcorn from the tray, moves the popcorn toward the left patterned cup, releases the popcorn, then moves upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1924, "tasks": ["place food"], "length": 166, "global_instruction": "Place the small packaged snack into the white bowl on the kitchen counter", "scene_description": "A white kitchen counter holds a stack of white napkins, a small napkin holder, a patterned cup, a tiny white dish, a white teacup on a saucer, a white bowl, small packaged snacks next to the bowl, a coffee machine behind the cup, and a keyboard at the far right. A robotic arm rests near the coffee machine, with grey tiled walls and outlets in the background.", "global_instruction_dense": "The right robotic arm moves from its initial position near the coffee machine toward the packaged snack on the counter, grasps the snack, lifts it, moves it over the white bowl, releases the snack into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1925, "tasks": ["place food"], "length": 243, "global_instruction": "Empty the white bowl and place the yellow snack packet into it.", "scene_description": "A white kitchen counter holds stacks of white napkins, a black stand, a white cup with saucer, a patterned tumbler, a white bowl, a white cup dispenser, and multiple small snack packets, with a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm grasps the white bowl, lifts and tilts it to pour its contents onto the counter, places the bowl back, grasps the yellow snack packet, and places the packet into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1926, "tasks": ["place food"], "length": 427, "global_instruction": "Remove all snack packets from the white bowl and place them on the adjacent countertop.", "scene_description": "A white countertop holds two stacks of patterned paper cups at the back, a white bowl containing snack packets, a single patterned lidded cup to the left of the bowl, and a small white lid to the right of the cup stacks, against a grey tiled wall with a power outlet.", "global_instruction_dense": "The right robotic arm moves toward the white bowl on the countertop, grasps a snack packet from inside the bowl, lifts it, places it on the countertop next to the bowl, then repeats the process for a second packet, placing it next to the first on the countertop.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1927, "tasks": ["place food"], "length": 279, "global_instruction": "Place pieces of food from the white bowl into the single patterned white cup on the kitchen countertop.", "scene_description": "A white kitchen countertop holds two stacks of patterned white paper cups on a holder, a white bowl with reddish food pieces, a small white dish with yellow food, a single patterned white cup, white saucers, a white plastic spoon, a black object on a white mat, and a paper towel holder with white napkins, set against a gray tiled wall with power outlets; a right robotic arm is positioned at the right edge of the counter.", "global_instruction_dense": "The right robotic arm moves toward the white bowl with food on the countertop, grasps a piece of food, lifts it, moves it to the patterned white cup and places it inside, then returns to the bowl to grasp another piece of food, lifts it, and moves it toward the same cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1928, "tasks": ["place food"], "length": 147, "global_instruction": "Pick a piece of food from the large white bowl and place it into the small adjacent yellow dish.", "scene_description": "A white countertop against a grey tiled backsplash holds a white napkin stack in a clear holder, a metal tissue dispenser, two patterned paper cups, a large white bowl with food, a small yellow dish, a small white cup on a saucer, and two tall textured white cylindrical decor at the far end of the counter.", "global_instruction_dense": "The right robotic arm moves from off-screen toward the large white bowl on the counter, lowers its gripper into the bowl to grasp a piece of food, lifts the food, moves it over the small yellow dish next to the bowl, releases the food into the dish, then retracts off-screen.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1929, "tasks": ["place food"], "length": 381, "global_instruction": "Transfer food pieces from the large white bowl to the smaller adjacent food dish.", "scene_description": "A white kitchen counter against a gray tiled wall holds a clear napkin holder with white napkins, a patterned paper cup, a white coffee cup on a saucer, a small light-colored food dish, a larger white bowl of assorted food, and two rolled items in a holder at the back. The right robotic arm is positioned above the counter near the bowl.", "global_instruction_dense": "The right robotic arm picks up a red spoon from the large bowl, uses it to scoop a red food piece from the bowl onto the smaller dish, sets the spoon down on the counter, then picks a dark food piece from the large bowl and places it onto the smaller dish before lifting away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1930, "tasks": ["place food"], "length": 152, "global_instruction": "Pick up a wrapped snack packet from the counter and place it into the white bowl.", "scene_description": "A white kitchen counter holds a clear acrylic napkin holder with white napkins on the left, a metal napkin holder, a patterned disposable cup, a small white saucer with a tiny cup, multiple wrapped snack packets, a white bowl with small dark contents, another patterned cup, and two tall stacked paper cup towers at the far back, with a robotic arm at the right edge of the frame.", "global_instruction_dense": "The right robotic arm moves from its right-side resting position toward the wrapped snacks on the counter, grasps a gold wrapped snack packet, lifts it, moves it over the white bowl, releases it into the bowl, then retracts back to its original position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1931, "tasks": ["place food"], "length": 469, "global_instruction": "Place all small packaged snacks on the kitchen counter into the small white dish.", "scene_description": "A white kitchen countertop holds a white bowl, a small empty white dish, two patterned paper cups, stacked disposable paper cups, a napkin holder, a small black object, a gold packaged snack, a brown packaged snack, a saucer with a tiny white cup, and the right robotic arm is at the right edge of the counter.", "global_instruction_dense": "The right robotic gripper moves left toward the packaged snacks on the countertop, grasps each snack sequentially, lifts each snack, moves over the small white dish, releases each snack into the dish, then moves away from the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1932, "tasks": ["place food"], "length": 189, "global_instruction": "Pick up the small black round fruit on the counter and place it next to the small white cup at the far right of the counter.", "scene_description": "A white kitchen countertop holds a black-and-white calibration board, paper napkin holder, small black round fruit, blue bowl with utensils, patterned cup, small white bowl, two stacks of disposable cups, small food plate, wooden utensils, and small white cup arranged left to right.", "global_instruction_dense": "The right robotic gripper moves toward the small black round fruit on the counter, grasps it, lifts it, moves it right across the counter, and places it next to the small white cup at the far right end of the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1933, "tasks": ["place food"], "length": 148, "global_instruction": "Pick a snack from the dark blue bowl and place it into the small white saucer", "scene_description": "A white kitchen countertop holds a black-and-white calibration board at the left, a gray napkin holder next to it, a dark blue bowl with snacks, a white bowl, a small white saucer, a black marker, a small black component, stacked paper cups, and a cup with a wooden stick across its top; a right robotic arm is at the upper right edge of the frame.", "global_instruction_dense": "The right robotic arm moves toward the dark blue bowl on the countertop, grasps a brown snack from inside the bowl, lifts the snack, moves it over the small white saucer, and releases the snack into the saucer.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1934, "tasks": ["place food"], "length": 169, "global_instruction": "Place an object from the dark blue bowl into the small white dish on the counter.", "scene_description": "A dark blue bowl, white bowl, small white dish with food bits, black marker, black-and-white checkerboard pad, and grey napkin holder are on a white kitchen counter. Two stacks of white paper cups are against the grey tiled backsplash at the back of the counter.", "global_instruction_dense": "Right robotic arm moves toward the dark blue bowl on the counter, grasps an object inside the bowl, lifts it, moves it over to the adjacent small white dish, and releases the object into the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1935, "tasks": ["place food"], "length": 235, "global_instruction": "Place the blue snack package into the square recessed opening in the countertop.", "scene_description": "A light brown wooden box with small packets, a stainless steel napkin holder with white napkins, a clear glass jar full of packaged sachets, a blue snack package, and a square recessed opening are arranged on a white countertop, with a robotic gripper positioned at the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves toward the blue snack package on the countertop, grasps and lifts it, moves it over the square recessed opening, and releases the package to drop it into the opening.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1936, "tasks": ["place food"], "length": 303, "global_instruction": "Place the yellow snack packet into the small white dish containing food", "scene_description": "A white kitchen countertop sits next to a stainless steel sink. On the counter, from left to right: a clear spray bottle, blue cleaning cloth, silver shaker, green-capped clear plastic bottle, dark blue bowl, white mug with red interior and handle, white teacup on a white saucer, patterned white mug, white bowl, yellow snack packet, small white dish with food, small black sphere, blue small cylinder, and empty small white dish. A robotic arm is positioned at the top right of the counter initially.", "global_instruction_dense": "The right robotic arm moves toward the yellow snack packet on the counter, grasps it, lifts it, moves it over the small white dish holding food, lowers the packet into the dish, releases it, and retracts away from the dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1937, "tasks": ["place food"], "length": 136, "global_instruction": "Place the brown food sachet from the small white dish into the white oval dish on the counter.", "scene_description": "A white kitchen counter holds multiple objects: left shelf has a clear spray bottle, silver shaker, and blue sponge; on the countertop are a dark blue bowl, clear bottle with green cap, white patterned cup, two stacks of white napkins, small white bowl, white mug with red interior and handle, small blue cylinder, small white dish with brown food sachet, white oval dish with black triangular object, wooden spatula, and a robotic arm at the far right of the counter.", "global_instruction_dense": "The right robotic arm moves left toward the small white dish holding the brown food sachet, grasps the sachet with its gripper, lifts it, moves right over the white oval dish, and releases the sachet into the oval dish.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1938, "tasks": ["place food"], "length": 227, "global_instruction": "Pick up the small snack packet and place it into the shallow white bowl on the counter", "scene_description": "A white kitchen counter holds a dark blue bowl on the left, a white mug with red interior and handle at the front center, multiple small white bowls/cups, yellow and red snack packets, a wooden spoon, stacks of white napkins, a clear plastic bottle with a green cap, a patterned paper cup, and a white dish rack on the right.", "global_instruction_dense": "The right robotic arm enters from the top right of the frame, moves down to grasp a small snack packet on the right side of the counter, lifts the packet, moves left to position it above the shallow white bowl, releases the packet into the bowl, then lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1939, "tasks": ["place food"], "length": 535, "global_instruction": "Place scooped coffee beans from the open glass jar into the white printed paper cup on the counter.", "scene_description": "A white kitchen counter holds a glass pour-over coffee maker on a black scale, a plugged-in black coffee grinder, an open glass jar of brown coffee beans with its metal lid beside it, two small white dishes, a small blue cylinder, a blue-and-white patterned paper plate with a red packet, a white printed paper cup, and beige utensils; a sink is at the counter's right end.", "global_instruction_dense": "The right robotic arm moves toward the open glass jar of coffee beans, grasps a metal scoop inside the jar, scoops a portion of coffee beans, moves the scoop over the white paper cup, pours the beans into the cup, then returns the empty scoop to the jar and moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1940, "tasks": ["place food"], "length": 571, "global_instruction": "Transfer a snack piece from the small patterned plate into the paper cup using a plastic spoon, then discard the spoon in the sink.", "scene_description": "A white kitchen counter against a grey tiled wall holds coffee brewing equipment (pour over maker, black electric grinder, metal bean canister), a sink with a faucet at the back, a blue bowl, a white patterned paper cup, a blue-and-white patterned small plate with snack pieces, two white plastic lids, a small blue cylindrical cap, a brown packet, a red packet, and multiple white plastic spoons.", "global_instruction_dense": "The right robotic arm grasps a white plastic spoon from the counter, moves it to the blue-and-white patterned plate to scoop a snack piece, moves the spoon to the white patterned paper cup to drop the snack inside, then moves the spoon to the sink and releases it into the sink.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1941, "tasks": ["place food"], "length": 202, "global_instruction": "Pick a yellow packaged snack from the left wooden snack rack and place it on the empty white plate on the countertop.", "scene_description": "Wooden snack racks filled with yellow and red packaged snacks and Stash brand tea boxes, stacks of paper cups, a metal coffee pod holder, two single printed paper cups, an empty white plate, and a black coffee machine are arranged on a white countertop.", "global_instruction_dense": "The right robotic gripper moves toward the top row of the left wooden snack rack, grasps a yellow packaged snack, lifts it, moves it rightward over the empty white plate, lowers it, releases it onto the plate, and retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1942, "tasks": ["place food"], "length": 276, "global_instruction": "Pick a yellow packaged snack from the wooden rack and place it onto the white plate.", "scene_description": "A white kitchen counter holds left-side wooden snack racks with yellow, red packaged goods and STASH tea boxes, stacked patterned paper cups, a mesh k-cup holder, two empty patterned cups, a white plate with food bits, and a right-side coffee machine.", "global_instruction_dense": "The right robotic gripper moves toward the upper wooden snack rack's yellow section, grasps a yellow packaged snack, lifts it, moves right over the white plate on the counter, and releases the snack onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1943, "tasks": ["place food"], "length": 376, "global_instruction": "Pick a yellow snack packet from the plate and place it into the center open paper cup.", "scene_description": "A white breakroom counter has wooden snack racks with tea and assorted packets on the left, two open decorated paper cups in the center, a white plate with yellow snack packets on the right, a coffee capsule holder, stacked paper cups, and a right robotic arm at the far right.", "global_instruction_dense": "The right robotic arm moves toward the plate of yellow snack packets, grasps a yellow packet from the plate, lifts it, moves it over the center open paper cup, and releases the packet into the cup.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1944, "tasks": ["place food"], "length": 145, "global_instruction": "Place a coffee pod from the white oval plate into the coffee pod holder.", "scene_description": "A white countertop holds wooden multi-tier snack racks with assorted packets, stacked printed paper cups, a right-side coffee pod holder, three patterned paper cups, a white oval plate, and a small white lid, with a robotic arm at the top right.", "global_instruction_dense": "The right robotic arm moves toward the white oval plate, grasps a coffee pod from the plate, lifts the pod, moves it to the right coffee pod holder, and inserts the pod into the holder.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1945, "tasks": ["place food"], "length": 263, "global_instruction": "Retrieve a red snack packet from the wooden organizer and place it on the white plate.", "scene_description": "A white countertop holds a wooden multi-slot organizer with assorted packaged snacks, a transparent STASH tea box, stacks of paper cups, a coffee pod rack, two empty printed paper cups, and a white plate on the right side.", "global_instruction_dense": "The right robotic arm moves toward the upper right slot of the wooden organizer holding red snack packets, grasps one red packet, lifts it, moves right over the white plate on the counter, releases the packet onto the plate, then retracts away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1946, "tasks": ["place food"], "length": 176, "global_instruction": "Place a red snack packet onto the white plate on the countertop.", "scene_description": "A white breakroom countertop holds multi-tiered wooden snack racks with assorted packaged snacks (including red, green, purple Stash tea boxes in a front clear display, yellow and red wrapped snacks in upper racks), stacked paper cups, small white lids, a plastic spoon, and a white plate with snack packets on the right; a robotic arm is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves downward to grasp a red snack packet, lifts it, moves it over the white plate on the right of the counter, releases the packet onto the plate, then lifts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1947, "tasks": ["place food"], "length": 330, "global_instruction": "Place the red snack packet from the counter plate into the upper right slot of the wooden snack rack.", "scene_description": "A white kitchen counter holds a tiered wooden snack rack with assorted packaged snacks, a stack of white paper cups, a plate with food, a patterned cup sleeve dispenser, and coffee preparation tools. A white robotic arm is positioned to the right of the counter.", "global_instruction_dense": "The left robotic arm extends toward the red snack packet on the kitchen counter's plate, grasps the packet, lifts it, moves it to the upper right slot of the tiered wooden snack rack, places the packet into the slot, then retracts back to its starting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1948, "tasks": ["place food"], "length": 208, "global_instruction": "Place a yellow snack packet from the wooden rack into the paper cup on the counter.", "scene_description": "A white countertop has a wooden multi-slot snack rack with assorted packaged snacks on the left, Stash tea boxes in front of the rack, a loose yellow packet on the counter, two patterned paper cups, a plate with utensils, a k-cup holder, and a coffee machine on the right, with no robot visible initially.", "global_instruction_dense": "The right robotic arm enters from the right of the frame, moves to the upper section of the wooden snack rack, grasps a yellow snack packet, lifts it, moves it to the patterned paper cup on the counter, releases the packet into the cup, then moves away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1949, "tasks": ["place food"], "length": 133, "global_instruction": "Place the white coffee pod from the plate into the silver milk pitcher", "scene_description": "A white kitchen counter holds a wooden snack rack with assorted packets on the left, stacked paper cups, a k-cup holder, two printed paper cups, a silver milk pitcher, a white plate with snack bars and a white coffee pod, a yellow sachet, and a coffee machine on the right.", "global_instruction_dense": "The right robotic arm moves down toward the white coffee pod on the plate, grasps it, lifts and moves it over the silver milk pitcher, then releases the pod into the pitcher.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1950, "tasks": ["place food"], "length": 343, "global_instruction": "Place the green leafy vegetables on the kitchen island into the black toaster oven.", "scene_description": "A light wood kitchen island holds a clear coffee pot with a black lid, white lidded cup, white bowl on a saucer atop a stained cloth napkin with a metal fork, black toaster oven, green leafy vegetables, and small toy cars/blocks. White kitchen cabinets, sink, black coffee maker, and stove are in the background next to a glass exterior door.", "global_instruction_dense": "The right robotic gripper enters the frame, moves toward the green leafy vegetables on the kitchen island, grasps and lifts them, moves to the black toaster oven, pulls its door open, places the vegetables inside, closes the door, then moves away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1951, "tasks": ["place food"], "length": 157, "global_instruction": "Remove the brown bread from the toaster oven and place it on the wooden kitchen countertop.", "scene_description": "A light wooden kitchen island countertop holds a small toaster oven on its right side with a brown bread inside, plus a stack of light blue cups, clear glass kettle, white lidded cup, and small white dish with a black utensil to the left of the oven; the background has white kitchen cabinets, a sink, small countertop appliances, and a white refrigerator on the far left.", "global_instruction_dense": "The right robotic gripper reaches into the toaster oven, grasps the brown bread inside, pulls the bread out of the oven, moves it over the adjacent wooden countertop, lowers the bread, releases it onto the countertop, then moves back toward the toaster oven.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1952, "tasks": ["place food"], "length": 196, "global_instruction": "Place the green pepper from the top of the toaster oven onto the white plate on the kitchen island.", "scene_description": "A wooden kitchen island in a kitchen holds an open small black toaster oven, a white plate, a white mug, stacked light blue cups, a clear kettle with blue liquid, a small blue cube, and a black clip. A green pepper sits on top of the toaster oven, with white cabinets, a sink, and a stove visible in the background.", "global_instruction_dense": "The right robotic gripper moves toward the green pepper on top of the small black toaster oven, grasps the pepper, lifts it, moves it over the white plate on the wooden kitchen island, lowers the pepper, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1953, "tasks": ["place food"], "length": 264, "global_instruction": "Place a red peach onto the surface next to the light grey fabric basket", "scene_description": "A window with white horizontal venetian blinds is on the left, a light grey fabric basket sits on a light brown wooden table next to the window, and an orange fabric area to the right of the basket is initially empty.", "global_instruction_dense": "The right robotic arm enters the frame from the right side, moves toward the area adjacent to the light grey fabric basket while holding a red peach, then releases the peach so it falls onto the surface next to the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1954, "tasks": ["place food"], "length": 253, "global_instruction": "Place the small pink peach into the light gray trash bin.", "scene_description": "A light gray fabric trash bin sits on a small light wooden table next to a window with white horizontal blinds. A small pink peach rests on a white surface to the right of the bin, with an orange cloth nearby, and a right robotic arm is at the far right of the frame.", "global_instruction_dense": "The right robotic arm moves toward the small pink peach on the white surface to the right of the trash bin, grasps the peach, lifts it, moves left over the trash bin, releases the peach into the bin, then retracts slightly.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1955, "tasks": ["place food"], "length": 205, "global_instruction": "Place the small colorful snack packet into the white trash bin", "scene_description": "A white trash bin sits to the right of a window with white horizontal blinds. A small wooden table holding two remotes is adjacent to the bin, and an orange fabric surface is to the bin's right.", "global_instruction_dense": "The right robotic arm enters the frame from the right, grasps a small colorful snack packet from the orange fabric surface, moves the packet above the white trash bin, then releases the packet to drop it into the bin.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1956, "tasks": ["place food"], "length": 191, "global_instruction": "Place the orange and green Cheetos snack bag into the light gray fabric basket.", "scene_description": "A light gray fabric basket sits next to a window with white horizontal blinds, a small wooden table with remote controls is beside the basket, and a bed with an orange blanket is to the right of the basket.", "global_instruction_dense": "The right robotic gripper moves toward the Cheetos snack bag on the bed, grasps it, lifts it, moves it over the light gray fabric basket, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1957, "tasks": ["place food"], "length": 214, "global_instruction": "Pick up the orange conical object on the coffee table and reposition it at a new spot on the table.", "scene_description": "A black coffee table holds a stack of small books, an orange conical object, a white rope, and a white piece of paper. To the left of the table is a TV on a stand with a white speaker and blue-green toy, behind the table is a window with beige curtains, and to the right is a brown couch with a knit throw. A right robotic arm is positioned at the top right above the table initially.", "global_instruction_dense": "The right robotic arm moves down toward the orange conical object on the black coffee table, grasps it, lifts it off the table, moves it a short horizontal distance above the table, releases it back onto the table, then moves away toward the stack of books.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1958, "tasks": ["place food"], "length": 383, "global_instruction": "Place the small orange object from the table onto the cap of the rearmost clear water bottle.", "scene_description": "A white table is positioned in front of a window with white sheer curtains. On the table are four clear plastic water bottles, a white paper towel roll, an orange packaged snack, and a small orange object on the table's right end, with a robotic arm to the right of the table.", "global_instruction_dense": "The right robotic arm moves down to grasp the small orange object on the right of the white table, lifts it, moves it to the rearmost clear water bottle, places it upright on the bottle's cap, then retracts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1959, "tasks": ["place food"], "length": 359, "global_instruction": "Retrieve the packaged snack from inside the microwave, place it on the table, then close the microwave door.", "scene_description": "A black microwave sits on a white table, with two clear plastic water bottles positioned to the left of the microwave. A dark grey couch with patterned pillows and scattered papers is in the background, with white sheer curtains covering the window on the left, and a right robotic gripper is at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the black microwave on the white table, opens the microwave door, reaches inside to grasp the packaged snack, lifts the snack out of the microwave and places it on the table to the left of the microwave, pushes the microwave door closed, then moves back to its initial starting position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1960, "tasks": ["place food"], "length": 261, "global_instruction": "Pick up the orange snack package near the window and place it into the black box on the table", "scene_description": "Two clear plastic water bottles are on the left of a white table, a large black rectangular box sits at the center of the table, a robotic arm is positioned at the top right of the frame, a dark grey couch with a patterned cushion is in the background, and sheer white curtains cover the window behind the table.", "global_instruction_dense": "The right robotic arm moves down toward the orange snack package near the white window curtain, grasps it with its gripper, lifts the package, moves it over the black rectangular box on the table, lowers it, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1961, "tasks": ["place food"], "length": 240, "global_instruction": "Pick the orange snack packet from the dark gray box and place it on the white table.", "scene_description": "A white table holds a dark gray rectangular box, an orange snack packet on top of the box, multiple clear plastic water bottles, a metallic pot, and a green cloth near white window curtains, with a robotic arm positioned above the box.", "global_instruction_dense": "The right robotic gripper grasps the orange snack packet resting on the dark gray box, lifts it, moves it down to the white table surface, places the packet on the table, then releases the gripper and lifts away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1962, "tasks": ["place food"], "length": 203, "global_instruction": "Place the bread slice into the silver toaster on the white table.", "scene_description": "A white table holds a clear plastic water bottle, a dark rectangular toaster oven, a silver 2-slot toaster, crumpled plastic wrap, and a small orange snack packet. A robotic arm is positioned to the right of the table, with a grey couch and sheer window curtains in the background.", "global_instruction_dense": "The right robotic gripper moves toward the bread slice at the far end of the table, grasps the bread slice, lifts it, moves it over the silver toaster, lowers it into a toaster slot, and releases the bread slice.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1963, "tasks": ["place food"], "length": 170, "global_instruction": "Move the brown snack package from the top of the toaster to the left side of the table.", "scene_description": "A white table holds a silver toaster on its right side with a brown snack package on top of the toaster, a dark black box left of the toaster with a clear water bottle on it, another clear water bottle left of the box, additional small snack packages and crumpled plastic on the table left of the box, a paper towel roll behind the toaster, and a robotic arm above the table, with a grey couch in the background.", "global_instruction_dense": "The right robotic arm moves toward the brown snack package resting on the silver toaster, grasps the package with its gripper, lifts it, moves it leftward over the table, lowers it onto the left side of the table near other snack packages, then releases the package and lifts away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1964, "tasks": ["place food"], "length": 264, "global_instruction": "Pick up an orange snack package from the table and place it on the plate atop the black toaster oven.", "scene_description": "A white table near a sheer-curtained window holds orange snack packages, a black toaster oven, a silver toaster, paper towels, water bottles, and a coffee maker against white paneled walls.", "global_instruction_dense": "The right robotic arm moves toward the orange snack packages on the left of the table, grasps one package, lifts it, moves it over the plate on the black toaster oven, and releases the package onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1965, "tasks": ["place food"], "length": 396, "global_instruction": "Place the brown food packet into the toaster oven, move the fork from the oven-top plate to the table napkin, and press the toaster lever.", "scene_description": "A white table sits against a white paneled wall near a window with sheer white curtains. On the table: a black toaster oven (door open) is left of center, with a brown food packet on a white plate atop the oven, a plastic-wrapped orange snack left of the oven, a silver toaster right of the oven, a white paper towel roll next to the toaster, two clear water bottles, a white paper napkin on the right table area, and a glass kettle at the far right. A robotic gripper is positioned at the top right of the frame.", "global_instruction_dense": "The right robotic gripper moves toward the brown food packet on the plate atop the toaster oven, grasps the packet and places it inside the open toaster oven, then grasps the metal fork from the plate, moves the fork to the white paper napkin on the table and releases it, before moving to the silver toaster to press its lever down.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1966, "tasks": ["place food"], "length": 145, "global_instruction": "Place the small orange food slice into the toaster's slot.", "scene_description": "A white table holds a silver toaster, a black-lidded clear glass coffee pot, a plastic water bottle, a roll of white paper towels, and a small orange food slice. A dark grey couch with a light beige blanket, a black floor lamp, and white sheer curtains are in the background, with a robotic arm positioned above the table area.", "global_instruction_dense": "The right robotic arm moves downward toward the orange food slice on the table, grasps it, lifts and moves it over the toaster slot, lowers it into the slot, releases the slice, then retracts upward away from the toaster.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1967, "tasks": ["place food"], "length": 171, "global_instruction": "Pick up the small orange object from the white table and place it on the dark gray surface to the left of the table.", "scene_description": "A white table holds a silver toaster, black-handled glass kettle, clear plastic water bottle, paper towel roll, black circular stand, loose papers, and a small orange object. A robotic arm is positioned to the right of the table, with a gray couch, patterned pillow, knit blanket, sheer white curtains, and floor lamp in the background.", "global_instruction_dense": "The right robotic arm moves downward toward the small orange object on the white table, grasps it with its gripper, lifts it, moves leftward over the dark gray surface, releases the object onto the surface, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1968, "tasks": ["place food"], "length": 378, "global_instruction": "Place a food package into the black countertop oven and close the oven drawer.", "scene_description": "A black countertop oven sits on a white table, with a water bottle, green cloth, small toy car, electric kettle, and paper towel roll to the oven's left, a white robotic arm to the oven's right, and a sofa in the background.", "global_instruction_dense": "The left robotic gripper grasps the black oven's handle to pull the drawer open, places a food package into the open drawer, then pushes the drawer closed to complete the task.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1969, "tasks": ["place food"], "length": 873, "global_instruction": "Place the orange packet into the countertop oven.", "scene_description": "A black countertop oven with two small red items on its top, a silver toaster, white paper towel roll, plastic water bottle, green cloth, and small blue toy car are placed on a white table. A white robotic arm is positioned to the right of the oven, with a gray sofa in the background.", "global_instruction_dense": "The right robotic arm grasps the oven handle to open the door, picks up the orange packet, places it inside the oven, adjusts the packet's position multiple times, then moves away from the oven.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1970, "tasks": ["place food"], "length": 154, "global_instruction": "Pick up the packaged food from the kitchen counter and place it into the trash bin.", "scene_description": "A white kitchen counter holds a white container with a green lid on the left, a packaged food item, and a red soda can near the sink. Two trash bins sit under the counter, a robotic arm is positioned to the right of the counter, and windows with blinds are on the left.", "global_instruction_dense": "The right robotic arm moves toward the packaged food on the kitchen counter, grasps it, lifts it, moves it over the open trash bin under the counter, releases the food package into the bin, then returns to its initial position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1971, "tasks": ["place food"], "length": 155, "global_instruction": "Pick a red food item from the large metal bowl and place it onto the small white plate on the countertop.", "scene_description": "A grey countertop against a purple wall holds a roll of blue tape with a black pen on top, a brown cutting board with a calculator and wooden spoon, a small white plate with red food pieces, and a large metal bowl at the far right; the right robotic gripper is visible at the top right.", "global_instruction_dense": "The right robotic gripper moves toward the large metal bowl on the right end of the grey countertop, grasps a red food item from inside the bowl, lifts the item, moves it left toward the small white plate, lowers the item, and releases it onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1972, "tasks": ["place food"], "length": 131, "global_instruction": "Place the red food from the white plate onto the large brown flatbread on the countertop.", "scene_description": "A gray countertop against a purple wall holds a large irregular brown flatbread, a gray calculator, a white plate with red food, a small red object at the far end, and a metal bowl with a spoon on the right end.", "global_instruction_dense": "The right robotic arm moves toward the white plate on the countertop, grasps the red food on the plate, lifts the food, moves it left above the large brown flatbread, then releases the food onto the flatbread.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1973, "tasks": ["place food"], "length": 387, "global_instruction": "Place the orange hexagonal object from the kitchen counter into the open cutlery drawer.", "scene_description": "A white kitchen counter holds a silver stainless steel kettle, red-handled screwdriver, white round plate, and orange hexagonal flat object, with a decorative blue patterned plate leaning against the wall under white upper cabinets; an open drawer below the counter holds sorted cutlery and small colored silicone cups, and a white and black robotic arm is positioned at the top right near a green wall and window.", "global_instruction_dense": "The right robotic gripper moves toward the orange hexagonal flat object on the kitchen counter, grasps it, lifts it, moves it down into the open cutlery drawer, releases the object onto the drawer's contents, then moves back upward above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1974, "tasks": ["place food"], "length": 139, "global_instruction": "Place the green food from the silver bowl onto the kitchen counter surface.", "scene_description": "A light-colored kitchen counter holds a small silver pitcher, a white container with a green lid, a silver bowl with green food, and a silver pot near a window with white blinds; a left robotic arm is positioned to the right of the counter, and an open drawer below holds kitchenware.", "global_instruction_dense": "The left robotic arm moves toward the silver bowl on the kitchen counter, lowers its gripper into the bowl to grasp the green food, lifts the food out of the bowl, and places it on the counter next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1975, "tasks": ["place food"], "length": 137, "global_instruction": "Pick up the small green vegetable on the counter and place it into the silver metal bowl.", "scene_description": "A white kitchen countertop holds a silver metal bowl, white rolling pin, small green vegetable, lidded silver pot, and metal carafe. Below the counter is an open drawer with utensils, a window with blinds is behind the counter, and the right robotic arm is positioned at the top right of the scene.", "global_instruction_dense": "The right robotic arm moves toward the small green vegetable on the kitchen counter, grasps it, lifts it, moves it over the silver metal bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1976, "tasks": ["place food"], "length": 247, "global_instruction": "Place the orange U-shaped object into the white mug with red interior.", "scene_description": "A black table holds a white mug with red handle and interior, an orange U-shaped object, and a black cylindrical object. A left robotic arm is positioned above the table, with a monitor-topped white cabinet and metal shelf in the background.", "global_instruction_dense": "The left robotic arm moves downward to grasp the orange U-shaped object on the table, lifts it, moves it over the white mug, releases the object into the mug, then moves toward the black cylindrical object.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1977, "tasks": ["place food"], "length": 176, "global_instruction": "Place the small orange cylinder into the white mug with red interior.", "scene_description": "A black tabletop holds a white mug with red interior and handle, a small orange cylinder, a crumpled orange cloth, a black cloth, a remote control, a white notepad, and an orange-and-white stick. A large black TV rests on a white cabinet with a black countertop to the left of the table, and a robotic arm is positioned above the table.", "global_instruction_dense": "The right robotic arm moves down toward the small orange cylinder on the table, grasps it, lifts it, moves it leftward over the white mug with red interior, releases the cylinder into the mug, then lifts upward away from the mug.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1978, "tasks": ["place food"], "length": 128, "global_instruction": "Move the orange snack packet to the area near the black thermos on the table.", "scene_description": "A long white conference table holds an orange snack packet, wooden shape sorting box, assorted colorful blocks, brown water bottle, tissue box, blue spray bottle, patterned cup, black thermos, white storage box, and electronic devices at the far end. A white robotic arm is positioned at the left side of the table, with office chairs around the table and a whiteboard mounted on the right wall.", "global_instruction_dense": "The right robotic arm moves toward the orange snack packet at the front left of the table, grasps it with its gripper, lifts and moves it backward toward the black thermos, lowers the packet, and releases it near the thermos.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1979, "tasks": ["place food"], "length": 211, "global_instruction": "Place the orange round fruit into the white bowl with yellow contents", "scene_description": "A white oval table holds an orange round fruit, a white bowl with yellow contents, a blue-and-white patterned bowl with colorful items, a spray bottle, a tissue box, a remote control, and other small objects. A robotic arm is positioned on the left side of the table, with a Toyota-branded display screen and office chairs in the background.", "global_instruction_dense": "The right robotic arm descends toward the orange fruit on the table, grasps it, lifts it, moves left to the white bowl with yellow contents, lowers the fruit into the bowl, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1980, "tasks": ["place food"], "length": 355, "global_instruction": "Place the blue and red snack packs into the empty patterned receptacles on the table.", "scene_description": "A white table holds a beige water bottle, wooden shape sorting cube, bowl of multicolored blocks, gray tissue box on stacked books, blue spray bottle, two blue-and-white patterned plates (one with a blue snack pack, one empty), a white plate with a red snack pack and metal spoon, long cardboard box, and laptops/tablets on the far end, with a right robotic arm above the right table side.", "global_instruction_dense": "The right robotic gripper grasps the blue snack pack from its plate, moves it to the empty patterned bowl and releases it, then grasps the red snack pack from the white plate, moves it to the other empty patterned plate and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1981, "tasks": ["place food"], "length": 210, "global_instruction": "Pick up the red snack packet from the small right plate and place it onto the foreground white paper plate.", "scene_description": "A white conference room table holds various items: a red snack packet on a small silver plate at the right near a right robotic arm, plus a blue snack bag, bowl of multicolored blocks, tan water bottle, long cardboard package, laptop, tablet, remote, tissue box, and paper plates with a metal serving utensil.", "global_instruction_dense": "The right robotic arm moves down toward the red snack packet on the small silver plate at the table's right, grasps the packet with its gripper, lifts the packet, moves it leftward over the foreground white paper plate, then releases the packet onto the plate.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1982, "tasks": ["place food"], "length": 194, "global_instruction": "Place the blue snack bag onto the white plate holding the red snack bag", "scene_description": "A white conference table holds various objects: a long brown cardboard package, beige water bottle, clear plastic container, light brown wooden cube, white bowl of multicolored blocks, grey tissue box, stacked books, blue snack bag on a striped plate, red snack bag on a white plate, purple spray bottle, and laptops/tablets at the far end. A robotic arm is positioned at the right side of the table.", "global_instruction_dense": "The right robotic arm lowers toward the blue snack bag on the striped plate, grasps it with its gripper, lifts it, moves it leftward over the white plate with the red snack bag, lowers it, and releases it onto the white plate next to the red snack bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1983, "tasks": ["place food"], "length": 441, "global_instruction": "Place the white napkin and two packaged snack bags onto the small striped paper plate.", "scene_description": "A white office table holds a right-side Franka Emika robotic arm, along with items: open cardboard box with electronics and cables, tan wooden bottle, wooden puzzle block, bowl of colorful pieces with a spoon, stacked books, gray tissue box, purple spray bottle, white napkin, blue packaged snack, red packaged snack, small striped paper plate, large plain white plate; the far table end has a laptop, tablet and remote, with office chairs and a wall screen in the background.", "global_instruction_dense": "The right robotic gripper first adjusts the position of the purple spray bottle, then grasps the white napkin and places it near the striped paper plate, then grasps the blue snack bag and places it on the striped plate, then grasps the red snack bag and places it on the striped plate on top of the blue bag.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1984, "tasks": ["place food"], "length": 124, "global_instruction": "Place the blue packaged snack on the lower part of the table near the wooden shape sorting box", "scene_description": "A long white office conference table holds various items including blue packaged snacks, bowls of food, a wooden shape sorting box, stationery, cups, a beige bottle, and a laptop at its far end. Two robotic arms are positioned at the right side of the table, with the left robotic gripper above the upper right of the table initially.", "global_instruction_dense": "The left robotic arm moves down toward the blue packaged snack at the lower part of the table, grasps it with its gripper, lifts it, moves it toward the middle of the table near the wooden shape sorting box, then lowers and releases it at that position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1985, "tasks": ["place food"], "length": 414, "global_instruction": "Transfer orange snacks from the striped paper plate into the white ceramic bowl.", "scene_description": "A white table holds a white ceramic bowl with brown food, a striped paper plate with orange snacks, metal tongs inside the white bowl, assorted office supplies (tablet, yellow water bottle, laptop, toy block set), and a white robotic arm positioned above the right side of the table, with office chairs and a whiteboard in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp metal tongs from the white ceramic bowl, lifts the tongs, moves to the adjacent striped paper plate with orange snacks, repeatedly uses the tongs to pick individual orange snacks and place them into the white bowl, then sets the tongs down on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1986, "tasks": ["place food"], "length": 238, "global_instruction": "Remove the dark fruit and red fruit from the beige box and place them into the clear plastic container.", "scene_description": "A white kitchen countertop holds a square beige box with a dark black fruit and a red round fruit inside, a clear plastic container of multicolored blocks, two patterned paper cups, stacked disposable paper cups, and a water dispenser to the right, with a robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves down to the beige box, grasps the dark fruit, moves it to and drops it into the clear plastic container, then returns to the box, grasps the red fruit, moves it to and drops it into the clear plastic container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1987, "tasks": ["place food"], "length": 484, "global_instruction": "Transfer the dark food pellets from the front white bowl to the rear white bowl using a paper towel.", "scene_description": "A white kitchen counter holds two white bowls filled with dark food pellets, a small open box with colorful items, a black insulated tumbler, two tall white spray bottles against a grey tiled backsplash, with a robotic arm positioned at the upper right above the counter.", "global_instruction_dense": "The right robotic arm moves downward to grasp a white paper towel from the stack on the counter, moves the paper towel to the front white bowl of dark food pellets, and uses the paper towel to repeatedly move the pellets from the front bowl into the rear white bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1988, "tasks": ["place food"], "length": 119, "global_instruction": "Pick the red tomato from the open box and place it on the kitchen countertop", "scene_description": "A white kitchen countertop holds two white bowls filled with brown beans each with a metal spoon, a small light beige open box containing a red tomato, and a black tumbler with a silver rim to the right of the box. A robotic arm with orange accents is positioned above the right side of the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the open beige box on the kitchen counter, grasps the red tomato inside the box, lifts the tomato, moves it rightward above the counter next to the black tumbler, and releases it onto the countertop surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1989, "tasks": ["place food"], "length": 99, "global_instruction": "Pick up the small red fruit and place it into the open beige box on the kitchen counter.", "scene_description": "A white kitchen counter holds two white bowls with dark brown contents, an open beige box, a black insulated tumbler, and a small red fruit, with a gray tiled backsplash behind and a right robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the small red fruit on the kitchen counter, grasps it, lifts it, moves it left over the open beige box, and releases it into the box.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1990, "tasks": ["place food"], "length": 105, "global_instruction": "Pick the red apple from the beige box and place it on the kitchen counter", "scene_description": "A white kitchen counter has a stainless steel sink with two white cups with red interiors inside it. A chrome faucet is left of the sink. To the sink's right: a beige open box holding a red apple, a small white bowl next to the box, cleaning supplies against the gray tiled backsplash, a white paper towel roll, and a right-side robotic arm above the counter.", "global_instruction_dense": "The right robotic arm moves downward toward the red apple in the beige box, grasps the apple, lifts it out of the box, moves it slightly right, and lowers it to place it on the white kitchen counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1991, "tasks": ["place food"], "length": 778, "global_instruction": "Place the yellow knitted cloth and fake fruits into the light brown woven bowl on the table.", "scene_description": "A dark grey table holds a light brown woven bowl, fake fruits (peach, orange, carrot), plastic bowls in green/red/yellow, a yellow knitted cloth, and paper items; the right robotic arm is positioned above the table near the green plastic bowl, and the left robotic arm is visible on the left edge of the frame.", "global_instruction_dense": "The right robotic arm first removes a small white object from the light brown woven bowl, then grasps the yellow knitted cloth from the right side of the table and places it into the bowl, then consecutively grasps each fake fruit from the tabletop and places them into the woven bowl on top of the cloth.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1992, "tasks": ["place food"], "length": 218, "global_instruction": "Place the light brown pear into the light brown wooden bowl", "scene_description": "A dark grey countertop holds a light brown wooden bowl, a light brown pear, a yellow cup, orange toy shrimp, pink toy, green bowls, yellow knitted cloth and small colorful containers. The wooden bowl is left of the pear.", "global_instruction_dense": "The right robotic gripper moves right from above the wooden bowl to the light brown pear, grasps the pear, lifts it, moves left over the wooden bowl, and releases the pear into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1993, "tasks": ["place food"], "length": 598, "global_instruction": "Place the red strawberry from the red-green bowl into the small blue bowl.", "scene_description": "A light wooden kitchen table holds a white fabric bag, a small blue plastic bowl, and a red bowl with green interior containing a red strawberry-shaped toy, with brown upper cabinets, a microwave, and a stainless steel refrigerator in the background.", "global_instruction_dense": "The right robotic gripper moves toward the red-green bowl on the wooden table, grasps the red strawberry inside it, lifts the strawberry, moves it over the small blue bowl, releases it into the bowl, then hovers above the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1994, "tasks": ["place food"], "length": 303, "global_instruction": "Place the orange carrot from the green bowl onto the adjacent dark gray table surface.", "scene_description": "A dark gray tabletop holds a green bowl (with an orange carrot inside), blue bowl, yellow cloth, yellow plastic cup, red bowl, orange plush toy, red ball on a black base, and brown envelopes. A white robotic arm is positioned to the left of the table above the green bowl, with people seated behind the table near large windows.", "global_instruction_dense": "The right robotic gripper grasps the orange carrot inside the green bowl, lifts it out of the bowl, moves it to the side of the bowl above the table, lowers it, releases it onto the table, then lifts away from the placed carrot.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1995, "tasks": ["place food"], "length": 449, "global_instruction": "Place the cut pink fruit pieces from the brown woven bowl into the yellow lidded plastic container.", "scene_description": "A kitchen counter holds a brown woven bowl with cut pink fruit pieces and an orange carrot, a yellow lidded plastic container, a green bowl, a red measuring spoon, a silver toaster, spice containers, and a light blue water bottle, with wooden cabinets and a microwave in the background; a white robotic arm is positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the brown woven bowl on the kitchen counter, grasps the cut pink fruit pieces inside it, lifts the fruit, moves it over the yellow lidded plastic container, and releases the fruit into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1996, "tasks": ["place food"], "length": 477, "global_instruction": "Pick up the orange carrot from the wooden bowl and place it on the kitchen counter near other vegetables.", "scene_description": "A dark kitchen counter holds a yellow corn, a green bowl, a small red bowl, a wooden bowl with an orange carrot inside, a potato, and a green bell pepper; a white robotic arm is positioned above the counter, with a sink, wooden cabinets, and a microwave in the background.", "global_instruction_dense": "The right robotic gripper moves toward the wooden bowl on the kitchen counter, grasps the orange carrot inside it, lifts the carrot, moves it left across the counter, lowers it, and releases it onto the counter near the green bowl and other vegetables.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1997, "tasks": ["place food"], "length": 347, "global_instruction": "Pick up the small food package near the kettle and place it upright on the front of the kitchen counter.", "scene_description": "A black kitchen counter holds a stainless steel electric kettle, a yellow-green cleaning sponge, a dish rack with kitchen utensils, and a small rectangular food package near the kettle. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the small rectangular food package next to the stainless steel kettle, grasps it, lifts and rotates it to face its labeled front outward, moves it to the front area of the black kitchen counter, lowers it, and releases it to stand upright on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1998, "tasks": ["place food"], "length": 366, "global_instruction": "Pick up the light brown pear from the wooden bowl and place it on the kitchen counter near the open microwave.", "scene_description": "A dark grey kitchen counter holds an open grey microwave on the right, a light brown pear inside a small wooden bowl, a red push button and small kitchen appliances, with light wooden upper cabinets and a mounted stainless steel microwave above, and a white robotic arm positioned at the left of the counter.", "global_instruction_dense": "The right robotic gripper moves from the open microwave door toward the light brown pear in the wooden bowl, grasps the pear, lifts it out of the bowl, moves it rightward near the open microwave, lowers it onto the counter, and releases its grip to set the pear down.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 1999, "tasks": ["place food"], "length": 232, "global_instruction": "Place the orange carrot on the kitchen counter into the small brown bowl.", "scene_description": "A grey kitchen counter holds a purple cup, green bottle, small brown bowl, orange carrot, red round object, and coffee preparation appliances. A white robotic arm stands to the left of the counter; a white microwave with an open door sits on a lower shelf to the right of the counter, with a silver microwave above it.", "global_instruction_dense": "The right robotic gripper moves toward the orange carrot on the kitchen counter, grasps and lifts it, moves it over the small brown bowl, releases the carrot into the bowl, then moves back away from the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2000, "tasks": ["place food"], "length": 311, "global_instruction": "Pick the red tomato from the wooden bowl and place it on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a small wooden bowl, red tomato, orange carrot, purple container and assorted small kitchen items, with two stainless steel microwaves mounted in right wooden cabinetry, and a white robotic arm positioned on the left of the counter.", "global_instruction_dense": "The white robotic arm moves its gripper toward the wooden bowl on the counter, grasps the red tomato inside the bowl, lifts the tomato out of the bowl, moves it over adjacent empty counter space, lowers the tomato, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2001, "tasks": ["place food"], "length": 292, "global_instruction": "Place the green fruit from the light orange bowl into the empty light brown bowl", "scene_description": "A dark grey table holds a light brown empty bowl on the left, a light orange bowl with a green fruit and other produce, a green bowl, a red bowl with a spoon, a yellow cloth, an orange plush toy, and a paper towel roll on the right. A white robotic arm is positioned above the left side of the table, with a seating area and large windows in the background.", "global_instruction_dense": "The left robotic arm moves toward the light orange bowl, grasps the green fruit inside, lifts it, moves it over the empty light brown bowl, lowers it, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2002, "tasks": ["place food"], "length": 313, "global_instruction": "Place the orange carrot from the small vegetable bowl into the light brown woven bowl, then touch the red bowl.", "scene_description": "A dark grey tabletop holds a light brown empty woven bowl, a small transparent bowl containing an orange carrot and other vegetables, a green bowl, a red bowl with a blue base, a small red cup, a folded yellow cloth, a pink plush toy, a red ball, and a roll of white paper towel on its right edge. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward toward the small transparent bowl of vegetables, grasps the orange carrot, lifts it out of the bowl, moves over the light brown woven bowl, releases the carrot into the bowl, then moves right across the table to the red bowl, touches its surface, and lifts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2003, "tasks": ["place food"], "length": 368, "global_instruction": "Pick up the sealed packaged food item and place it into the green bowl on the table.", "scene_description": "A dark grey table holds a light brown woven basket, a small bowl with a carrot and green fruit, a green bowl, a sealed packaged food item, a red bowl, a small red container with clips, a yellow cloth, a pink plush toy, a red ball, and a roll of paper towels, with a windowed lounge area with sofas in the background and a white robotic arm positioned above the table.", "global_instruction_dense": "The right robotic arm lowers toward the sealed packaged food on the table, grasps it, lifts and tilts it to dispense a small red item into the red bowl, moves the package over the green bowl, releases it into the bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2004, "tasks": ["place food"], "length": 418, "global_instruction": "Scoop food from the brown bowl and place it into the small red bowl", "scene_description": "A dark gray tabletop holds two pink peaches, a green bowl, a small bowl with green and yellow fruit, a brown snack-filled bowl, two small red bowls, a yellow cloth, a white paper towel roll, and a red ball. A robotic arm is positioned above the left side of the table, with a lounge with large windows and sofas in the background.", "global_instruction_dense": "The right robotic arm moves downward to grasp a utensil on the table, moves the utensil into the brown snack bowl to scoop food, lifts the utensil with food and moves it over the small red bowl, deposits the food into the red bowl, then moves the utensil back toward the brown bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2005, "tasks": ["place food"], "length": 147, "global_instruction": "Pick the yellow pear from the fruit basket and place it into the green bowl", "scene_description": "A grey tabletop holds a green bowl on the left, a light brown fruit basket containing a yellow pear, green produce and orange fruit slices, a small red bowl with a purple base, pink and yellow plush toys, a black cube with a red button on top, a white paper towel roll, and a yellow container, with a robotic arm positioned above the table near the fruit basket.", "global_instruction_dense": "The left robotic arm moves down to grasp the yellow pear from the light brown fruit basket, lifts the pear, moves it left over the green bowl, releases the pear into the green bowl, then retracts upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2006, "tasks": ["place food"], "length": 152, "global_instruction": "Take the orange carrot from the light brown woven basket and place it on the dark grey table.", "scene_description": "A dark grey tabletop holds a green bowl on the left, a light brown woven basket with an orange carrot and green produce next to the bowl, a small red and purple bowl, a pink plush toy, a red measuring cup, and a black box with a red button on the right. A white robotic arm is positioned above the left portion of the table.", "global_instruction_dense": "The right robotic arm moves downward toward the orange carrot in the light brown woven basket, grasps the carrot, lifts it, moves it slightly leftward, then releases the carrot onto the table next to the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2007, "tasks": ["place food"], "length": 163, "global_instruction": "Take the green pepper from the beige bowl and place it on the table next to the orange carrot.", "scene_description": "A dark gray table holds a green bowl, a beige bowl containing a green pepper, an orange carrot, a small red-and-purple bowl, a pink plush toy, a small red container, a black box with a red button, a white paper towel roll, and a yellow container, with a robotic arm positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the beige bowl on the table, grasps the green pepper inside the bowl, lifts the pepper out of the bowl, moves it rightward to the space next to the orange carrot, lowers it onto the table, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2008, "tasks": ["place food"], "length": 210, "global_instruction": "Place the green asparagus into the light brown bowl, then place the orange carrot on the table next to the green bell pepper.", "scene_description": "A dark gray tabletop holds a light brown woven bowl, green bowl, orange carrot, green bell pepper, green asparagus, pink stuffed toy, small red bowls, a paper towel roll, and a black cube topped with a red ball, with a left robotic arm positioned above the left side of the table.", "global_instruction_dense": "The left robotic arm moves downward to grasp the green asparagus on the table, lifts and places it into the light brown woven bowl, then grasps the orange carrot, moves it rightward across the table, lowers it, and releases it on the table next to the green bell pepper.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2009, "tasks": ["place food"], "length": 388, "global_instruction": "Place the green bell pepper to the right of the red bowl on the tabletop.", "scene_description": "A dark grey tabletop holds a light brown woven basket, green plastic bowl, red plastic bowl, green bell pepper, orange toy carrot, pink plush toy, yellow plush toy, and red measuring cup, with a right robotic arm positioned above the left side of the table, and a lounge area with dark sofas and large windows in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the green bell pepper on the left side of the table, grasps it, lifts it, moves it rightward while using it to push the red bowl to a new position, then lowers and releases the green bell pepper to the right of the red bowl on the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2010, "tasks": ["place food"], "length": 339, "global_instruction": "Place the printed snack package next to the light brown woven basket on the countertop.", "scene_description": "A dark gray countertop holds a light brown woven basket with a carrot and red produce inside in the left-middle area, a printed sealed snack package in the center-right area, a green bowl, red-purple bowl, green bell pepper, orange ball, pink plush toy, red measuring cup, and a white mug at the far left, with a large window showing an outdoor waterfront in the background.", "global_instruction_dense": "The right robotic gripper moves down toward the printed snack package on the center-right of the counter, grasps and lifts it, moves it left to the area next to the woven basket, lowers and releases it, then adjusts the package's position.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2011, "tasks": ["place food"], "length": 336, "global_instruction": "Pick a pear from the green bowl and place it on the counter near the plush toys.", "scene_description": "A dark grey countertop holds a beige vegetable basket, white mug, and yellow bowl on the left; a green cup, green bowl, red bowl, packaged food, green bell pepper, and black holder with an orange ball near the center; a pink plush toy, yellow plush items, and red measuring cup on the right, with a white robotic arm above the counter.", "global_instruction_dense": "The right robotic gripper moves to the green bowl on the counter, grasps the pear inside the bowl, lifts the pear, moves it rightward across the counter, and releases it onto the counter near the pink and yellow plush toys.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2012, "tasks": ["place food"], "length": 363, "global_instruction": "Place the light brown pear into the light brown woven basket on the table.", "scene_description": "A dark gray tabletop holds a light brown woven basket (containing a carrot and small red item), a light brown pear, a bright green plastic cup, colorful small bowls, a pink plush toy, and other small objects, with a white robotic arm positioned above the table and large windows in the background.", "global_instruction_dense": "The right robotic arm lowers to grasp the light brown pear on the table, lifts it, moves over the woven basket, releases the pear which falls out of the basket onto the adjacent table surface, then pushes the fallen pear closer to the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2013, "tasks": ["place food"], "length": 322, "global_instruction": "Place the green bell pepper into the light brown plastic vegetable bowl", "scene_description": "A dark grey smooth tabletop holds various items: a transparent light brown plastic bowl with vegetables, a light brown pear, bright green plastic cup, green bell pepper, wrapped food packet, pink stuffed animal, black square object with an orange ball on top, red small measuring cup, plus further back a white ceramic mug, light brown woven basket, and two colorful bowls. A white robotic arm is positioned above the left side of the table.", "global_instruction_dense": "The right robotic arm moves down toward the green bell pepper on the table, grasps it, lifts it, moves left to position it over the light brown plastic vegetable bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2014, "tasks": ["place food"], "length": 134, "global_instruction": "Move the brown packaged snack to the position next to the pink plush toy", "scene_description": "A dark grey countertop holds a yellow-green bowl, a light brown basket with a green pepper, a brown packaged snack, a black box with an orange ball on top, a green cup, a pink plush toy, a white paper towel roll, a yellow tissue box, and a checkered mat. A robotic arm is positioned above the left side of the counter, with large windows and seating in the background.", "global_instruction_dense": "The left robotic gripper moves down toward the brown packaged snack, grasps it, lifts it, moves it rightward to the area beside the pink plush toy, lowers it onto the counter, and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2015, "tasks": ["place food"], "length": 205, "global_instruction": "Pick the green bell pepper from the woven basket and place it on the small black box under the orange ball.", "scene_description": "A dark gray tabletop holds a light brown woven basket with a dark green bell pepper inside (left of center), a small black box with an orange ball on top, a bright green plastic cup, a pink plush toy, a packaged food stack, a white paper towel roll, an open yellow tissue box, and a green-and-red bowl on the far left, with a right robotic arm positioned above the table left of the basket.", "global_instruction_dense": "The right robotic arm moves toward the light brown woven basket on the table, grasps the dark green bell pepper inside the basket, lifts it, moves rightward to the small black box topped with an orange ball, lowers the pepper, places it on the black box, then releases the pepper and lifts its gripper away.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2016, "tasks": ["place food"], "length": 357, "global_instruction": "Move the pink bowl to the table center, then place the small strawberry-shaped object into the pink bowl.", "scene_description": "A light wooden table holds a pink bowl stacked on an orange bowl, a small red and green strawberry-shaped object, a white paper towel roll, a white mug, a dark water bottle, and a white box, with a robotic arm positioned to the left of the table.", "global_instruction_dense": "The right robotic arm reaches toward the pink bowl stacked on the orange bowl at the left of the table, grasps the pink bowl, moves it to the center of the table and releases it, then grasps the small red and green strawberry-shaped object, moves it over the centered pink bowl, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2017, "tasks": ["place food"], "length": 365, "global_instruction": "Transfer a piece of fried food from the white plate into the light brown wooden bowl using a fork.", "scene_description": "A dark grey lab countertop holds a small yellow container, a light brown wooden bowl, a green plastic bowl, a white plate of fried food with a fork inserted into the food, a red button on a black base, a small red cap, a yellow woven cloth, and a pink object at the far right. A static white robotic arm is positioned to the left of the counter, and a second manipulator arm is above the counter, with people working in the background near large windows.", "global_instruction_dense": "The right robotic arm moves downward toward the white plate, grasps the fork resting in the fried food, uses the fork to spear a piece of food, lifts the fork with the food, moves toward the light brown bowl, and places the food into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2018, "tasks": ["place food"], "length": 5, "global_instruction": "Place a pink plush peach into the large green bowl on the table.", "scene_description": "A left white robotic arm is positioned at the left edge of a dark reflective tabletop. On the table, green, blue and red bowls, pink plush peach toys, a yellow cloth and eating utensils are arranged, with people working near large windows in the background.", "global_instruction_dense": "The left robotic arm moves rightward toward the pink plush peaches on the table, grasps one plush peach, lifts it, moves it left to the large green bowl, and releases the peach into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2019, "tasks": ["place food"], "length": 1569, "global_instruction": "Transfer the small red fruit from the red plate into the small green bowl using the black spoon.", "scene_description": "A wooden kitchen table holds a red plate (with a yellow ball, small red fruit, and tiny green object), a small green bowl containing a black spoon, plus other items (snack bag, cup, stacked sponge) in a kitchen area with a refrigerator, microwave, stove, and wooden cabinets in the background. A white robotic arm is positioned to the left of the table.", "global_instruction_dense": "The right robotic gripper first grasps the black spoon from the green bowl, moves the spoon to the red plate, manipulates the spoon to scoop the small red fruit from the plate, moves the spoon holding the fruit over the green bowl, drops the fruit into the bowl, then places the spoon on the table and retracts the arm.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2020, "tasks": ["place food"], "length": 370, "global_instruction": "Place the light orange cylinder on top of the green arch-shaped block.", "scene_description": "A light wooden table in a kitchen area holds, from left to right: a yellow triangular block, a green arch-shaped block, a light orange cylinder, a yellow cylinder, a purple square block with a hole, two white cups, a green-red-blue stacked bowl, and a white paper, with a person seated at the table's right end and a robotic arm at the table's left edge.", "global_instruction_dense": "The left robotic arm extends toward the table, adjusts its position to reach the light orange cylinder, grasps and lifts the cylinder, moves it over the green arch-shaped block, and places it on top of the green block.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2021, "tasks": ["place food"], "length": 1436, "global_instruction": "Place the red apple from the green plastic bowl into the light brown wooden bowl.", "scene_description": "A dark gray kitchen counter holds a green plastic bowl with a red apple inside, a round light brown wooden bowl, a black dish rack, and a stainless steel sink, with light brown wooden cabinets mounted above the counter. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm first moves to grasp the light brown wooden bowl, lifts and moves it next to the green bowl, places it on the counter, then moves to grasp the red apple inside the green bowl, lifts the apple, moves it over the wooden bowl, and releases the apple into the wooden bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2022, "tasks": ["place food"], "length": 569, "global_instruction": "Place the red strawberry from the blue bowl into the beige woven basket and lift the blue bowl.", "scene_description": "A dark gray kitchen counter holds a blue plastic bowl with a red strawberry and dark green fruit inside, assorted produce (orange carrot, red bell pepper, yellow potato) to the bowl's left, a beige woven basket to the bowl's right, a silver toaster behind the bowl, light wood cabinets above, and a white robotic arm positioned on the left above the counter.", "global_instruction_dense": "The left robotic arm moves from its initial position toward the blue bowl on the kitchen counter, grasps the red strawberry inside the bowl, lifts and moves the strawberry rightward over the beige woven basket, releases the strawberry into the basket, then grasps the blue bowl and lifts it off the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2023, "tasks": ["place food"], "length": 583, "global_instruction": "Place the light brown pear into the beige wicker basket and the red round fruit into the green bowl on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a light brown pear, red round fruit, small blue bowl, green bowl, and beige wicker basket, with wooden upper cabinets above, a toaster and coffee makers behind the food items, and a microwave at the counter's right edge.", "global_instruction_dense": "The right robotic gripper moves downward to grasp the light brown pear on the counter, lifts it and moves right to place it into the beige wicker basket, then moves left to grasp the red round fruit, lifts it and places it into the green bowl on the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2024, "tasks": ["place food"], "length": 176, "global_instruction": "Pick the light brown pear from the beige tray and place it into the green bowl on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a beige woven tray with a light brown pear, a bright green cup next to the tray, a green bowl left of the tray, a small blue bowl, assorted vegetables, a silver toaster, coffee appliances, and a silver microwave on the far right, with light wooden cabinets above the counter and a white robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves its gripper downward toward the light brown pear in the beige tray, grasps the pear, lifts it, moves it horizontally over the green bowl, lowers it, and releases it into the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2025, "tasks": ["place food"], "length": 399, "global_instruction": "Place the orange carrot from the shallow dish into the brown woven basket", "scene_description": "A smooth gray countertop holds a yellow-base brown woven basket on the right, a green bowl left of the basket, a shallow dish with an orange carrot and assorted produce further left, plus other food items and a calibration board, with a white robotic arm positioned above the counter.", "global_instruction_dense": "The right robotic arm moves toward the shallow dish holding the orange carrot, grasps the carrot with its gripper, lifts it, moves it rightward over the brown woven basket, lowers it, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2026, "tasks": ["place food"], "length": 376, "global_instruction": "Pick the brown pear from the green bowl and place it into the small red-purple bowl.", "scene_description": "A grey tabletop holds a brown pear inside a green bowl, a small red-purple bowl to the left of the green bowl, several pink peaches further left, a black cube with an orange ball on top to the right of the green bowl, and a woven basket with a yellow base on the far right, with a robotic arm positioned above the table.", "global_instruction_dense": "The right robotic gripper moves down toward the green bowl, grasps the brown pear inside it, lifts the pear, moves it left over the small red-purple bowl, lowers the pear into the bowl, releases it, then moves back upward.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2027, "tasks": ["place food"], "length": 302, "global_instruction": "Pick up the green bell pepper from the small light brown plate and place it into the white paper bowl.", "scene_description": "A dark grey countertop has a small light brown plate with a green bell pepper, a green bowl, a yellow container with a white paper bowl on top, an orange carrot, a stack of white napkins, a woven brown basket with a fork and strawberry, assorted fruits at the left, and a white robotic arm next to the counter.", "global_instruction_dense": "The right robotic arm moves down toward the green bell pepper on the small light brown plate, grasps the pepper, lifts it, moves right over the white paper bowl atop the yellow container, lowers the pepper, and releases it into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2028, "tasks": ["place food"], "length": 355, "global_instruction": "Pick up the bread slice from the left brown woven plate and place it into the green bowl", "scene_description": "A gray countertop holds a brown woven plate with a bread slice, a red tomato, pink fruits, a red and blue bowl, a green bowl, a yellow plastic container, an orange carrot, a yellow plate with a green pepper, and a brown woven basket with a fork and strawberry; a white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The right robotic gripper moves down toward the bread slice on the left brown woven plate, grasps the bread slice, lifts it, moves rightward over the green bowl, lowers it, and releases the bread into the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2029, "tasks": ["place food"], "length": 873, "global_instruction": "Take the pear from the yellow container and place it into the woven wooden plate.", "scene_description": "A dark grey kitchen counter holds a yellow rectangular container with a light brown pear and an orange carrot inside, a woven wooden plate to the right of the container, a silver toaster behind the container, a stainless steel sink to the left of the container, and a silver microwave on the far right, with light brown wooden cabinets mounted above the counter.", "global_instruction_dense": "The right robotic arm moves down toward the yellow container on the kitchen counter, grasps the light brown pear inside the container, lifts the pear, moves it right over the woven wooden plate, releases the pear into the plate, then moves back toward the yellow container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2030, "tasks": ["place food"], "length": 296, "global_instruction": "Place the green bell pepper from the counter into the adjacent yellow plastic container.", "scene_description": "A kitchen counter has a green bell pepper near the left sink, a yellow plastic container with an orange carrot next to the pepper, a wooden bowl with a pear and black spoon to the container's right, a silver toaster behind the container, a crate with white containers to the toaster's right, a silver microwave on the far right, and a white robotic arm on the counter's left side, with wooden cabinets above the counter.", "global_instruction_dense": "The right robotic gripper moves toward the green bell pepper on the kitchen counter, grasps it, lifts it, moves it over the yellow plastic container, lowers it, and releases it into the container holding a carrot and tomato.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2031, "tasks": ["place food"], "length": 313, "global_instruction": "Place the green bell pepper properly inside the yellow-based plastic container on the kitchen counter.", "scene_description": "A dark kitchen counter holds a clear yellow-based container with a green bell pepper and orange carrot, a wooden pear bowl, a silver toaster, a wooden caddy with containers, and a white robotic arm positioned left of the container.", "global_instruction_dense": "The right robotic gripper moves down to grasp the green bell pepper in the yellow-based container, pulls the pepper and container rightward across the counter, then pushes the pepper back into the container and releases it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2032, "tasks": ["place food"], "length": 470, "global_instruction": "Place the orange carrot from the woven basket into the yellow plastic container on the kitchen counter.", "scene_description": "A woven basket holding an orange carrot and a small red tomato rests on a yellow plastic container on a dark kitchen counter. A silver toaster sits next to the basket, a wooden caddy with containers is to the basket's right, a sink area is to the left, wooden cabinets are above the counter, and a microwave is at the far right.", "global_instruction_dense": "The right robotic gripper first grasps the woven basket, tilts it to pour a red tomato into the yellow plastic container, then grasps the orange carrot from the basket, lifts it, moves it over the yellow container, and releases it into the container.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2033, "tasks": ["place food"], "length": 573, "global_instruction": "Place the orange carrot from the yellow plastic container into the light brown woven basket", "scene_description": "A kitchen counter holds a yellow plastic container with an orange carrot and red tomato inside, a light brown woven basket to the right of the container, a silver toaster, a wooden rack with containers, a microwave on the far right, and a sink on the left, with a white robotic arm positioned above the left side of the counter.", "global_instruction_dense": "The right robotic arm moves toward the yellow plastic container on the kitchen counter, grasps the orange carrot inside it, lifts the carrot, moves it right over the light brown woven basket, lowers the carrot, and releases it into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2034, "tasks": ["place food"], "length": 430, "global_instruction": "Place the orange carrot from the woven bowl into the yellow rectangular container", "scene_description": "A dark grey kitchen counter holds a light brown woven bowl with an orange carrot inside, a yellow rectangular food container to the left of the bowl, a silver toaster behind the container, wooden upper cabinets, a sink on the left, and a silver microwave on the right, with a robotic arm positioned above the toaster.", "global_instruction_dense": "The right robotic gripper moves from above the silver toaster toward the light brown woven bowl, grasps the orange carrot inside the bowl, lifts the carrot, moves it left over the yellow rectangular container, lowers the carrot into the container, and releases it to complete placement.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2035, "tasks": ["place food"], "length": 320, "global_instruction": "Place the brown root vegetable and orange carrot into the green colander bowl on the kitchen counter.", "scene_description": "A dark grey kitchen counter holds a green colander bowl, a brown root vegetable next to the bowl, a yellow plastic container with an orange carrot and red tomato, a round woven light brown basket, a silver toaster, and a wooden organizer with containers; a white robotic arm with blue gripper is positioned on the left side of the scene above the counter, with wooden upper cabinets and a stainless steel sink in the background.", "global_instruction_dense": "The right robotic arm moves to grasp the brown root vegetable adjacent to the green bowl, places it into the bowl, then moves to the yellow plastic container, grasps the orange carrot, and places it into the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2036, "tasks": ["place food"], "length": 492, "global_instruction": "Place the sealed food package on the counter into the green bowl.", "scene_description": "A dark grey kitchen counter holds a green bowl, red bowl, sealed food package, clear container with a carrot and small tomato, woven basket with a pink plush toy, silver toaster, and silver microwave on the right, with wooden upper cabinets above.", "global_instruction_dense": "The right robotic arm moves from above the sink toward the sealed food package on the counter, grasps and lifts it, moves it over the green bowl, releases it into the bowl, then moves back toward the sink area.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2037, "tasks": ["place food"], "length": 503, "global_instruction": "Place the orange carrot from the clear plastic container into the light brown woven bowl.", "scene_description": "A dark kitchen counter holds a clear yellow-based plastic container with an orange carrot and small red tomato inside, a light brown woven bowl sits to the container's right, a green bowl with orange produce, a silver toaster, and a stainless steel microwave are also present, with light wooden cabinets above the counter.", "global_instruction_dense": "The right robotic gripper moves toward the clear plastic container on the kitchen counter, grasps the orange carrot inside the container, lifts the carrot, moves it over the adjacent light brown woven bowl, and releases the carrot into the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2038, "tasks": ["place food"], "length": 787, "global_instruction": "Transfer food items between the green bowl, wooden bowl, and clear plastic container on the kitchen counter.", "scene_description": "A dark gray kitchen countertop holds, from left to right: a green bowl containing pink cut produce and carrot pieces, a small red bowl, a clear plastic container with packaged food items, a light brown wooden bowl, and a silver toaster against a black backsplash. Light brown wooden cabinets with silver handles are above the counter, a silver microwave is built into the cabinetry on the right side of the counter, and a white robotic arm with a blue gripper is positioned above the counter near the green bowl.", "global_instruction_dense": "The right robotic gripper first grasps pink produce from the green bowl, lifts and moves it rightward to release it into the wooden bowl, then moves to the clear plastic container to grasp a packaged food item, lifts and moves it leftward to release it into the green bowl, then adjusts its position above the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2039, "tasks": ["place food"], "length": 198, "global_instruction": "Take the green bell pepper out of the bowl and place it on the kitchen counter.", "scene_description": "A dark gray kitchen counter has a stainless steel sink, a red bowl with purple base holding a green bell pepper next to the sink, a silver toaster to the bowl's right, and coffee supplies behind the sink, with a white robotic arm above the sink area.", "global_instruction_dense": "The right robotic gripper moves toward the red bowl holding the green bell pepper, lowers into the bowl to grasp the pepper, lifts it out of the bowl, moves it rightward, and places it on the kitchen counter next to the bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2040, "tasks": ["place food"], "length": 518, "global_instruction": "Pick a carrot from the produce pile and place it on the empty kitchen counter space.", "scene_description": "A white robotic arm is positioned at the left of a dark grey kitchen counter. On the counter, from left to right: a sink with coffee machines behind it, a pile of produce (carrots, a light brown pear, red and orange round fruits) in small blue and red bowls next to a black cross-marked container, a green cup, a stainless steel toaster, a large green bowl, assorted containers, and a light woven basket on the far right.", "global_instruction_dense": "The right robotic arm moves down toward the produce pile on the kitchen counter, grasps an orange carrot, lifts it, moves it over the empty counter space in front of the black cross-marked container, and releases the carrot onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2041, "tasks": ["place food"], "length": 1036, "global_instruction": "Place the orange carrot into the right storage holder and place a metal spoon into the green plastic cup, then adjust items near the sink bowls.", "scene_description": "A kitchen countertop features a stainless steel toaster, a bright green plastic cup left of a woven basket holding an orange carrot and a black spoon, a yellow cloth near the sink, stacked red and blue bowls with a green vegetable between the sink and toaster, and a wooden storage holder with assorted containers to the right of the toaster, with wooden upper cabinets above. A white robotic arm is positioned above the left side of the counter.", "global_instruction_dense": "The left robotic arm first moves down to adjust the bright green plastic cup, then moves to the woven basket to grasp the orange carrot, lifts it, moves right to place it in the wooden storage holder, then manipulates items near the stacked sink bowls, moves to the toaster area to grasp a metal spoon, places the spoon inside the green plastic cup, and finally moves toward the sink area.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2042, "tasks": ["place food"], "length": 200, "global_instruction": "Pick up the carrot from the red bowl and place it on the kitchen counter", "scene_description": "A dark grey kitchen counter sits below light wooden cabinets. A robotic arm is positioned on the left side of the frame, and on the counter are a green bowl with a white spoon, a red bowl on a blue base, assorted food containers, cups near a sink, a coffee machine in the background, and colorful food items near the camera.", "global_instruction_dense": "The right robotic gripper moves downward toward the red bowl on the kitchen counter, grasps the carrot inside the bowl, lifts it, moves leftward to empty counter space, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2043, "tasks": ["place food"], "length": 626, "global_instruction": "Transfer the red food piece from the green bowl to the red bowl on the kitchen counter.", "scene_description": "A kitchen counter holds a green bowl, a red bowl, a silver toaster, a stainless steel sink with dishes, assorted food containers, and beverage cups near a coffee machine, with light brown wooden cabinets above the counter, and a white robotic arm positioned above the counter at the start.", "global_instruction_dense": "The left robotic arm moves downward to the green bowl on the kitchen counter, uses a utensil to scoop a red food piece from the green bowl, moves the utensil over the adjacent red bowl, tilts the utensil to drop the food piece into the red bowl, then moves the utensil back toward the green bowl.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2044, "tasks": ["place food"], "length": 222, "global_instruction": "Pick the orange carrot from the open lower drawer and place it on the gray kitchen countertop.", "scene_description": "A dark gray kitchen countertop holds various items: a bright green cup, a dark box with an orange fruit on top, a yellow food piece, a bright green bowl, a red bowl with a purple base, a small black spoon, a light brown woven basket, a metal fork, a white plate, a gray rectangular container, orange cloths, and a roll of white paper towels at the far right. An open drawer below the counter holds utensils and an orange carrot, with a white robotic arm positioned above the counter's left side.", "global_instruction_dense": "The left robotic arm moves downward toward the orange carrot in the open drawer below the counter, grasps the carrot, lifts it out of the drawer, moves it upward to the countertop surface, lowers the carrot, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2045, "tasks": ["place food"], "length": 261, "global_instruction": "Move the stack of sliced bread to the area next to the light brown woven basket on the counter.", "scene_description": "A dark grey kitchen counter holds a green plastic cup, dark blue box with a red top, green bowl, pink plush toy, yellow knitted cloth, light brown woven basket, stack of sliced bread, white plate, grey plastic bin, orange bag, white paper towel roll, and small metal cup, with a robotic arm on the left of the egocentric view.", "global_instruction_dense": "The right robotic arm moves right toward the woven basket, then shifts further right to reach the stack of sliced bread, grasps the bread stack with its gripper, lifts it, moves it left to the position next to the woven basket, lowers it, and releases it onto the counter.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2046, "tasks": ["place food"], "length": 345, "global_instruction": "Place the small orange fruit into the empty light brown woven basket on the table.", "scene_description": "A light wooden kitchen table holds an empty light brown woven basket on its right half, a small orange fruit left of the basket next to a blue plastic toy, a brown woven basket with a dark bottle inside, a green metal can, a pale yellow plastic bowl, an orange packaged snack, a large orange basketball, and a flat cardboard piece. A kitchen area with cabinets, a stove, sink, and microwave is in the background, with the right robotic arm above the far end of the table.", "global_instruction_dense": "The right robotic arm moves toward the small orange fruit on the table, grasps the fruit along with the adjacent cardboard piece, lifts both, moves them over the empty light brown woven basket, releases them into the basket, then pulls upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2047, "tasks": ["place food"], "length": 993, "global_instruction": "Remove the dark bottle from the light brown basket, then place the orange fruit from the transparent brown basket into the light brown basket.", "scene_description": "A light wooden table holds an orange packaged snack, a pale yellow bowl with a green metal can, a light brown woven basket containing a dark cylindrical bottle, a blue-red toy, a transparent brown woven basket with an orange fruit, and a small orange basketball from left to right; a right robotic arm with a blue gripper component is positioned above the table near the transparent brown basket.", "global_instruction_dense": "The right robotic arm first moves to the light brown woven basket, grasps the dark cylindrical bottle inside it, lifts and places the bottle on the table beside the basket, then moves to the transparent brown woven basket, grasps the orange fruit inside, lifts the orange, transfers it to the light brown basket, and releases the orange into the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2048, "tasks": ["place food"], "length": 313, "global_instruction": "Place the large orange on the table into the beige basket", "scene_description": "A light wood kitchen table holds a beige basket with blue and purple cloths, a beige bowl with small colorful items, a large orange, a small orange, a pink lidded container, a wooden bowl with bottles, a red lid, a tape dispenser, and a frozen food package, with a full kitchen area in the background.", "global_instruction_dense": "The right robotic arm first removes cloths from the beige basket, adjusts the empty basket's position, then grasps the large orange from the table, lifts it, moves it over the basket, and drops it inside the basket.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2049, "tasks": ["place food"], "length": 242, "global_instruction": "Place the loose orange fruit into the pink plastic bowl on the table", "scene_description": "A light wooden kitchen table holds a clear bowl with blue and red blocks, a woven basket with an orange, a pink plastic bowl, a loose orange fruit, a wooden bowl with bottles, a red lid, a black tape dispenser, and a packaged snack. A robotic arm is positioned at the left edge of the table, with a kitchen area in the background.", "global_instruction_dense": "The right robotic gripper moves toward the pink plastic bowl, grasps it, positions the bowl to enclose the loose orange fruit, then releases the bowl with the orange inside it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2050, "tasks": ["place food"], "length": 324, "global_instruction": "Take the red tomato out of the green bowl and place it on the wooden table", "scene_description": "A light wooden table in a kitchen holds a green bowl with a red tomato, a red bowl, a white mug, a small white cup, a blue cloth, a white box, a yellow cup, a red plate, and a small game controller, with a large robotic arm positioned at the left side of the table.", "global_instruction_dense": "The left robotic arm moves toward the green bowl containing the red tomato, grasps the tomato, lifts it out of the bowl, moves it to an empty spot on the left side of the wooden table, and releases it onto the table surface.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2051, "tasks": ["place food"], "length": 656, "global_instruction": "Place the small red fruit into the red plate, then move the blue game controller and red plate rightward on the table.", "scene_description": "A light wooden kitchen table holds a red plate, blue game controller, small red fruit, white cup, red measuring cup, stacked green and blue bowls, small white bowl, light blue mug, white cardboard box, and blue cloth. Wooden upper cabinets, a stainless steel refrigerator, and other kitchen appliances are in the background, with a white robotic arm positioned at the left of the table.", "global_instruction_dense": "The right robotic arm moves toward the small red fruit on the table, grasps it, lifts and moves it left over the red plate and releases it into the plate, then grasps the blue game controller and shifts it rightward, then grasps the red plate and shifts it rightward before releasing it.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} +{"episode_index": 2052, "tasks": ["place food"], "length": 274, "global_instruction": "Pick up the orange foam cylinder and place it on the table near the green-and-blue bowl.", "scene_description": "A light wooden table holds colorful foam blocks (including an orange cylinder), a stack of white disposable cups, and a green-and-blue bowl. A right robotic arm is positioned above the left side of the table, with a kitchen area in the background.", "global_instruction_dense": "The right robotic arm moves toward the orange foam cylinder on the middle of the table, grasps it, lifts it, moves it rightward to the area next to the green-and-blue bowl, lowers it onto the table, releases it, then retracts upward away from the table.", "skill": "Pick & Place", "verb": "place", "object": "food", "object_category": "Foodstuffs & Edibles"} diff --git a/datasets/droid/data/place__food/meta/episodes_stats.jsonl b/datasets/droid/data/place__food/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e99cbbeb3cd415fd2a29e90589da1b699ec875dd --- /dev/null +++ b/datasets/droid/data/place__food/meta/episodes_stats.jsonl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85492ad43a317b62c19b9727d1b62da272257ba7c069acb21f2fbcbbcd683030 +size 19426721 diff --git a/datasets/droid/data/place__food/meta/info.json b/datasets/droid/data/place__food/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..4116baa239e60a1535e01c5a658f04a41e5a713b --- /dev/null +++ b/datasets/droid/data/place__food/meta/info.json @@ -0,0 +1,255 @@ +{ + "codebase_version": "v2.1", + "robot_type": "franka_panda", + "total_episodes": 2053, + "total_frames": 668661, + "total_tasks": 1, + "total_videos": 6159, + "total_chunks": 3, + "chunks_size": 1000, + "fps": 30, + "splits": { + "train": "0:2053" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.state.joint_position": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "action.joint_position": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.state.cartesian_position": { + "dtype": 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